EP0020272A1 - Mobile tool holder for working a tube sheet - Google Patents

Mobile tool holder for working a tube sheet Download PDF

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Publication number
EP0020272A1
EP0020272A1 EP80400765A EP80400765A EP0020272A1 EP 0020272 A1 EP0020272 A1 EP 0020272A1 EP 80400765 A EP80400765 A EP 80400765A EP 80400765 A EP80400765 A EP 80400765A EP 0020272 A1 EP0020272 A1 EP 0020272A1
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EP
European Patent Office
Prior art keywords
plate
dihedral
guides
arms
tool holder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP80400765A
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German (de)
French (fr)
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EP0020272B1 (en
Inventor
Bernard Lebouc
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Areva NP SAS
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Framatome SA
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Publication date
Application filed by Framatome SA filed Critical Framatome SA
Publication of EP0020272A1 publication Critical patent/EP0020272A1/en
Application granted granted Critical
Publication of EP0020272B1 publication Critical patent/EP0020272B1/en
Expired legal-status Critical Current

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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
    • F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
    • F22B37/006—Walking equipment, e.g. walking platforms suspended at the tube sheet

Definitions

  • the present invention relates to a tool holder device intended to be remotely controlled on the move on a tubular plate. It applies more particularly to the maintenance service for a steam generator in a nuclear power plant.
  • the very large number of tubes in the tubular bundles of steam generators must be subject to periodic verification and maintenance operations, such as, for example, welding operations, fitting plugs. obturation to neutralize defective tubes, or interventions on the inner lining of the tubes.
  • maintenance operations must be carried out from the water box, that is to say in a highly radioactive field; it is therefore necessary to use remote-controlled devices to limit human intervention to the simple installation of equipment.
  • the steam generators are generally with vertical tubes, that is to say that the tube plate is then "at the ceiling" of the water box.
  • French patent 74-39771 describes such an apparatus comprising two perpendicular arms provided with hooking means in the orifices of the plate, and comprising means for giving the arms relative movements parallel and perpendicular to the tubular plate to allow movement not step by step, by successively hooking each of the arms and moving the other while one is hooked.
  • the present invention overcomes these drawbacks by allowing the production of an apparatus, also with automatic displacements remotely controlled on a tubular plate by relative movements of two perpendicular arms, but which can also be used as a support for various tool heads necessary for the maintenance of the plate and of the tubes which connect to it.
  • the invention comprises a support body at an angle forming a dihedral whose edge is perpendicular to the tube plate, each arm being carried, independently of one another and in the external dihedral, by a slide parallel to the plate, itself mounted on a mobile carriage on the body perpendicular to the plate, with independent remote control means for moving each arm on its slide and each carriage on the body; in the inner dihedral, free from the movement of the arms, the body includes guides for supporting tools moving perpendicular to the tube plate.
  • the apparatus comprises a rotating turret with support guides for several tools, and means for selectively bringing into the inner dihedral of the body one or the other of the heads on standby, the support guides then being in the extension of the dihedral guides, the apparatus being moreover provided with means for moving the tools on the guides of the inner dihedron.
  • the body of the tool holder is mainly constituted by two plates 1 and 2 welded at right angles to each other, and welded to their lower part of a substantially square plate 3.
  • the plate 1 supports a block of ball bearing slides 5 in which slides a carriage 6 linked to the head of the rod 7 of a jack 8.
  • the body of the jack 8 is articulated at 9 on an extension of the foot of the board 2 and on an auxiliary support 10.
  • the carriage 6 carries a set of four idle rollers 12 between which an arm 13 can slide, the central part of which has a cross-section with the profile of the rollers.
  • the arm 13 carries a jack 15 for controlling expandable clamps 16, shown here engaged by their expandable part in the orifices of the tubular plate 18. These clamps may for example be of the type shown in more detail in the patent previous French 74-39771.
  • the jack body 20 is integral with the end of the arm 13 and its rod 21 is linked to an extension 22 of the carriage 6.
  • the plate 2 supports a block of ball bearing slides 25 in which slides a carriage 26 linked to the head of the rod 27 of a jack 28.
  • the jack body 28 is fixed on the support 29 welded to plate 2.
  • the carriage 26 carries a set of four idle rollers 32 between which an arm 33 can slide.
  • the arm 33 carries a jack 35 for controlling expandable clamps 36 engaged in the orifices of the tubular plate 18.
  • the body of jack 40 is integral with the end of arm 33, and its rod 41 is linked to an extension 42 of carriage 26.
  • each plate 1 and 2 supports a guide 45 and 46, parallel to the edge of the dihedral, that is to say perpendicular to the tube plate when the tool holder is in place.
  • the actual welding head 50 is carried by a base 51 secured to a slide 52 engaged on the guides 45 and 46.
  • the maneuver for bringing the head into the working position on the tube plate that is to say -to say the movement maneuver on the guides 45 and 46, is carried out by manual remote control from the outside of the water box.
  • the rigid guides 45 and 46 are respectively extended by flexible guides 53 and 54, of a length such that their other end is always outside the water box regardless of the position of the device on the tube plate . They are joined at their ends by the spacer 55 which retains the same distance between the flexible guides as between the rigid guides 45 and 46.
  • the spacer 55 carries a handle 56.
  • Each guide 53 and 54 passes inside d 'a sheath 57 and 58 flexible, but rigid in axial compression, the two sheaths being connected at each end by a spacer 60 and 61, the latter provided with a handle 62. Finally the spacer 60 is linked to the base 51 by a beam 64 flexible but rigid in compression.
  • the sheath contains the cables or tubes for the remote control of the actual welding head.
  • the sheath 66 contains targets or remote control tubes for the cylinders 8, 20, 28 and 40 for moving the arms, that is to say for moving the tool holder on the plate, as well as cylinders 15 and 35 for operating the hanging clips.
  • another slide carrying another tool for example a milling or drilling head
  • the tool changing system can be improved by using a tool turret allowing to have inside even of the water box of all the tools which we plan to use.
  • Figure 6 shows the mounting of such a turret. It comprises a pivot 70 bolted under the plate 3, and on which is mounted a rotating ferrule 71 integral with the toothed ring 72. The ring and the ferrule are rotated by the pinion 73, mounted on a support 74 locked in rotation on the pivot by the rings 75 and 76, and remotely controlled by means of the flexible 77.
  • the ferrule 71 supports the turntable 79 provided with guides 80 which are at the same center distance as the guides 45 and 46.
  • the plate 79 comprises, angularly distributed around the axis, three or four sets of two guides 80.
  • the guides 80 will be in the extension of the guides 45 and 46, as can be seen in Figure 7.
  • the tool holder is also provided here, in the working dihedral, with a screw lifting mechanism comprising a motor 82 driving a vertical screw 83 which then engages in a conjugate nut carried by the slide 52.
  • the remote control of screw 83 allows the entire welding head to be brought into the active position against the tube plate. To change the tool, it suffices to lower the head on its support guides 80 of the turntable, then rotate the latter to bring another head into the dihedral and make it rise to the working position by means of screw 83.
  • a screw mechanism 82-83 can also be used in the case of FIG. 5 for a device without a rotating turret. The head holder slide is then hung by hand until it engages the screw, and precise positioning and vertical working movements can be obtained by electric remote control.
  • the device with a support plate secured to the body and provided with movable fingers capable of engaging in holes in the plate; such an arrangement will make it possible to avoid making the coupling torques bear the reaction torques generated by rotary tools such as milling cutters or drills put into action on the plate or the tubes.

