EP0020272B1 - Beweglicher Gerätehalter für die Arbeit an einer Rohrplatte - Google Patents

Beweglicher Gerätehalter für die Arbeit an einer Rohrplatte Download PDF

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Publication number
EP0020272B1
EP0020272B1 EP80400765A EP80400765A EP0020272B1 EP 0020272 B1 EP0020272 B1 EP 0020272B1 EP 80400765 A EP80400765 A EP 80400765A EP 80400765 A EP80400765 A EP 80400765A EP 0020272 B1 EP0020272 B1 EP 0020272B1
Authority
EP
European Patent Office
Prior art keywords
plate
guides
dihedron
arms
fact
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.)
Expired
Application number
EP80400765A
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English (en)
French (fr)
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EP0020272A1 (de
Inventor
Bernard Lebouc
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Areva NP SAS
Original Assignee
Framatome SA
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Publication date
Application filed by Framatome SA filed Critical Framatome SA
Publication of EP0020272A1 publication Critical patent/EP0020272A1/de
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Publication of EP0020272B1 publication Critical patent/EP0020272B1/de
Expired legal-status Critical Current

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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
    • F22B37/006—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.
  • Patent application FR-A-2309314 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 tube plate to allow a step-by-step movement of the assembly, by successively hooking each of the arms and moving the other while one is hooked.
  • the present invention overcomes these drawbacks by making it possible to produce an apparatus, also with automatic movements 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 the tubes connected 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-controlled means to move each arm on its slide and each carriage on the body: in the inner dihedral, free of arm movement, 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 runners 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, represented 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 application. from previous French patent 2309314.
  • the jack body 20 is secured to 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 idler rollers 32 between which an arm 33 can slide. At each of its ends, the arm 33 carries a jack 35. For controlling grippers 36 engaged in the orifices of the tubular plate 18.
  • the body cylinder 40 is integral with the end of arm 33, and its rod 41 is linked to an extension 42 of carriage 26.
  • 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 65 contains the cables or tubes for the remote control of the actual scudure head.
  • the sheath 66 contains cables or tubes for remote control of 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 actuating cylinders 15 and 35 hanging clips.
  • the tool changing system can be improved by using a tool turret allowing all the tools planned for use to be placed inside the water box.
  • 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 FIG. 7.
  • the tool holder is also provided here, in the working dihedron, 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.
  • 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.

Claims (4)

1. Auf einer Rohrplatte (18) verfahrbare Werkzeughaltervorrichtung mit zwei zueinander senkrechten Armen (13, 33), die ferngesteuerte Elemente (16, 36) zum Einhängen in die Plattenöffnungen (18) aufweisen, mit ferngesteuerten Mitteln (8, 28, 20, 40) um die Arme (13, 33) parallel und senkrecht relativ zur Rohrplatte (18) zu bewegen um die gesamte Einheit durch nacheinanderfolgendes Einhängen der jeweiligen Arme (13. 33) und Versetzen des anderen, während der eine eingehängt ist, schrittweise verschieben zu können, dadurch gekennzeichnet, daß sie ein als Dieder ausgebildeter rechtwinckliger Stützkörper (1, 2) aufweist, dessen Kante senkrecht zur Rohrplatte (18) verläuft, wobei jeder Arm (13, 33) getrennt und im Aussendieder durch einen Schlitten (6, 26) getragen wird, der seinerseits auf einer auf dem Stützkörper (1, 2) verfahrbaren Gleitschiene (5, 28) montiert ist, mit den unabhängigen ferngesteuerten Mitteln (8, 28, 20, 40) um den jeweiligen Arm (12, 33) auf seinem Schlitten (6, 26) parallel zur Platte (18) und jede Gleitschiene auf dem Stützkörper (1, 2) senkrecht zur Rohrplatte (18) zu verschieben, und daß im Innendieder, bei frei ausschlagenden Armen (13, 33), der Stützkörper (1, 2) Führungen (45,46) zum Abstützen der senkrecht zur Rohrplatte (18) verschobenen Werkzeuge aufweist.
2. Werkzeughaltervorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß sie Mittel (55, 61) umfasst um die Werkzeuge (50) auf den Führungen (45, 46) des Innendieders zu verfahren.
3. Werkzeughaltervorrichtung nach Anspruch 2, dadurch gekennzeichnet, daß an dem der Rohrplatte (18) entgegengesetzten Stützkörperende diese einen drehbaren Revolverkopf (79) mit Führungen (80) zur Abstützung von Mehrfachwerkzeugköpfen aufweist, und Mittel (73) umfasst um den einen oder anderen in Wartestellung befindlichen Kopf (50) wahlweise in das Innendieder des Stützkörpers einzufahren, wobei die Abstützführungen (80) sich dann in der Verlängerung der Diederführungen (45, 46) befinden.
4. Werkzeughaltervorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß diese eine mit dem Stützkörper fest verbundene Gegendruckplatte sowie bewegliche Finger mit Mittel aufweist um diese in die Rohrplatteöffnungen einzuführen oder herauszuziehen.
EP80400765A 1979-05-31 1980-05-29 Beweglicher Gerätehalter für die Arbeit an einer Rohrplatte Expired EP0020272B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR7914020A FR2457741A1 (fr) 1979-05-31 1979-05-31 Porte-outil mobile pour travail sur une plaque tubulaire
FR7914020 1979-05-31

