CN103261788B - Device for guiding a flexible lance - Google Patents
Device for guiding a flexible lance Download PDFInfo
- Publication number
- CN103261788B CN103261788B CN201180027325.3A CN201180027325A CN103261788B CN 103261788 B CN103261788 B CN 103261788B CN 201180027325 A CN201180027325 A CN 201180027325A CN 103261788 B CN103261788 B CN 103261788B
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- China
- Prior art keywords
- guiding device
- flexible lance
- electric motor
- motor wheel
- control
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
- F22B37/003—Maintenance, repairing or inspecting equipment positioned in or via the headers
- F22B37/005—Positioning apparatus specially adapted therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/02—Component parts or details of steam boilers applicable to more than one kind or type of steam boiler
- F22B37/48—Devices for removing water, salt, or sludge from boilers; Arrangements of cleaning apparatus in boilers; Combinations thereof with boilers
- F22B37/483—Devices for removing water, salt, or sludge from boilers; Arrangements of cleaning apparatus in boilers; Combinations thereof with boilers specially adapted for nuclear steam generators
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Thermal Sciences (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Spray Control Apparatus (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Abstract
The invention relates to a device (2) for guiding a flexible lance (3) for inspecting and/or cleaning a confined enclosure (1) having difficult access (4), which comprises a system for driving and guiding a flexible lance (2), hingedly mounted on the device (2), a means for controlling the position of the device, an electric power and control socket intended for being connected, via a flexible cable (17), to an electric power and control device. The device (2) comprises a means for supporting and moving across the inner surface of the wall (5) defining the enclosure (1).
Description
The present invention relates to the guiding device for flexible lance, this flexible lance for entering the position being difficult to enter, such as, is equipped in the inside of the steam generator in the thermo-power station of particularly core type.
The steam generator of equipment thermo-power station and the steam generator equipping nuclear power station more specifically generally comprises the part being called as cyclone separator, this part allows the excessive generation of steam.This generator part presents with the form of columniform metal shell, and this housing is equipped with two diameters to be less than 40cm and the opening of diametrically contraposition, i.e. hand hole.This housing is also equipped with the vertical metal tube for generation of steam on its bottom, and these vertical metal tubes are in rows and columns arranged according to grid.Due to this layout, it is capable that the arrangement of the pipe parallel with the arrangement of hand hole forms pipe, and the arrangement of the pipe vertical with this direction forms pipe arranges.
When steam generator works, the water be present in the housing of generator is brought to high temperature and high pressure, and object produces steam.Metal tube and other metallic member of cyclone separator then stand extreme condition, and these extreme conditions cause inevitable corrosion.When not getting involved, the deposit accumulation relevant to this corrosion is in the bottom of the housing of cyclone separator and can finally make this equipment not use.Reason for this reason, the type equipment should be examined termly and be washed these deposits.This inspection and this cleaning are generally undertaken by spray gun, this spray gun or be equipped with inspection camera, or are equipped with hydraulic spray.In order to arrive the determination portion position of steam generator, typically use spray gun guiding device to guide these spray guns by narrow opening, these openings are hand holes.
The device of the type should move in the circular shell of steam generator, can be unfolded for checking and cleaning the base portion being formed the pipe of cyclone separator when needed to make usually flexible spray gun.
In order to realize these inspection or cleaning operations of the housing of the cyclone separator of steam generator, be well known that the guiding device used for spray gun, such as, device described in patent EP0526120.
Patent EP0526120 discloses a kind of spray gun guiding device, and this device can move freely on guide rail, and this device comprises the driving of spray gun and guidance system and the mechanism for controlling the location of device on guide rail.Before this device of use, guide rail is placed in cyclone separator along with the diameter that hand hole is associated of two in the wall being present in cyclone separator.To be equipped with or check that the device of spray gun or cleaning spray gun is placed on the guideway.Then, make this device move to position to be checked/cleaned by controlling organization along guide rail, spray gun is deployed in this position by driving and guide.So use this spray gun to check/clean the space between two tubulations.
Although the device of the type allows to check the base portion of the pipe be present in steam generator and clean, but has the shortcoming of some.
In fact, the arrangement of this device is complicated, because need mounting guide rail.In addition, this device only allows the row along pipe to carry out checking/cleaning, because spray gun can only be unfolded perpendicular to guide rail, and according to the structure of cyclone separator to be checked or to be cleaned, some region forming the pipe of cyclone separator is inaccessiable.
