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CN107976486B - Split pin probe assembly of nuclear power station control rod guide cylinder - Google Patents

Split pin probe assembly of nuclear power station control rod guide cylinder Download PDF

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Publication number
CN107976486B
CN107976486B CN201711048963.9A CN201711048963A CN107976486B CN 107976486 B CN107976486 B CN 107976486B CN 201711048963 A CN201711048963 A CN 201711048963A CN 107976486 B CN107976486 B CN 107976486B
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wafer
plate
probe
fixing frame
assembly
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CN107976486A (en
Inventor
马官兵
林舒啸
马超
陈怀东
王韦强
林戈
汤建帮
朱传雨
汪双印
许俊龙
王佳旭
曾晨明
吴健荣
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China General Nuclear Power Corp
CGN Power Co Ltd
Suzhou Nuclear Power Research Institute Co Ltd
CGNPC Inspection Technology Co Ltd
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China General Nuclear Power Corp
CGN Power Co Ltd
Suzhou Nuclear Power Research Institute Co Ltd
CGNPC Inspection Technology Co Ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22Details, e.g. general constructional or apparatus details
    • G01N29/225Supports, positioning or alignment in moving situation
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22Details, e.g. general constructional or apparatus details
    • G01N29/227Details, e.g. general constructional or apparatus details related to high pressure, tension or stress conditions
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22Details, e.g. general constructional or apparatus details
    • G01N29/26Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00Indexing codes associated with group G01N29/00
    • G01N2291/02Indexing codes associated with the analysed material
    • G01N2291/023Solids
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00Indexing codes associated with group G01N29/00
    • G01N2291/02Indexing codes associated with the analysed material
    • G01N2291/028Material parameters
    • G01N2291/0289Internal structure, e.g. defects, grain size, texture

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  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)

Abstract

The invention discloses a split pin probe assembly of a control rod guide cylinder of a nuclear power station, which comprises a probe wafer, a wafer fixing frame for fixing the probe wafer, a bottom plate and a first buffer assembly connected between the bottom plate and the wafer fixing frame, wherein a second buffer assembly is also arranged between the first buffer assembly and the wafer fixing frame and comprises a middle plate connected with the first buffer assembly, a cylinder body sleeved on the middle plate and an elastic rubber ring fixed in the cylinder body, the wafer fixing frame is fixedly inserted in the elastic rubber ring and has a gap with the middle plate, the height of the probe wafer and the wafer fixing frame higher than the second buffer assembly is larger than the distance from the deepest part of a split pin groove to the lower end face of a grid plate, and the distance is a compression distance. The invention can self-adapt to positioning error and mounting error, and the contact pressure of the ultrasonic probe and the opening pin is constant, thereby being beneficial to the repeatability of ultrasonic inspection.

Description

核电站控制棒导向筒开口销探头组件Nuclear power plant control rod guide cylinder split pin probe assembly

技术领域technical field

本发明涉及核电检测领域,特别涉及一种核电站控制棒导向筒开口销探头组件。The invention relates to the field of nuclear power detection, in particular to a split pin probe assembly for a control rod guide cylinder of a nuclear power plant.

背景技术Background technique

控制棒导向筒开口销位于核电站反应堆上部堆内构件内,其作用是为控制棒导向筒提供定位和横向支承,是核电机组功率调节和应急停堆时控制棒能否按要求下落的重要影响因素。国外核电站多次出现开口销失效现象,其后果体现在两个方面,其一是控制棒导向筒错位,进而影响控制棒下落时间,其二是断裂的开口销部件作为异物进入核电站一回路中循环,会损伤其他重要设备,影响核电设备的完整性。因此有必要对控制棒导向筒开口销实施在役检查,以监测其运行过程中的质量状态,提高核电站的可靠性、安全性、完整性。The cotter pin of the control rod guide cylinder is located in the upper inner member of the nuclear power plant reactor. Its function is to provide positioning and lateral support for the control rod guide cylinder, and it is an important factor for the control rod to fall as required during power regulation and emergency shutdown of the nuclear power plant. . The failure of cotter pins has occurred many times in foreign nuclear power plants. The consequences are reflected in two aspects. One is that the control rod guide cylinder is dislocated, which affects the falling time of the control rod. , will damage other important equipment and affect the integrity of nuclear power equipment. Therefore, it is necessary to carry out in-service inspection on the cotter pin of the control rod guide cylinder to monitor the quality status during its operation and improve the reliability, safety and integrity of the nuclear power plant.