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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)
  • Manipulator (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
  • Drilling And Boring (AREA)

Abstract

Dispositif porte-outil mobile sur une plaque tubulaire, avec deux bras (13, 33) perpendiculaires munis d'organes d'accrochage (16, 36) dans les orifices de la plaque, et des moyens pour déplacer l'ensemble pas à pas par mouvements relatifs des bras. Le dispositif comporte un corps support (1, 2) en équerre formant un dièdre perpendiculaire à la plaque. Les bras (13, 33) sont disposés dans le dièdre extérieur, et le dièdre intérieur libre du débattement des bras comporte des guides (45-46) supports des outils (50). L'invention s'applique aux opérations d'entretien des générateurs de vapeurs dans une centrale nucléaire.Tool-holder mobile on a tubular plate, with two perpendicular arms (13, 33) provided with hooking members (16, 36) in the holes of the plate, and means for moving the assembly step by step relative arm movements. The device comprises a support body (1, 2) at an angle forming a dihedral perpendicular to the plate. The arms (13, 33) are arranged in the outer dihedral, and the inner dihedral free of the travel of the arms comprises guides (45-46) supporting the tools (50). The invention applies to maintenance operations of steam generators in a nuclear power plant.

Description

La présente invention concerne un dispositif porte-outil destiné à être télécommandé en déplacement sur une plaque tubulaire. Elle s'applique plus particulièrement au service de maintenance pour un générateur de vapeur dans une centrale nucléaire.The present invention relates to a tool holder device intended to be remotely controlled on the move on a tubular plate. It applies more particularly to the maintenance service for a steam generator in a nuclear power plant.

Dans une centrale nucléaire à eau pressurisée, les très nombreux tubes des faisceaux tubulaires des générateurs de vapeur doivent faire l'objet d'opérations périodiques de vérification et de maintenance, comme par exemple des opérations de soudage, de mise en place de bouchons d'obturation pour neutraliser des tubes défectueux, ou d'interventions sur le revêtement intérieur des tubes. Ces opérations de maintenance doivent se faire à partir de la boite à eau, c'est-à-dire en domaine fortement radio-actif ; il est donc nécessaire d'utiliser des appareils télécommandés pour limiter les interventions humaines à la simple mise en place du matériel. En outre les générateurs de vapeur sont généralement à tubes verticaux, c'est-à-dire que la plaque tubulaire est alors "au plafond" de la boite à eau.In a pressurized water nuclear power plant, the very large number of tubes in the tubular bundles of steam generators must be subject to periodic verification and maintenance operations, such as, for example, welding operations, fitting plugs. obturation to neutralize defective tubes, or interventions on the inner lining of the tubes. These maintenance operations must be carried out from the water box, that is to say in a highly radioactive field; it is therefore necessary to use remote-controlled devices to limit human intervention to the simple installation of equipment. In addition, the steam generators are generally with vertical tubes, that is to say that the tube plate is then "at the ceiling" of the water box.