Document US2010/0011522 discloses a kind of inspection and cleaning device, this device particularly comprise the driving of flexible lance and guidance system and for define steam generator housing cylindrical wall inner face on keep and the mechanism of movement.This maintenance and travel mechanism preferably include two to wheel, and this two comprises permanent magnet element to wheel, take turns for a pair independent of another to wheel by motorized.
Use the wheel that comprises permanent magnet element to the metallic walls remaining on metallic walls and such as equip the housing of the steam generator of nuclear power station is desirable.And this maintenance and travel mechanism allow device to enter the whole in-profile of housing, and therefore spray gun are deployed in any position to be checked or to be cleaned, regardless of its position in housing, and this is without the need to using optional equipment such as guide rail.
But, be there is by the inspection disclosed in document US2010/0011522 and cleaning device the shortcoming of some.
The present invention is intended to overcome above-mentioned shortcoming.
Therefore technical task based on the present invention is, provides the device of a kind of permission to having inside that the closure casing being difficult to entry site such as equips the steam generator of thermo-power station and checking and clean.This device also should allow to check this housing completely and without the need to the such jumbo of such as guide rail.
For this reason, the present invention relates to a kind of guiding device for flexible lance, described flexible lance is for check and/or cleaning tool has the closure casing being difficult to entry site, and described guiding device presents with the form of balladeur train and comprises:
The driving of flexible lance and guidance system, it installs on such devices in hinged mode;
The location control mechanism of described device;
Power supply and control socket, it is for being connected with control and electric supply installation by flexible cable;
For keeping and the maintenance of movement and travel mechanism on the inner face of wall defining housing, this maintenance and travel mechanism comprise at least two Electric Motor Wheel independent of each other, and these at least two wheels comprise permanent magnet element,
The feature of described device is, described device Axis Extension comprising along the longitudinal:
Central body, it comprises the drive system of wheel and wheel;
Rear portion, it comprises Power supply and control socket; And
Anterior, it comprises driving and the guidance system of spray gun, this front portion is arranged in the main body of described device around the axis of pitch of rotation of the wheel being parallel to described device in electronic and mode that is pivotable, and this front portion is also arranged in main body around the longitudinal axis of described device with electronic and mode that is pivotable.
Comprise this expanded angle installing the maximum control spray gun of permission of the driving of spray gun and the front portion of guidance system.In fact, this part allow the expansion of controlled movement on the anterior direction along being included in the hemisphere that rotates towards enclosure interior and therefore spray gun around longitudinal axis mobile around axis of pitch.
Preferably, at least two in Electric Motor Wheel are rotated around the almost parallel and rotation offset toward each other.
This skew of the axis of the Electric Motor Wheel of device allows by being present in the barrier such as vertical welded seam on housing wall to be checked/cleaned.In fact, when running into this situation, in these two driving wheels only one be locked simultaneously.
Preferably, described device also comprises at least one support unit, this support unit and Electric Motor Wheel complementation.
These parts allow supporting-point and allow to remain on housing wall by additional for device, therefore guarantee the optimum stabilization that spray gun launches.
Preferably, the drive system of spray gun comprises the driving wheel being equipped with pin, and this driving wheel is driven by motor, this motor is powered by control device and is controlled, these pins are used for engaging with the hole be arranged in spray gun, and spray gun has flat pattern, and roller is for guaranteeing the guiding in the downstream at spray gun.
This spray gun drive system allows to carry out lasting, continuous print and controlled driving to spray gun, this concerning for be arranged on do not allow technical staff to get involved the housing being difficult to enter in device be great characteristic.Utilize roller to keep spray gun to provide maintenance to spray gun and guiding simultaneously.
Preferably, the rear portion of described device is pivotably arranged in the main body of described device around the axis of pitch of rotation of the wheel being roughly parallel to balladeur train.
Like this rear portion is arranged on movement main body allowing this rear portion, can coincide with the curvature of housing wall better to make described device.
Preferably, controlling organization comprises at least one position cameras and at least one illuminator, and this at least one position cameras of at least one illuminator and this is connected.
This camera allows directly and controls the location of described device on housing wall intuitively.The use of the illuminator be connected with this camera allows the light solved in the type housing to lack.