在役检查一般在核电机组大修过程中进行。大修时,上部堆内构件组件整体被存放在构件水池内。为进行开口销关键区域的超声波检查,需将一种扁形探头插入开口销凹槽中,凹槽在安装状态宽度在2.696mm~2.896mm之间,而受探头晶片尺寸限制,探头组件宽度在2.4mm左右,水下定位精度要求较高。而且开口销端部凹入上栅格板底面37.75mm,这对开口销端面的观察和定位带来了很大难度。另外,核电机组运行20年多年后,零部件的变形和装配公差等因素可能造成开口销一定程度偏斜,因此需探头组件具有一定的柔性,能够适应该情况;另外,由于超声探头与开口销接触压力恒定才利于超声波检查的可重复性,而为了提供这种恒定压力往往需要设置压力检测与调节机构,在尺寸较小的探头组件上设置上述结构难度极大。In-service inspections are generally carried out during the overhaul of nuclear power plants. During major repairs, the entire upper internals assembly is stored in the structural pool. In order to carry out the ultrasonic inspection of the key area of the cotter pin, a flat probe needs to be inserted into the groove of the cotter pin. The width of the groove in the installed state is between 2.696mm and 2.896mm. However, limited by the size of the probe wafer, the width of the probe assembly is 2.4 mm. About mm, the underwater positioning accuracy is required to be high. Moreover, the end of the cotter pin is recessed into the bottom surface of the upper grid plate by 37.75 mm, which brings great difficulty to the observation and positioning of the end face of the cotter pin. In addition, after more than 20 years of operation of the nuclear power unit, the deformation of parts and assembly tolerances may cause the cotter pin to be deflected to a certain extent, so the probe assembly needs to have a certain flexibility to adapt to the situation; in addition, due to the ultrasonic probe and cotter pin A constant contact pressure is beneficial to the repeatability of ultrasonic inspection. In order to provide such a constant pressure, a pressure detection and adjustment mechanism is often required. It is extremely difficult to set the above structure on a probe assembly with a small size.

发明内容SUMMARY OF THE INVENTION

本发明的目的是提供一种能自适应且能提供恒定接触压力从而保证检测可重复性的核电站控制棒导向筒开口销探头组件。The purpose of the present invention is to provide a nuclear power plant control rod guide cylinder cotter pin probe assembly which can be adaptive and can provide constant contact pressure to ensure the repeatability of detection.

为解决上述技术问题,本发明采用如下技术方案:一种核电站控制棒导向筒开口销探头组件,其包括探头晶片、用于固定所述探头晶片的晶片固定架、底板以及连接于所述底板和所述晶片固定架之间的第一缓冲组件,所述第一缓冲组件与所述晶片固定架之间还设有第二缓冲组件,所述第二缓冲组件包括与所述第一缓冲组件相连接的中板、套设于所述中板上的筒体以及固定于所述筒体内部的弹性橡胶圈,所述晶片固定架固定插设于所述弹性橡胶圈内且与所述中板间存在间隙,所述探头晶片与所述晶片固定架高出所述第二缓冲组件部分的高度大于开口销凹槽最深处至上栅格板下端面的距离,该距离为压缩距离。In order to solve the above technical problems, the present invention adopts the following technical solutions: a nuclear power plant control rod guide cylinder split pin probe assembly, which includes a probe wafer, a wafer holder for fixing the probe wafer, a bottom plate, and a A first buffer component between the wafer holders, a second buffer component is further arranged between the first buffer component and the wafer holder, and the second buffer component includes a buffer component corresponding to the first buffer component. A connected middle plate, a cylindrical body sleeved on the middle plate, and an elastic rubber ring fixed inside the cylindrical body, the wafer holder is fixedly inserted in the elastic rubber ring and is connected with the middle plate There is a gap therebetween, and the height of the probe wafer and the wafer holder above the second buffer assembly is greater than the distance from the deepest part of the split pin groove to the lower end surface of the upper grid plate, which is the compression distance.