On a déjà réalisé des appareils capables d'être déplacés par télécommande sous la plaque tubulaire d'un générateur de vapeur. Le brevet français 74-39771 décrit un tel appareil comportant deux bras perpendiculaires munis de moyens d'accrochage dans les orifices de la plaque, et comportant des moyens pour donner aux bras des mouvements relatifs parallèlement et perpendiculairement à la plaque tubulaire pour permettre un déplacement pas à pas de l'ensemble, par accrochage successif de chacun des bras et déplacement de l'autre pendant que l'un est accroché.We have already made devices capable of being moved by remote control under the tube plate of a steam generator. French patent 74-39771 describes such an apparatus comprising two perpendicular arms provided with hooking means in the orifices of the plate, and comprising means for giving the arms relative movements parallel and perpendicular to the tubular plate to allow movement not step by step, by successively hooking each of the arms and moving the other while one is hooked.

Mais un tel appareil est d'une utilisation limitée à la mise en place de guides pour des sondes de contrôle à introduire dans les tubes, ces guides étant nécessairement disposés à l'extrémité des bras en raison de l'encombrement de la partie centrale de l'appareil. Ceci est sans inconvénient pour de simples guides, mais ne permet pas d'utiliser des outils plus complexes et plus lourds, tels que par exemple des têtes de fraisage ou de soudage.However, such an apparatus is of limited use for the installation of guides for control probes to be introduced into the tubes, these guides being necessarily arranged at the end of the arms because of the size of the central part of the device. This is without disadvantage for simple guides, but does not allow the use of more complex and heavier tools, such as for example milling or welding heads.

La présente invention remédie à ces inconvénients en permettant la réalisation d'un appareil, également à déplacements automatiques télécommandés sur une plaque tubulaire par mouvements relatifs de deux bras perpendiculaires, mais pouvant aussi être utilisé comme support pour des têtes d'outils divers nécessaires à l'entretien de la plaque et des tubes qui s'y raccordent.The present invention overcomes these drawbacks by allowing the production of an apparatus, also with automatic displacements remotely controlled on a tubular plate by relative movements of two perpendicular arms, but which can also be used as a support for various tool heads necessary for the maintenance of the plate and of the tubes which connect to it.

Selon l'invention il comporte un corps support en équerre formant un dièdre dont l'arête est perpendiculaire à la plaque tubulaire, chaque bras étant porté, indépendamment l'un de l'autre et dans le dièdre extérieur, par une glissière parallèle à la plaque, elle-même montée sur un chariot mobile sur le corps perpendiculairement à la plaque, avec des moyens télécommandés indépendants pour déplacer chaque bras sur sa glissière et chaque chariot sur le corps ; dans le dièdre intérieur, libre du débattement des bras, le corps comporte des guides pour supporter des outils en déplacement perpendiculairement à la plaque tubulaire.According to the invention it comprises a support body at an angle forming a dihedral whose edge is perpendicular to the tube plate, each arm being carried, independently of one another and in the external dihedral, by a slide parallel to the plate, itself mounted on a mobile carriage on the body perpendicular to the plate, with independent remote control means for moving each arm on its slide and each carriage on the body; in the inner dihedral, free from the movement of the arms, the body includes guides for supporting tools moving perpendicular to the tube plate.

Selon une forme préférentielle de réalisation, à l'extrémité du corps opposé à la plaque tubulaire, l'appareil comporte une tourelle tournante avec des guides supports de plusieurs outils, et des moyens pour amener sélectivement dans le dièdre intérieur du corps l'une ou l'autre des têtes en attente, les guides supports étant alors dans le prolongement des guides du dièdre, l'appareil étant par ailleurs muni de moyens pour déplacer les outils sur les guides du dièdre intérieur.According to a preferred embodiment, at the end of the body opposite to the tube plate, the apparatus comprises a rotating turret with support guides for several tools, and means for selectively bringing into the inner dihedral of the body one or the other of the heads on standby, the support guides then being in the extension of the dihedral guides, the apparatus being moreover provided with means for moving the tools on the guides of the inner dihedron.

L'invention sera mieux comprise en se référant à des modes de réalisation particuliers donnés à titre d'exemples et représentés par les dessins annexés.

  • La figure 1 est une vue en élévation du porte-outil proprement dit, selon I-I de la figure 3.
  • La figure 2 est une autre vue en élévation selon II-II de la figure 3.
  • La figure 3 est une vue de dessus du dispositif, selon III-III de la figure 2.
  • La figure 4 est une coupe selon IV-IV de la figure 2.
  • La figure 5 est une vue simplifiée en perspective, dans le cas d'un dispositif utilisant un seul outil à télécommande manuelle.
  • La figure 6 est une vue en élévation, et partiellement en coupe, de la partie inférieure du porte-outil représenté à la figure 2, lorsque celui-ci est équipé d'une tourelle porteuse de plusieurs types d'outils interchangeables.
  • La figure 7 est une vue homologue de la figure 5, dans le cas d'un appareil à tourelle.
The invention will be better understood by referring to particular embodiments given by way of examples and represented by the appended drawings.
  • FIG. 1 is an elevation view of the tool holder proper, according to II of FIG. 3.
  • FIG. 2 is another elevation view along II-II of FIG. 3.
  • FIG. 3 is a top view of the device, according to III-III of FIG. 2.
  • Figure 4 is a section on IV-IV of Figure 2.
  • Figure 5 is a simplified perspective view, in the case of a device using a single tool with manual remote control.
  • Figure 6 is an elevational view, partially in section, of the lower part of the tool holder shown in Figure 2, when the latter is equipped with a turret carrying several types of interchangeable tools.
  • Figure 7 is a counterpart view of Figure 5, in the case of a turret apparatus.