Preferably, camera is positioned in the side of described device, for rotating to determine the height of described device down.
The position of the described device that this camera allows visual control relative with housing bottom.Therefore operator can control the movement of described device better.
Preferably, on before the main body that at least one camera is positioned in described device, to control the driving of flexible lance and the orientation of guidance system.
This visual control to the driving of spray gun and the orientation of guidance system allows spray gun is launched along controlled direction, therefore to arrive position to be checked or to be cleaned.
Preferably, the front portion of described device is equipped with control camera, and this control camera rotates towards the Way out of spray gun.
This visual control allows to follow spray gun, therefore spray gun can be placed on position to be checked or to be cleaned exactly during spray gun launches.
The invention still further relates to a kind of for checking the assembly with the closure casing being difficult to entry site, described assembly comprises the flexible lance according to device of the present invention and square-section, this spray gun comprises inspection camera at its free end, when spray gun is level, the vision axis of the optical pickocff of this inspection camera is directed down with about 45 °.
This assembly is for being desirable to the housing inspection of the steam generator with the closure casing such as nuclear power station being difficult to entry site.In addition, this lance driving device allows to realize to the housing bottom of generator and the accurate inspection of the particularly base portion of pipe.
Preferably, spray gun comprise for by video data towards to control and the element and being used for of direction transmission of electric supply installation takes out the microtool supplying duct moving object.
The invention still further relates to a kind of for checking the assembly with the closure casing being difficult to entry site, described assembly comprise according to device of the present invention and for high pressure cleaning flexibility and the spray gun of square-section, this spray gun comprises multiple fluid under pressure supplying duct and downstream end, this downstream end is equipped with multiple outlet, the plurality of outlet relative to spray gun axisymmetrical arrange.
This assembly is desirable for cleaning the housing of the steam generator with the closure casing such as nuclear power station being difficult to entry site.In addition, this lance driving device allows to use this device in a stable manner to clean the corrosion deposits being present in housing bottom, because the symmetry of the outlet of high pressure liquid allows to balance the power produced spray gun by high pressure liquid.
In a word, will understand the present invention well with reference to schematic figures by following explanation, these accompanying drawings are to be not the embodiment that determinate example illustrates this spray gun guiding device.
Fig. 1 is the exploded partial view of the inside of cyclone separator, and device according to the present invention within it works;
Fig. 2 is the upward view of this device;
Fig. 3 is the upward view of the scale amplifying of the motorized system of wheel;
Fig. 4 is the side view of this device;
Fig. 5 is the side view of the driving of spray gun and the scale amplifying of guidance system;
Fig. 6 is the stereogram of this device.
Fig. 1 partly illustrates the inside of the cyclone separator of the steam generator of equipment nuclear power station, and the guiding device 2 for flexible lance 3 works in cyclone separator.This cyclone separator presents with the form of columniform metal shell 1, and this housing 1 is equipped with two diameters to be less than 40cm and the opening 4 of diametrically contraposition, i.e. hand hole.This housing has cylindrical wall 5, and the inner face of this cylindrical wall 5 is metals.This housing is also equipped with the vertical metal tube 7 for generation of steam on 6 bottom it, and these vertical metal tubes 7 are in rows and columns arranged according to grid (quadrillage).The arrangement of the vertical metal tube 7 parallel with the arrangement of hand hole forms pipe capable 8, and the arrangement of the pipe vertical with this direction forms pipe row 9.
Guiding device 2 presents with the form of balladeur train, and this balladeur train is made up of three parts, and be namely called as the front portion of head 10, be called as the central portion of central body 11 and rear portion 16, rear portion 16 comprises Power supply and control socket.This layout allows to be equipped with by device at the scene the flexible cable 17 being used for Power supply and control and flexible lance 3 connected on its rear portion 16, and this flexible lance 3 is passed through from the below of guiding device 2, so that on the head 10 of guiding device 2 out.
Fig. 2 illustrates the upward view of this guiding device 2, and this guiding device 2 has lengthening form.In the figure, rear portion 16 has the protuberance of roughly equilateral triangular shape, and the rear top of this protuberance is truncated.This cut through 18 at rear portion 16 is configured with an opening, and this opening is for receiving the connector of flexible cable 17.Rear portion 16 is pivotably arranged in the central body 11 of guiding device 2 around axis of pitch.This installation can be carried out hinged around parts 20 as shown in Figure 3.