优化的,所述探头组件还包括封盖于所述筒体上且套设于所述晶片固定架上的盖板。Preferably, the probe assembly further includes a cover plate which is covered on the cylinder and sleeved on the wafer holder.

优化的,所述中板下端面具有向下延伸的延伸柱以及由延伸柱下端部沿延伸柱的径向向外延伸的环形板,所述第一缓冲组件包括多个同时穿设于所述环形板与所述底板内的导向柱、套设于每个所述导向柱上且位于所述环形板与所述底板之间的支撑弹簧,所述导向柱两端设有防止其从环形板和底板上脱落的螺帽。Preferably, the lower end surface of the middle plate has an extension column extending downward and an annular plate extending radially outward from the lower end of the extension column, and the first buffer component includes a plurality of The annular plate and the guide columns in the bottom plate, and the support springs sleeved on each of the guide columns and located between the annular plate and the bottom plate, the two ends of the guide columns are provided with preventing them from sliding from the annular plate. and the nut that came off the base plate.

优化的,所述晶片固定架下端部具有沿径向向外延伸的卡板,所述弹性橡胶圈中部开设有贯通的通孔,所述通孔内壁设有与所述固定环相匹配的卡槽,所述卡板卡设于所述卡槽内。Preferably, the lower end of the wafer holder has a card plate extending radially outward, a through hole is formed in the middle of the elastic rubber ring, and the inner wall of the through hole is provided with a card matching the fixing ring. slot, the card board is clamped in the slot.

优化的,所述压缩距离1~5mm。Preferably, the compression distance is 1-5 mm.

进一步的,所述卡板呈跑道状,其具有两相平行的直边及连接于两直边之间的的弧形边。Further, the card board is in the shape of a racetrack, and has two parallel straight sides and an arc-shaped side connected between the two straight sides.

本发明的有益效果在于:本发明能够自适应定位误差和堆内构件安装误差,探头晶片与开口销接触压力恒定,有利于超声波检查的可重复性。The beneficial effects of the invention are: the invention can adapt to the positioning error and the installation error of the internal components of the stack, and the contact pressure between the probe wafer and the cotter pin is constant, which is beneficial to the repeatability of ultrasonic inspection.

附图说明Description of drawings

图1:探头组件的立体视图;Figure 1: Stereoscopic view of the probe assembly;

图2:探头组件的剖视图;Figure 2: Sectional view of the probe assembly;

图3:探头组件的剖视图;Figure 3: Sectional view of the probe assembly;

图4:探头组件贴紧开口销凹槽后,探头组件盖板与上栅格板底面距离3mm。Figure 4: After the probe assembly is in contact with the groove of the cotter pin, the distance between the probe assembly cover and the bottom surface of the upper grid plate is 3mm.

具体实施方式Detailed ways

下面结合附图所示的实施例对本发明作以下详细描述:The present invention is described in detail below in conjunction with the embodiments shown in the accompanying drawings:

如图1、2、3所示,核电站控制棒导向筒开口销探头组件包括探头晶片71、用于固定所述探头晶片71的晶片固定架72、底板78、连接于所述底板78和所述晶片固定架72之间的第一缓冲组件以及设于所述第一缓冲组件与所述晶片固定架72之间的第二缓冲组件。As shown in Figures 1, 2 and 3, the nuclear power plant control rod guide cylinder split pin probe assembly includes a probe wafer 71, a wafer holder 72 for fixing the probe wafer 71, a base plate 78, a base plate 78 connected to the base plate 78 and the A first buffer component between the wafer holders 72 and a second buffer component disposed between the first buffer component and the wafer holder 72 .