En se référant tout d'abord à l'ensemble des figures 1 à 4, on verra que le corps du porte-outil est principalement constitué par deux plaques 1 et 2 soudées en équerre l'une à l'autre, et soudées à leur partie inférieure à une plaque sensiblement carrée 3.By first referring to all of Figures 1 to 4, we will see that the body of the tool holder is mainly constituted by two plates 1 and 2 welded at right angles to each other, and welded to their lower part of a substantially square plate 3.

La plaque 1 supporte un bloc à glissières à billes 5 dans lequel coulisse un chariot 6 lié à la tête de la tige 7 d'un vérin 8. Le corps du vérin 8 est articulé en 9 sur un prolongement du pied de la plaque 2 et sur un support auxiliaire 10. Le chariot 6 porte un jeu de quatre galets fous 12 entre lesquels peut coulisser un bras 13 dont la partie centrale est de section conjuguée avec le profil des galets. A chacune de ses extrémités le bras 13 porte un vérin 15 de commande de pinces expansibles 16, représentées ici engagées par leur partie expansible dans les orifices de la plaque tubulaire 18. Ces pinces pourront être par exemple du type représenté plus en détail dans le brevet français précédent 74-39771. Le corps de vérin 20 est solidaire de l'extrémité du bras 13 et sa tige 21 est liée à un prolongement 22 du chariot 6.The plate 1 supports a block of ball bearing slides 5 in which slides a carriage 6 linked to the head of the rod 7 of a jack 8. The body of the jack 8 is articulated at 9 on an extension of the foot of the board 2 and on an auxiliary support 10. The carriage 6 carries a set of four idle rollers 12 between which an arm 13 can slide, the central part of which has a cross-section with the profile of the rollers. At each of its ends, the arm 13 carries a jack 15 for controlling expandable clamps 16, shown here engaged by their expandable part in the orifices of the tubular plate 18. These clamps may for example be of the type shown in more detail in the patent previous French 74-39771. The jack body 20 is integral with the end of the arm 13 and its rod 21 is linked to an extension 22 of the carriage 6.

De façon tout à fait analogue la plaque 2 supporte un bloc à glissières à billes 25 dans lequel coulisse un chariot 26 lié à la tête de la tige 27 d'un vérin 28. Le corps du vérin 28 est fixé sur le support 29 soudé sur la plaque 2.In a completely analogous manner, the plate 2 supports a block of ball bearing slides 25 in which slides a carriage 26 linked to the head of the rod 27 of a jack 28. The jack body 28 is fixed on the support 29 welded to plate 2.

Le chariot 26 porte un jeu de quatre galets fous 32 entre lesquels peut coulisser un bras 33. A chacune de ses extrémités le bras 33 porte un vérin 35 de commande de pinces expansibles 36 engagées dans les orifices de la plaque tubulaire 18. Le corps de vérin 40 est solidaire de l'extrémité du bras 33, et sa tige 41 est liée à un prolongement 42 du chariot 26.The carriage 26 carries a set of four idle rollers 32 between which an arm 33 can slide. At each of its ends, the arm 33 carries a jack 35 for controlling expandable clamps 36 engaged in the orifices of the tubular plate 18. The body of jack 40 is integral with the end of arm 33, and its rod 41 is linked to an extension 42 of carriage 26.

On voit, en particulier sur les figures 3 et 4, que le dièdre intérieur formé par les plaques 1 et 2 du corps est laissé entièrement libre par le débattement des bras 13, 33, ainsi que par le fonctionnement de leurs vérins de commande. Cette zone peut donc être utilisée pour amener une tête d'outil contre la plaque. Pour cela chaque plaque 1 et 2 supporte un guide 45 et 46, parallèle à l'arête du dièdre, c'est-à-dire perpendiculaire à la plaque tubulaire lorsque le porte-outil est en place.It can be seen, in particular in FIGS. 3 and 4, that the inner dihedral formed by the plates 1 and 2 of the body is left entirely free by the movement of the arms 13, 33, as well as by the operation of their control jacks. This area can therefore be used to bring a tool head against the plate. For this each plate 1 and 2 supports a guide 45 and 46, parallel to the edge of the dihedral, that is to say perpendicular to the tube plate when the tool holder is in place.