The central body 11 of guiding device 2 has the shape of general flat cuboid.Central body 11 in its lower section on there are two Electric Motor Wheel 12,13, these two Electric Motor Wheel 12,13 are arranged around the almost parallel and transverse rotation axis offset toward each other.These two Electric Motor Wheel 12,13 comprise permanent magnet element 21 around it.These Electric Motor Wheel 12,13 as shown in Figure 3 by two independently motor 14,15 by motorized.This self-contained powerization of these two Electric Motor Wheel 12,13 allows to control track when guiding device 2 moves.
Upper and offset, to realize additional support point relative to Electric Motor Wheel 12,13 below the central body 11 that support unit 22 is also arranged on guiding device.This support unit 22 allows when guiding device 2 moves along the cylindrical wall 5 of housing 1 and improves the stability of guiding device 2 when flexible lance 3 is launched.Guiding device 2 is also entreated wherein in main body 11 and is comprised position cameras 23, and these position cameras 23 are arranged on the lateral side of central body 11.Each in these position cameras 23 can be equipped with illuminator.This illuminator can be made up of the electroluminescent diode 24 in the surrounding being arranged on these position cameras 23 as shown in Figure 4.
The central body 11 of guiding device 2 is also equipped with the motorized system between the head 10 and the central body 11 of guiding device 2 of guiding device 2 as shown in Figure 3.This motorized system allows the axis of pitch of head 10 around the rotation being roughly parallel to Electric Motor Wheel 12,13 to be pivotably arranged in the central body 11 of guiding device 2.This configuration allows head 10 to carry out controlled pivotable with the angle being substantially equal to 45 °.Motorized system preferably includes positioning motor 25 and gear assembly 26.
In order to the position of control device 1, central body 11 can comprise position cameras 27 on the front thereof.This position cameras 27 can combine with illuminator as shown in Figure 2, and this photographic system such as comprises electroluminescent diode 28.
The head 10 of guiding device 2 is also pivotably mounted around the longitudinal axis of guiding device 2 by intermediate member 29.This is fitted through the assembly that is made up of positioning motor 30 and gear 31 by motorized, and allows head 10 to carry out controlled pivoting action with the angle being substantially equal to 90 °.
Head 10 comprises first 32 of parallelepiped, and protuberance 33 is from this first 32 extension.First 32 one-tenth of this protuberance 33 and head 10 are substantially equal to the angle of 110 °.
Head 10 also comprises driving and the guidance system of flexible lance 3.This driving and guidance system comprise passage 34, and this passage 34 is disposed in two parts 32,33 for guiding flexible lance 3 by the head 10 of guiding device 2.This driving and guidance system also comprise motor 35, and this motor 35 is arranged on first 32.This motor 35 drives the driving wheel 37 being equipped with pin 38 by the gear train 36 shown in Fig. 2 and Fig. 5, this driving wheel 37 is arranged in passage 34.These pins 38 for be inserted in head 10 when flexible lance 3 passage 34 in time engage with flexible lance 3.This guiding of flexible lance can be completed by not shown roller.
Therefore, when flexible lance 3 is installed on guiding device 2, flexible lance 3 is inserted in the head 10 of guiding device 2 by passage 34.As shown in Figure 1, flexible lance 3 on the protuberance 33 of the head 10 guided by passage 34 and roller on out.The expansion of flexible lance 3 then can realize by making to be equipped with the driving wheel 37 of pin 38 to rotate, and these pins 38 drive flexible lance 3.
In order to accurately control the expansion of flexible lance 3, head 10 has control camera 39 on its protuberance 33.This control camera 39 can also be equipped with the photographic system such as with electroluminescent diode.
The flexible lance 3 can equipping guiding device 2 is flexible lance of square-section, and this flexible lance wears porose over the whole length.This some holes is used for cooperating with the driving wheel 37 with pin 38 of head 10 when flexible lance 3 is engaged by driving wheel 37.According to the type of the operation carried out in housing, namely check or cleaning, the flexible lance 3 of equipment guiding device 2 is configured by different way.
In order to carry out the inspection of housing 1, the free end of flexible lance 3 is equipped with optical pickocff, and flexible lance 3 comprise for by video data towards control and electric supply installation direction transmit element.Flexible lance 3 also comprises the microtool supplying duct for taking out migration object.