所述第二缓冲组件包括与所述第一缓冲组件相连接的中板75、套设于所述中板75上的筒体74、固定于所述筒体74内部的弹性橡胶圈79以及封盖于所述筒体74上且套设于所述晶片固定架72上的盖板73,所述晶片固定架72固定插设于所述弹性橡胶圈79内且与所述中板75间存在间隙,所述探头晶片71与所述晶片固定架72高出所述第二缓冲组件部分的高度大于开口销721凹槽最深处至上栅格板722下端面的距离,该距离为压缩距离,所述压缩距离1~5mm。所述晶片固定架72下端部具有沿径向向外延伸的卡板716,所述弹性橡胶圈79中部开设有贯通的通孔,所述通孔内壁设有与所述卡板716相匹配的卡槽,所述卡板716卡设于所述卡槽内。所述卡板呈跑道状,其具有两相平行的直边及连接于两直边之间的的弧形边。当探头晶片71需要适应性旋转使,弹性橡胶圈79随晶片固定架72旋转变形,并在完成检测后复位。The second buffer assembly includes a middle plate 75 connected to the first buffer assembly, a cylinder 74 sleeved on the middle plate 75, an elastic rubber ring 79 fixed inside the cylinder 74, and a seal. A cover plate 73 covering the cylindrical body 74 and sleeved on the wafer holder 72 , the wafer holder 72 is fixedly inserted in the elastic rubber ring 79 and exists between the middle plate 75 The height of the probe wafer 71 and the wafer holder 72 above the second buffer assembly is greater than the distance from the deepest part of the groove of the split pin 721 to the lower end surface of the upper grid plate 722, which is the compression distance, so The compression distance is 1 to 5mm. The lower end of the wafer holder 72 has a clamping plate 716 extending radially outward, a through hole is formed in the middle of the elastic rubber ring 79 , and the inner wall of the through hole is provided with a matching plate 716 . A card slot, the card board 716 is clamped in the card slot. The card board is in the shape of a racetrack, and has two parallel straight sides and an arc-shaped side connected between the two straight sides. When the probe wafer 71 needs to be rotated adaptively, the elastic rubber ring 79 rotates and deforms with the wafer holder 72 and resets after the detection is completed.

所述中板75下端面具有向下延伸的延伸柱714以及由延伸柱714下端部沿延伸柱714的径向向外延伸的环形板715,所述第一缓冲组件包括多个同时穿设于所述环形板715与所述底板78内的导向柱76、套设于每个所述导向柱76上且位于所述环形板715与所述底板78之间的支撑弹簧77,所述导向柱76两端设有防止其从环形板715和底板78上脱落的螺帽717。The lower end surface of the middle plate 75 has an extension column 714 extending downward and an annular plate 715 extending outward along the radial direction of the extension column 714 from the lower end of the extension column 714 . The annular plate 715 and the guide column 76 in the bottom plate 78, the support spring 77 sleeved on each of the guide columns 76 and located between the annular plate 715 and the bottom plate 78, the guide column Both ends of 76 are provided with nuts 717 to prevent them from falling off from the annular plate 715 and the bottom plate 78 .