On se référera maintenant à la figure 5 où l'on voit une tête de soudure automatique à l'argon en place dans le dièdre. La tête de soudure proprement dite 50 est portée par une embase 51 solidaire d'un coulisseau 52 engagé sur les guides 45 et 46. Ici la manoeuvre d'amenée de la tête en position de travail sur la plaque tubulaire, c'est-à-dire la manoeuvre de déplacement sur les guides 45 et 46, est réalisée par télécommande manuelle à partir de l'extérieur de la boite à eau. Les guides rigides 45 et 46 sont respectivement prolongés par des guides souples 53 et 54, d'une longueur telle que leur autre extrémité soit toujours à l'extérieur de la boite à eau quelle que soit la position de l'appareil sur la plaque tubulaire. Ils sont réunis à leurs extrémités par l'entretoise 55 qui conserve entre les guides souples le même entraxe qu'entre les guides rigides 45 et 46. L'entretoise 55 porte une poignée 56. Chaque guide 53 et 54 passe à l'intérieur d'une gaine 57 et 58 souple, mais rigide en compression axiale, les deux gaines étant reliées à chaque extrémité par une entretoise 60 et 61, cette dernière munie d'une poignée 62. Enfin l'entretoise 60 est liée à l'embase 51 par un faisceau 64 souple mais rigide en compression.We will now refer to Figure 5 where we see a automatic argon welding head in place in the dihedral. The actual welding head 50 is carried by a base 51 secured to a slide 52 engaged on the guides 45 and 46. Here the maneuver for bringing the head into the working position on the tube plate, that is to say -to say the movement maneuver on the guides 45 and 46, is carried out by manual remote control from the outside of the water box. The rigid guides 45 and 46 are respectively extended by flexible guides 53 and 54, of a length such that their other end is always outside the water box regardless of the position of the device on the tube plate . They are joined at their ends by the spacer 55 which retains the same distance between the flexible guides as between the rigid guides 45 and 46. The spacer 55 carries a handle 56. Each guide 53 and 54 passes inside d 'a sheath 57 and 58 flexible, but rigid in axial compression, the two sheaths being connected at each end by a spacer 60 and 61, the latter provided with a handle 62. Finally the spacer 60 is linked to the base 51 by a beam 64 flexible but rigid in compression.

On voit qu'en poussant ou en tirant sur la poignée 62 et en prenant réaction sur l'entretoise 55 ou la poignée 56, on peut déplacer à volonté la tête 50 sur les guides 45 et 46 par rapport à la plaque tubulaire lorsque l'ensemble a été mis en position sur la plaque, de façon à ce que la tête soit en face du tube sur lequel on souhaite intervenir.We see that by pushing or pulling on the handle 62 and taking reaction on the spacer 55 or the handle 56, we can move at will the head 50 on the guides 45 and 46 relative to the tube plate when the together was placed in position on the plate, so that the head is opposite the tube on which one wishes to intervene.

La gaine contient les câbles ou tubes de télécommande de la tête de soudure proprement dite. La gaine 66 contient des cibles ou tubes de télécommande des vérins 8, 20, 28 et 40 de déplacement des bras c'est-à-dire de déplacement du porte-outil sur la plaque, ainsi que des vérins 15 et 35 de manoeuvre des pinces d'accrochage. On voit enfin qu'il reste possible de changer d'outil sans détacher le porte-outil de la plaque tubulaire. Il suffira alors de libérer l'entretoise 55 pour pouvoir tirer complètement sur la poignée 62 et extraire de la boite à eau l'ensemble de la tête 50 et de son coulisseau porteur 52 qui sera guidé.vers l'extérieur par les guides souples 53 et 54. On pourra alors engager par la même voie un autre coulisseau portant un autre outil, tête de fraisage ou de perçage par exemple, que l'on pourra à son tour amener en position de travail contre la plaque.The sheath contains the cables or tubes for the remote control of the actual welding head. The sheath 66 contains targets or remote control tubes for the cylinders 8, 20, 28 and 40 for moving the arms, that is to say for moving the tool holder on the plate, as well as cylinders 15 and 35 for operating the hanging clips. We finally see that it is possible to change tools without detaching the tool holder from the tube plate. It will then suffice to release the spacer 55 in order to be able to completely pull on the handle 62 and extract from the water box the whole of the head 50 and of its carrying slide 52 which will be guided outwards by the flexible guides 53 and 54. It will then be possible to engage, by the same channel, another slide carrying another tool, for example a milling or drilling head, which can in turn be brought into the working position against the plate.

Le système de changement d'outils peut être amélioré en utilisant une tourelle porte-outils permettant de disposer à l'intérieur même de la boite à eau de l'ensemble des outils dont on prévoit l'utilisation. La figure 6 représente le montage d'une telle tourelle. Elle comporte un pivot 70 boulonné sous la plaque 3, et sur lequel est montée une virole tournante 71 solidaire de la bague dentée 72. La bague et la virole sont entrainées en rotation par le pignon 73, monté sur un support 74 bloqué en rotation sur le pivot par les bagues 75 et 76, et télécommandées par l'intermédiaire du flexible 77. La virole 71 supporte le plateau tournant 79 muni des guides 80 qui sont au même entraxe que les guides 45 et 46. Le plateau 79 comporte, angulairement répartis autour de l'axe, trois ou quatre jeux de deux guides 80.The tool changing system can be improved by using a tool turret allowing to have inside even of the water box of all the tools which we plan to use. Figure 6 shows the mounting of such a turret. It comprises a pivot 70 bolted under the plate 3, and on which is mounted a rotating ferrule 71 integral with the toothed ring 72. The ring and the ferrule are rotated by the pinion 73, mounted on a support 74 locked in rotation on the pivot by the rings 75 and 76, and remotely controlled by means of the flexible 77. The ferrule 71 supports the turntable 79 provided with guides 80 which are at the same center distance as the guides 45 and 46. The plate 79 comprises, angularly distributed around the axis, three or four sets of two guides 80.