In order to clean, flexible lance 3 comprises multiple fluid under pressure supplying duct, and its downstream end is equipped with multiple outlet, the plurality of outlet relative to flexible lance 3 axisymmetrical arrange.This being arranged symmetrically with allows flexible lance to be held in place, and the power applied by the Liquid inject pressure from each mouth is compensated by the Liquid inject of symmetrical mouth.
When the housing 1 of the cyclone separator of the steam generator of thermo-power station should be examined or be cleaned, carry out in the following manner.The flexible cable 17 being used for Power supply and control is turned on guiding device 2 in advance, and checks that the flexible lance 3 of camera or high pressure spray gun imports in the passage 34 that is arranged in the head 10 of guiding device 2 by being equipped with as required.As shown in Figure 1, the equipment of realized guiding device 2 is imported in housing 1 from two hand holes.So this device is placed on the inner face of the cylindrical wall 5 of the housing 1 of cyclone separator.This device remains on the inner face of roughly vertical cylindrical wall 5 by its Electric Motor Wheel 12,13 and its support unit 22.
Such setting, this device can be controlled by electronic installation by operator, and this electronic installation it is desirable to informationalized electronic installation, such as, be provided with the computer by connecting capture card on the apparatus for the flexible cable 17 of Power supply and control.Operator then accesses setting controlling organization on the apparatus and position cameras 23,27 by this electronic mechanism simultaneously and controls camera 39 and control the different motorized mechanism of this device and motor 14,15,35 and positioning motor 25,30.Ideally, the control of the different motorized mechanisms of this device is undertaken by control lever.
Operator then can use and be arranged on position cameras 23,27 in the central body 11 of guiding device 2 and the position controlling camera 39 and determine the guiding device 2 relative with housing 1.Once determine the position of guiding device 2, operator just can control two Electric Motor Wheel 12,13 of this device independently, with the position making this device move to the needs on the inner face of cylindrical wall 5.This device is in place, and operator starts two positioning motors 25,30 of head 10, to obtain the expanded angle for arriving required for position to be checked or to be cleaned.Then flexible lance 3 is deployed into the length of expectation.For this reason, make to rotate with the driving wheel 37 of pin 38 by the motor 35 be arranged on the head of device.Reach flexible lance 3 and launch required length, operator, according to selected equipment, uses the camera being arranged on the position of spray gun launching place for inspection/cleaning gun, or uses the high pressure spray gun for cleaning this same area.
Self-evident, the invention is not restricted to the single embodiment of the above exemplarily described guiding device for flexible lance, the present invention includes all enforcement modified examples on the contrary.
Claims (11)
1. the guiding device for flexible lance (3) (2), described flexible lance (3) is for check and/or cleaning tool has the closure casing (1) being difficult to entry site, and described guiding device (2) presents with the form of balladeur train and comprises:
The driving of-flexible lance (3) and guidance system, it is hingedly arranged on described guiding device (2);
The location control mechanism of-described guiding device (2);
-Power supply and control socket, it is for being connected with control and electric supply installation by flexible cable (17);
-for keeping and the maintenance of movement and travel mechanism on the inner face of cylindrical wall (5) defining described housing (1), described maintenance and travel mechanism comprise at least two Electric Motor Wheel independent of each other (12,13), described at least two Electric Motor Wheel (12,13) comprise permanent magnet element (21)
It is characterized in that, described guiding device (2) Axis Extension comprising along the longitudinal:
-central body (11), it comprises the drive system of Electric Motor Wheel (12,13) and described Electric Motor Wheel;
-rear portion (16), it comprises described Power supply and control socket; And
-anterior, it comprises driving and the guidance system of described flexible lance (3), described front portion is arranged in the described central body (11) of described guiding device (2) around the axis of pitch of rotation of the described Electric Motor Wheel (12,13) being parallel to described guiding device (2) in electronic and mode that is pivotable, and described front portion is also arranged in described central body (11) around the longitudinal axis of described guiding device (2) with electronic and mode that is pivotable.
2. guiding device according to claim 1 (2), is characterized in that, at least two in described Electric Motor Wheel (12,13) are rotated around the almost parallel and rotation offset toward each other.
3. guiding device according to claim 1 and 2 (2), it is characterized in that, described guiding device (2) also comprises at least one support unit (22), and described support unit (22) is complementary with described Electric Motor Wheel (12,13).