如图4所示,当探头组件顶端接触开口销721端面时,如有一定的定位偏差或安装误差,探头组件可以靠弹性橡胶圈79和支撑弹簧77发生形变自动调整姿态;当探头组件顶端接触到开口销721凹槽顶端后,驱动探头上下移动的垂直升降机构(气缸等机构均可实现,非本发明重点,在此不做赘述)继续上升,直至盖板73与上栅格板722接触,支撑弹簧77和弹性橡胶圈79开始压缩。此时,探头组件与开口销721接触压力为支撑弹簧77和弹性橡胶圈79总共产生1~5mm的形变的弹力,并保持不变,在本实施例中,橡胶的弹性系数为10N/mm,通过调含胶量和硬度实现,探头受到压力最佳为30N,因此形变3mm时最佳。本探头组件具有一定的柔性,自适应定位误差和安装误差,且无需附加检测压力的设备就能实现超声探头与开口销721接触压力恒定在所需范围内,有利于超声波检查的可重复性。As shown in Figure 4, when the top of the probe assembly contacts the end face of the split pin 721, if there is a certain positioning deviation or installation error, the probe assembly can be automatically adjusted by the elastic rubber ring 79 and the supporting spring 77. After reaching the top of the groove of the cotter pin 721, the vertical lifting mechanism that drives the probe to move up and down (mechanisms such as air cylinders can be realized, which are not the focus of the present invention, and will not be repeated here) continues to rise until the cover plate 73 is in contact with the upper grid plate 722. , the support spring 77 and the elastic rubber ring 79 begin to compress. At this time, the contact pressure between the probe assembly and the split pin 721 is the elastic force that the support spring 77 and the elastic rubber ring 79 generate a total deformation of 1-5 mm, and remains unchanged. In this embodiment, the elastic coefficient of the rubber is 10N/mm, By adjusting the glue content and hardness, the best pressure on the probe is 30N, so the best deformation is 3mm. The probe assembly has certain flexibility, self-adaptive positioning error and installation error, and the contact pressure between the ultrasonic probe and the cotter pin 721 can be kept constant within the required range without additional pressure detection equipment, which is beneficial to the repeatability of ultrasonic inspection.

上述实施例只为说明本发明的技术构思及特点,其目的在于让熟悉此项技术的人士能够了解本发明的内容并据以实施,并不能以此限制本发明的保护范围。凡根据本发明精神所作的等效变化或修饰,都应涵盖在本发明的保护范围之内。The above-mentioned embodiments are only intended to illustrate the technical concept and characteristics of the present invention, and the purpose thereof is to enable those who are familiar with the art to understand the content of the present invention and implement them accordingly, and cannot limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be included within the protection scope of the present invention.

Claims (5)

1. The utility model provides a nuclear power station control rod guide cylinder split pin probe subassembly, its includes probe wafer, is used for fixing the wafer mount of probe wafer, bottom plate and connect in the bottom plate with the first buffer subassembly between the wafer mount which characterized in that: the probe comprises a first buffering assembly, a wafer fixing frame and a second buffering assembly, wherein the first buffering assembly is arranged on the wafer fixing frame, the second buffering assembly is arranged between the first buffering assembly and the wafer fixing frame, the second buffering assembly comprises a middle plate connected with the first buffering assembly, a cylinder body sleeved on the middle plate and an elastic rubber ring fixed inside the cylinder body, the wafer fixing frame is fixedly inserted into the elastic rubber ring and a gap exists between the middle plates, the height of the probe wafer and the wafer fixing frame is larger than the distance between the deepest part of a groove of a split pin and the lower end face of an upper grid plate, the distance is a compression distance, and the compression distance is 1-5 mm.
2. The nuclear power plant control rod guide cylinder cotter pin probe assembly as recited in claim 1, wherein: the probe assembly further comprises a cover plate which is covered on the cylinder body and sleeved on the wafer fixing frame.
3. The nuclear power plant control rod guide cylinder cotter pin probe assembly as recited in claim 1, wherein: the terminal surface has downwardly extending's extension post and by the annular plate that extends the radial outside extension of post under the post along extending, first buffering subassembly includes a plurality of wearing to locate simultaneously the annular plate with guide post, cover in the bottom plate are located every on the guide post and be located the annular plate with supporting spring between the bottom plate, the guide post both ends are equipped with the nut that prevents it from droing on annular plate and the bottom plate.
4. The nuclear power plant control rod guide cylinder cotter pin probe assembly as recited in claim 1, wherein: the lower end part of the wafer fixing frame is provided with a clamping plate which extends outwards along the radial direction, the middle part of the elastic rubber ring is provided with a through hole, the inner wall of the through hole is provided with a clamping groove matched with the clamping plate, and the clamping plate is clamped in the clamping groove.
5. The nuclear power plant control rod guide cylinder cotter pin probe assembly as recited in claim 4, wherein: the clamping plate is in a runway shape and is provided with two parallel straight edges and an arc-shaped edge connected between the two straight edges.
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CN107976486A CN107976486A (en) 2018-05-01
CN107976486B true CN107976486B (en) 2020-07-07