Si par rotation de la tourelle et du plateau 79 on amène le coulisseau 52 de sa position d'attente à une position active dans le dièdre du corps, les guides 80 vont se trouver dans le prolongement des guides 45 et 46, comme on le voit sur la figure 7. Le porte-outils est également muni ici, dans le dièdre de travail, d'un mécanisme élévateur à vis comportant un moteur 82 entrainant une vis verticale 83 qui vient alors s'engager dans un écrou conjugué porté par le coulisseau 52. La télécommande de la vis 83 permet d'amener toute la tête de soudage en position active contre la plaque tubulaire. Pour changer d'outil, il suffit alors de faire redescendre la tête sur ses guides supports 80 du plateau tournant, de faire ensuite tourner celui-ci pour amener une autre tête dans le dièdre et de la faire monter en position de travail au moyen de la vis 83.If, by rotation of the turret and the plate 79, the slide 52 is brought from its standby position to an active position in the dihedral of the body, the guides 80 will be in the extension of the guides 45 and 46, as can be seen in Figure 7. The tool holder is also provided here, in the working dihedral, with a screw lifting mechanism comprising a motor 82 driving a vertical screw 83 which then engages in a conjugate nut carried by the slide 52. The remote control of screw 83 allows the entire welding head to be brought into the active position against the tube plate. To change the tool, it suffices to lower the head on its support guides 80 of the turntable, then rotate the latter to bring another head into the dihedral and make it rise to the working position by means of screw 83.

On pourra encore noter qu'on peut aussi utiliser un mécanisme à vis 82-83 dans le cas de la figure 5 pour un appareil sans tourelle tournante. Le coulisseau porte-tête est alors accroché à la main jusqu'à son engagement sur la vis, et le positionnement précis et les mouvements verticaux de travail peuvent être obtenus par télécommande électrique.It may also be noted that a screw mechanism 82-83 can also be used in the case of FIG. 5 for a device without a rotating turret. The head holder slide is then hung by hand until it engages the screw, and precise positioning and vertical working movements can be obtained by electric remote control.

Bien entendu l'invention n'est pas strictement limitée aux modes de réalisation qui viennent d'être décrits à titre d'exemples, mais elle couvre également les réalisations qui n'en différeraient que par des détails, par des variantes d'exécution ou par l'utilisation de moyens équivalents.Of course, the invention is not strictly limited to the embodiments which have just been described by way of examples, but it also covers the embodiments which would differ therefrom only in details, in variant embodiments or by the use of equivalent means.

On pourrait ainsi concevoir de compléter l'installation décrite par des patins de stabilisation situés aux extrémités des bras pour renforcer l'appui de l'appareil sur la plaque tubulaire.We could thus conceive of completing the installation described by stabilization pads located at the ends of the arms to strengthen the support of the device on the tube plate.

On pourrait aussi munir l'appareil d'une plaque support solidaire du corps et munie de doigts mobiles susceptibles de s'engager dans des orifices de la plaque ; une telle disposition permettra d'éviter de faire supporter par les doigts d'accrochage les couples de réaction engendrés par des outils tournants comme des fraises ou des forets mis en action sur la plaque ou les tubes.We could also provide the device with a support plate secured to the body and provided with movable fingers capable of engaging in holes in the plate; such an arrangement will make it possible to avoid making the coupling torques bear the reaction torques generated by rotary tools such as milling cutters or drills put into action on the plate or the tubes.

Enfin l'invention s'appliquerait de la même façon quelle que soit la disposition de la plaque tubulaire qui pourrait aussi bien être verticale ou inclinée.Finally, the invention would apply in the same way regardless of the arrangement of the tube plate which could as well be vertical or inclined.

Claims (4)