4. guiding device according to claim 1 and 2 (2), it is characterized in that, the drive system of described flexible lance (3) comprises the driving wheel (37) being equipped with pin (38), described driving wheel (37) is driven by motor (35), described motor (35) is powered by control device and is controlled, described pin (38) is for engaging with the hole be arranged in described flexible lance (3), described flexible lance (3) has flat pattern, and roller is for guaranteeing the guiding in the downstream in described flexible lance.
5. guiding device according to claim 1 and 2 (2), it is characterized in that, the described rear portion (16) of described guiding device (2) is pivotably arranged in the described central body (11) of described guiding device (2) around the axis of pitch of rotation of the Electric Motor Wheel (12,13) being roughly parallel to described balladeur train.
6. guiding device according to claim 1 and 2 (2), it is characterized in that, described controlling organization comprises at least one position cameras (23,27) and at least one illuminator, and at least one illuminator described is connected with at least one position cameras described (23,27).
7. guiding device according to claim 6 (2), it is characterized in that, described at least one position cameras (23) is positioned in the side of described guiding device (2), for rotating to determine the height of described guiding device (2) down.
8. guiding device according to claim 7 (2), it is characterized in that, on before the described central body (11) that described at least one position cameras (27) is positioned in described guiding device (2), to control the driving of described flexible lance (3) and the orientation of guidance system.
9. guiding device according to claim 1 and 2 (2), it is characterized in that, the described front portion of described guiding device is equipped with and controls camera (39), and described control camera (39) is rotated towards the Way out of described flexible lance (3).
10. one kind for checking the assembly with the closure casing (1) being difficult to entry site, it is characterized in that, described assembly comprises guiding device according to any one of claim 1 to 9 (2) and has the flexible lance (3) of square-section, described flexible lance (3) comprises inspection camera at its free end, when described flexible lance is level, the vision axis of the optical pickocff of described inspection camera is directed down with about 45 °.
11. 1 kinds of assemblies for checking with the closure casing (1) being difficult to entry site, it is characterized in that, described assembly comprise guiding device according to any one of claim 1 to 9 (2) and for high pressure cleaning and there is the flexible lance of square-section, described flexible lance comprises multiple fluid under pressure supplying duct and downstream end, described downstream end is equipped with multiple outlet, and described multiple outlet is arranged relative to the axisymmetrical ground of described flexible lance (3).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR1054360A FR2961003B1 (en) | 2010-06-03 | 2010-06-03 | GUIDING DEVICE FOR FLEXIBLE LANCE |
| FR1054360 | 2010-06-03 | ||
| PCT/FR2011/051241 WO2011151591A2 (en) | 2010-06-03 | 2011-05-31 | Device for guiding a flexible lance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103261788A CN103261788A (en) | 2013-08-21 |
| CN103261788B true CN103261788B (en) | 2015-07-08 |
Family
ID=42634997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201180027325.3A Active CN103261788B (en) | 2010-06-03 | 2011-05-31 | Device for guiding a flexible lance |
Country Status (6)
| Country | Link |
|---|---|
| EP (1) | EP2577158B1 (en) |
| CN (1) | CN103261788B (en) |
| ES (1) | ES2569714T3 (en) |
| FR (1) | FR2961003B1 (en) |
| SI (1) | SI2577158T1 (en) |
| WO (1) | WO2011151591A2 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002306B (en) * | 2014-05-13 | 2016-03-30 | 中国科学院深圳先进技术研究院 | Telescopic magic hand |
| WO2016014095A1 (en) * | 2014-07-23 | 2016-01-28 | Westinghouse Electric Company Llc | Method and apparatus for manipulating equipment inside a steam generator |