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CN110824008B (en) * 2019-11-19 2022-05-24 中广核检测技术有限公司 Ultrasonic detection probe and detection method for controlling cotter pin of rod guide cylinder
CN114220577B (en) * 2021-12-08 2025-02-14 中核武汉核电运行技术股份有限公司 Ultrasonic inspection device for guide holes of control rod guide tubes

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CN201867394U (en) * 2010-11-18 2011-06-15 中广核检测技术有限公司 Locking air pawl for positioning eddy detecting tube plate of steam generator in nuclear power station
CN102903407A (en) * 2012-10-15 2013-01-30 中广核检测技术有限公司 Flexible eddy current testing probe for heat transfer pipe of steam generator of nuclear power plant
CN103440885A (en) * 2013-08-28 2013-12-11 中国核动力研究设计院 Integral-dismounting sealing piece as well as sealing structure for detector and reaction pile sealing container
KR20150001861A (en) * 2013-06-21 2015-01-07 성균관대학교산학협력단 Apparatus for detecting water immersion ultrasonic flaw
CN204926807U (en) * 2015-09-25 2015-12-30 苏州热工研究院有限公司 Damaged excellent for location detection ultrasonic probe of nuclear power station fuel assembly
CN105806957A (en) * 2014-12-30 2016-07-27 中核武汉核电运行技术股份有限公司 Ultrasonic vortex combined probe structure for checking inner wall and end face of open-ended small-diameter tube
CN106328229A (en) * 2016-09-30 2017-01-11 中广核检测技术有限公司 Special air claw for heat transfer pipe plate climbing equipment of steam generator

Patent Citations (8)

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Publication number Priority date Publication date Assignee Title
EP0053984A3 (en) * 1980-12-09 1984-03-28 Paul Thomé Method and apparatus for the automatic control of the integrity of assembling welds
CN201867394U (en) * 2010-11-18 2011-06-15 中广核检测技术有限公司 Locking air pawl for positioning eddy detecting tube plate of steam generator in nuclear power station
CN102903407A (en) * 2012-10-15 2013-01-30 中广核检测技术有限公司 Flexible eddy current testing probe for heat transfer pipe of steam generator of nuclear power plant
KR20150001861A (en) * 2013-06-21 2015-01-07 성균관대학교산학협력단 Apparatus for detecting water immersion ultrasonic flaw
CN103440885A (en) * 2013-08-28 2013-12-11 中国核动力研究设计院 Integral-dismounting sealing piece as well as sealing structure for detector and reaction pile sealing container
CN105806957A (en) * 2014-12-30 2016-07-27 中核武汉核电运行技术股份有限公司 Ultrasonic vortex combined probe structure for checking inner wall and end face of open-ended small-diameter tube
CN204926807U (en) * 2015-09-25 2015-12-30 苏州热工研究院有限公司 Damaged excellent for location detection ultrasonic probe of nuclear power station fuel assembly
CN106328229A (en) * 2016-09-30 2017-01-11 中广核检测技术有限公司 Special air claw for heat transfer pipe plate climbing equipment of steam generator

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