1.- Dispositif porte-outil mobile sur une plaque tubulaire, comportant deux bras perpendiculaires (13, 33) munis d'organes télécommandés (16, 36) d'accrochage dans les orifices de la plaque (18), avec des moyens télécommandés (8, 28, 20, 40) pour donner aux bras (13, 33) des mouvements relatifs parallèlement et perpendiculairement à la plaque tubulaire (18) pour permettre un déplacement pas à pas de l'ensemble par accrochage successif de chacun des bras (13, 33) et déplacement de l'autre pendant que l'un est accroché,
caractérisé par le fait qu'il comporte un corps support en équerre (1,2) formant un dièdre dont l'arête est perpendiculaire à la plaque tubulaire (18), chaque bras(13, 33) étant porté indépendamment l'un de l'autre et dans le dièdre extérieur par un chariot (6, 26) lui-même monté sur une glissière (5, 28) mobile sur le corps (1,2), avec des moyens télécommandés (8, 28, 20, 40) indépendants pour déplacer parallèlement à la plaque (18) chaque bras (12, 33) sur son chariot (6, 26), et chaque glissière sur le corps (1, 2) perpendiculairement à la plaque (18), et par le fait que dans le dièdre intérieur, libre du débattement des bras (13, 33) le corps (1, 2) comporte des guides (45, 46) pour supporter les outils en déplacement perpendiculairement à la plaque tubulaire (18).1.- Mobile tool holder device on a tubular plate, comprising two perpendicular arms (13, 33) provided with remote-controlled members (16, 36) for attachment in the orifices of the plate (18), with remote-controlled means ( 8, 28, 20, 40) to give the arms (13, 33) relative movements parallel and perpendicular to the tubular plate (18) to allow a stepwise movement of the assembly by successive attachment of each of the arms (13 , 33) and moving the other while one is hooked,
characterized by the fact that it comprises a square support body (1,2) forming a dihedral whose edge is perpendicular to the tube plate (18), each arm (13, 33) being carried independently of one of the 'other and in the outer dihedral by a carriage (6, 26) itself mounted on a slide (5, 28) movable on the body (1,2), with remote-controlled means (8, 28, 20, 40) independent to move parallel to the plate (18) each arm (12, 33) on its carriage (6, 26), and each slide on the body (1, 2) perpendicular to the plate (18), and by the fact that in the inner dihedral, free of the movement of the arms (13, 33) the body (1, 2) comprises guides (45, 46) for supporting the tools moving perpendicularly to the tube plate (18). 2.- Dispositif porte-outil selon revendication 1,
caractérisé par le fait qu'il comporte des moyens (55, 61) pour déplacer les outils (50) sur les guides (45, 46) du dièdre intérieur.2. Tool holder device according to claim 1,
characterized in that it comprises means (55, 61) for moving the tools (50) on the guides (45, 46) of the inner dihedron. 3.- Dispositif porte-outil selon revendication 2,
caractérisé par le fait que, à l'extrémité du corps opposé à la plaque tubulaire (18), il comporte une tourelle tournante (79) avec des guides supports (80) de plusieurs têtes d'outils, et des moyens (73) pour amener sélectivement dans le dièdre intérieur du corps l'une ou l'autre des têtes (50) en attente, les guides supports (80) étant alors dans le prolongement des guides (45, 46) du dièdre.3. Tool holder device according to claim 2,
characterized in that, at the end of the body opposite the tubular plate (18), it comprises a rotating turret (79) with support guides (80) of several tool heads, and means (73) for selectively bringing one or other of the waiting heads (50) into the inside dihedral of the body, the support guides (80) then being in the extension of the dihedral guides (45, 46). 4.- Dispositif porte-outil selon l'une quelconque des revendications précédentes,
caractérisé par le fait qu'il comporte une plaque de réaction solidaire du corps et muni de doigts mobiles avec des moyens pour les engager dans des orifices de la plaque tubulaire ou les en retirer.4. Tool holder device according to any one of the preceding claims,
characterized in that it comprises a reaction plate integral with the body and provided with movable fingers with means for engaging them in orifices in the tubular plate or removing them therefrom.
EP80400765A 1979-05-31 1980-05-29 Mobile tool holder for working a tube sheet Expired EP0020272B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR7914020A FR2457741A1 (en) 1979-05-31 1979-05-31 MOBILE TOOL HOLDER FOR WORKING ON A TUBULAR PLATE
FR7914020 1979-05-31

Publications (2)

Publication Number Publication Date
EP0020272A1 true EP0020272A1 (en) 1980-12-10
EP0020272B1 EP0020272B1 (en) 1982-11-24

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EP80400765A Expired EP0020272B1 (en) 1979-05-31 1980-05-29 Mobile tool holder for working a tube sheet

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US (1) US4373855A (en)
EP (1) EP0020272B1 (en)
JP (1) JPS55164495A (en)
BR (1) BR8003310A (en)
CA (1) CA1136390A (en)
DE (1) DE3061145D1 (en)
ES (1) ES8101966A1 (en)
FR (1) FR2457741A1 (en)
SU (1) SU1028238A3 (en)
YU (1) YU41927B (en)
ZA (1) ZA803207B (en)

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FR2504306A1 (en) * 1981-04-17 1982-10-22 Framatome Sa DEVICE FOR ESTABLISHING AND EXTRACTING A CONTROL MEANS OR A TOOL IN A RECEIVER EQUIPMENT
FR2513927A1 (en) * 1981-10-05 1983-04-08 Framatome Sa TELE-MANIPULATOR FOR INTERVENTION IN A STEAM GENERATOR WATER BOX
FR2519576A1 (en) * 1982-01-11 1983-07-18 Kroczynski Patrice ROBOT WITH CLIPPERS
EP0104492A2 (en) * 1982-09-27 1984-04-04 Combustion Engineering, Inc. Remotely operated maintenance and inspection equipment transporter
FR2569896A1 (en) * 1984-09-06 1986-03-07 Framatome Sa Device for illuminating the core bearing plate of a nuclear reactor
CN103376027B (en) * 2013-06-21 2016-08-24 安徽华速机器人科技有限公司 A kind of condenser on-line cleaning robot high-pressure hose location protection system