| FR3025931A1 (en) | 2014-09-16 | 2016-03-18 | Sra Savac | GUIDING DEVICE FOR FLEXIBLE LANCE |
| FR3030863B1 (en) | 2014-12-19 | 2019-06-14 | Endel Sra | METHOD AND DEVICE FOR INSPECTING A STEAM GENERATOR |
| CN108405427A (en) * | 2018-03-15 | 2018-08-17 | 苏州热工研究院有限公司 | Cleaning equipment and cleaning method between a kind of the first and second support plate of steam generator |
| KR102241008B1 (en) * | 2019-08-13 | 2021-04-16 | 두산중공업 주식회사 | Apparatus for inspecting and removing foreign substances in steam generator, and system for same |
| FR3103880B1 (en) | 2019-12-03 | 2021-11-26 | Endel Sra | Tube numbering process in a tube row |
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| EP0104492A2 (en) * | 1982-09-27 | 1984-04-04 | Combustion Engineering, Inc. | Remotely operated maintenance and inspection equipment transporter |
| EP0526120A1 (en) * | 1991-07-31 | 1993-02-03 | Electric Power Research Institute, Inc. | Sliding lance guide flexible lance system |
| CN1150473C (en) * | 1998-12-14 | 2004-05-19 | 日本电气株式会社 | Web browser for output of static picture and program memory medium |
| CN1868611A (en) * | 2005-05-27 | 2006-11-29 | 韩国电力公社 | Cleaning device of steam generator, jetting water under high pressure |
| CN101162617A (en) * | 2006-10-13 | 2008-04-16 | 核动力运行研究所 | Nuclear boiler water indoor surface television set automatic checking device |
| CN101196291A (en) * | 2006-10-31 | 2008-06-11 | 韩国电力公社 | Steam generator sludge lancing system with flexible inter-tube lance |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4661309A (en) * | 1984-02-13 | 1987-04-28 | Combustion Engineering, Inc. | Equipment transporter for nuclear steam generator |
| FR2573907B3 (en) * | 1984-11-27 | 1987-05-22 | Thome Paul | PROCESS FOR COLLECTING AND DISCHARGING FORMED SLUDGE IN STEAM GENERATORS OF PRESSURIZED WATER NUCLEAR REACTORS |
| FR2679370B1 (en) * | 1991-07-16 | 1993-11-26 | Framatome | DEVICE FOR INSPECTING AND INTERVENING IN THE SECONDARY PART OF A STEAM GENERATOR OF A WATER COOLED NUCLEAR REACTOR. |
| US7162981B2 (en) * | 2005-03-16 | 2007-01-16 | Framatome Anp, Inc. | System for annulus tooling alignment with suction pickup in the stay dome on the secondary side of a steam generator |
| US8418662B2 (en) * | 2008-07-18 | 2013-04-16 | Korea Plant Service & Engineering Co., Ltd. | Apparatus for visually inspecting and removing foreign substance from gap of heat tube bundle in upper part of tube sheet of second side of steam generator |
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2010
- 2010-06-03 FR FR1054360A patent/FR2961003B1/en not_active Expired - Fee Related
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2011
- 2011-05-31 SI SI201130797A patent/SI2577158T1/en unknown
- 2011-05-31 CN CN201180027325.3A patent/CN103261788B/en active Active
- 2011-05-31 EP EP11728333.3A patent/EP2577158B1/en active Active
- 2011-05-31 WO PCT/FR2011/051241 patent/WO2011151591A2/en active Application Filing
- 2011-05-31 ES ES11728333.3T patent/ES2569714T3/en active Active
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| EP0104492A2 (en) * | 1982-09-27 | 1984-04-04 | Combustion Engineering, Inc. | Remotely operated maintenance and inspection equipment transporter |
| EP0526120A1 (en) * | 1991-07-31 | 1993-02-03 | Electric Power Research Institute, Inc. | Sliding lance guide flexible lance system |
| CN1150473C (en) * | 1998-12-14 | 2004-05-19 | 日本电气株式会社 | Web browser for output of static picture and program memory medium |
| CN1868611A (en) * | 2005-05-27 | 2006-11-29 | 韩国电力公社 | Cleaning device of steam generator, jetting water under high pressure |
| CN101162617A (en) * | 2006-10-13 | 2008-04-16 | 核动力运行研究所 | Nuclear boiler water indoor surface television set automatic checking device |
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Also Published As
| Publication number | Publication date |
|---|---|
| SI2577158T1 (en) | 2016-06-30 |
| FR2961003B1 (en) | 2015-10-30 |
| CN103261788A (en) | 2013-08-21 |
| EP2577158B1 (en) | 2016-02-10 |
| EP2577158A2 (en) | 2013-04-10 |
| FR2961003A1 (en) | 2011-12-09 |
| WO2011151591A2 (en) | 2011-12-08 |
| WO2011151591A3 (en) | 2013-08-15 |
| ES2569714T3 (en) | 2016-05-12 |
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