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US4676425A (en) * 1984-12-12 1987-06-30 Mitsubishi Jukogyo Kabushiki Kaisha Steel tube working apparatus
DE8712638U1 (de) * 1987-09-18 1987-12-10 Siemens AG, 1000 Berlin und 8000 München Vorrichtung zum Einbringen eines Gerätes in einen Wärmetauscher
DE8712772U1 (en) * 1987-09-22 1989-01-19 Siemens AG, 1000 Berlin und 8000 München Device for inspecting and/or repairing heat exchanger tubes
FR2643135B1 (en) * 1989-02-15 1991-06-21 Barras Provence VEHICLE FOR EXPLORATION AND MAINTENANCE OF STEAM GENERATOR TUBES OR THE LIKE
JP2580998Y2 (en) * 1990-09-05 1998-09-17 三菱重工業株式会社 Plug installation tool for steam generator
US5072788A (en) * 1991-01-30 1991-12-17 Goodwin Duane N Catalytic converter tube locator and cleaner
FR2682215B1 (en) * 1991-10-07 1994-01-07 Framatome MOBILE CARRIER DEVICE FOR PERFORMING INTERVENTIONS IN THE SECONDARY PART OF A STEAM GENERATOR OF A PRESSURE WATER NUCLEAR REACTOR.
DE4306282A1 (en) * 1993-03-01 1994-09-15 Emhart Inc Method and device for welding a weld-in part in a welding point comprising a metal plate and an overlying metal support
US5483033A (en) * 1993-10-08 1996-01-09 Westinghouse Electric Corporation Apparatus and method for sequentially registering tool modules for a welding operation of a tube
US7314343B2 (en) * 2002-07-22 2008-01-01 Westinghouse Electric Co. Llc Miniature manipulator for servicing the interior of nuclear steam generator tubes
CN104228996B (en) * 2014-09-26 2016-03-30 哈尔滨理工大学 A kind of double dynamical quadruped robot for the walking of slope road
DE102016013247A1 (en) * 2016-11-08 2018-05-09 Westinghouse Electric Germany Gmbh Drilling device for processing pipes on tube sheets in a radioactive environment
DE102016013245A1 (en) 2016-11-08 2018-06-07 Westinghouse Electric Germany Gmbh Drill for working pipes in radioactive environment
CN107877238A (en) * 2017-10-31 2018-04-06 南京奥特自动化有限公司 Novel supporting pipe device
CN111778848A (en) * 2020-06-20 2020-10-16 中交第二公路勘察设计研究院有限公司 Multidirectional adjustable striding type U rib inner walking device based on radar
CN114379669B (en) * 2021-12-31 2022-12-27 德清县浙工大莫干山研究院 Reconfigurable four-footed mobile platform

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Cited By (11)

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Publication number Priority date Publication date Assignee Title
FR2504306A1 (en) * 1981-04-17 1982-10-22 Framatome Sa DEVICE FOR ESTABLISHING AND EXTRACTING A CONTROL MEANS OR A TOOL IN A RECEIVER EQUIPMENT
EP0064436A1 (en) * 1981-04-17 1982-11-10 Framatome Device for introducing or retrieving a member in a steam generator
FR2513927A1 (en) * 1981-10-05 1983-04-08 Framatome Sa TELE-MANIPULATOR FOR INTERVENTION IN A STEAM GENERATOR WATER BOX
EP0077245A1 (en) * 1981-10-05 1983-04-20 Framatome Manipulator for remote intervention in a water collector of a steam generator
FR2519576A1 (en) * 1982-01-11 1983-07-18 Kroczynski Patrice ROBOT WITH CLIPPERS
EP0084012A1 (en) * 1982-01-11 1983-07-20 International Robotic Engineering Inc. Robot with climbing members
WO1983002419A1 (en) * 1982-01-11 1983-07-21 Patrice Alain Kroczynski Climber leg robot
EP0104492A2 (en) * 1982-09-27 1984-04-04 Combustion Engineering, Inc. Remotely operated maintenance and inspection equipment transporter
EP0104492A3 (en) * 1982-09-27 1984-06-13 Lummus Crest S.A.R.L. Remotely operated maintenance and inspection equipment transporter
FR2569896A1 (en) * 1984-09-06 1986-03-07 Framatome Sa Device for illuminating the core bearing plate of a nuclear reactor
CN103376027B (en) * 2013-06-21 2016-08-24 安徽华速机器人科技有限公司 A kind of condenser on-line cleaning robot high-pressure hose location protection system

Also Published As

Publication number Publication date
JPS6333997B2 (en) 1988-07-07
CA1136390A (en) 1982-11-30
BR8003310A (en) 1980-12-30
ES492030A0 (en) 1980-12-16
SU1028238A3 (en) 1983-07-07
YU41927B (en) 1988-02-29
FR2457741A1 (en) 1980-12-26
YU139680A (en) 1983-02-28
FR2457741B1 (en) 1983-07-22
ZA803207B (en) 1981-05-27
ES8101966A1 (en) 1980-12-16
JPS55164495A (en) 1980-12-22
DE3061145D1 (en) 1982-12-30
US4373855A (en) 1983-02-15
EP0020272B1 (en) 1982-11-24

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