Publications (2)

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

Family

ID=9226124

Family Applications (1)

Application Number Title Priority Date Filing Date
EP80400765A Expired EP0020272B1 (de) 1979-05-31 1980-05-29 Beweglicher Gerätehalter für die Arbeit an einer Rohrplatte

Country Status (11)

Country Link
US (1) US4373855A (de)
EP (1) EP0020272B1 (de)
JP (1) JPS55164495A (de)
BR (1) BR8003310A (de)
CA (1) CA1136390A (de)
DE (1) DE3061145D1 (de)
ES (1) ES492030A0 (de)
FR (1) FR2457741A1 (de)
SU (1) SU1028238A3 (de)
YU (1) YU41927B (de)
ZA (1) ZA803207B (de)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2504306A1 (fr) * 1981-04-17 1982-10-22 Framatome Sa Dispositif de mise en place et d'extraction d'un moyen de controle ou d'un outil dans un equipement recepteur
FR2513927A1 (fr) * 1981-10-05 1983-04-08 Framatome Sa Tele-manipulateur d'intervention dans une boite a eau de generateur de vapeur
FR2519576B1 (fr) * 1982-01-11 1985-11-29 Int Robotic Engineerin Robot a pattes grimpeur
FR2527308A1 (fr) * 1982-05-19 1983-11-25 Intercontrole Sa Dispositif pour l'introduction d'un mobile de positionnement d'un organe sur une plaque tubulaire
US4515747A (en) * 1982-09-27 1985-05-07 Combustion Engineering, Inc. Remotely operated maintenance and inspection equipment transporter
FR2569896B1 (fr) * 1984-09-06 1986-09-19 Framatome Sa Dispositif d'eclairage de la plaque inferieure de coeur d'un reacteur nucleaire
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 Muenchen, De
DE8712772U1 (de) * 1987-09-22 1989-01-19 Siemens Ag, 1000 Berlin Und 8000 Muenchen, De
FR2643135B1 (fr) * 1989-02-15 1991-06-21 Barras Provence Vehicule d'exploration et de maintenance des tubes de generateurs de vapeur ou similaires
JP2580998Y2 (ja) * 1990-09-05 1998-09-17 三菱重工業株式会社 蒸気発生器用プラグ取付工具
US5072788A (en) * 1991-01-30 1991-12-17 Goodwin Duane N Catalytic converter tube locator and cleaner
FR2682215B1 (fr) * 1991-10-07 1994-01-07 Framatome Dispositif porteur mobile pour realiser des interventions dans la partie secondaire d'un generateur de vapeur d'un reacteur nucleaire a eau sous pression.
DE4306282A1 (de) * 1993-03-01 1994-09-15 Emhart Inc Verfahren und Vorrichtung zum Verschweißen eines Einschweißteils in einer eine Metallplatte und eine darüberliegende Metallauflage umfassenden Schweißstelle
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
CN103376027B (zh) * 2013-06-21 2016-08-24 安徽华速机器人科技有限公司 一种凝汽器在线清洗机器人高压软管定位保护系统
CN104228996B (zh) * 2014-09-26 2016-03-30 哈尔滨理工大学 一种用于坡路行走的双动力四足机器人
DE102016013245A1 (de) * 2016-11-08 2018-06-07 Westinghouse Electric Germany Gmbh Bohrgerät für das Bearbeiten von Rohren in radioaktiver Umgebung
DE102016013247A1 (de) * 2016-11-08 2018-05-09 Westinghouse Electric Germany Gmbh Bohrvorrichtung für das Bearbeiten von Rohren an Rohrböden in radioaktiver Umgebung
CN107877238A (zh) * 2017-10-31 2018-04-06 南京奥特自动化有限公司 新型托管装置
CN111778848A (zh) * 2020-06-20 2020-10-16 中交第二公路勘察设计研究院有限公司 基于雷达的多向可调跨越式u肋内部行走装置
CN114379669B (zh) * 2021-12-31 2022-12-27 德清县浙工大莫干山研究院 一种可重构的四足移动平台

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3913752A (en) * 1973-08-01 1975-10-21 Combustion Eng Remotely movable platform
JPS5110201A (en) * 1974-07-15 1976-01-27 Mitsubishi Heavy Ind Ltd Suchiimu jenereetatanshojidokasochi
FR2309314A1 (fr) * 1974-12-05 1976-11-26 Framatome Sa Dispositif de positionnement selectif d'un organe sur une plaque tubulaire
CA1014724A (en) * 1975-03-11 1977-08-02 Peter D. Stevens-Guille Locating test probes in heat exchanger tubes
US4018344A (en) * 1975-11-18 1977-04-19 Combustion Engineering, Inc. Three-position actuator and apparatus incorporating same
US4018345A (en) * 1975-11-18 1977-04-19 Combustion Engineering, Inc. Surface traversing apparatus
US4193735A (en) * 1978-04-24 1980-03-18 Combustion Engineering, Inc. Work table for a stepped platform

Also Published As

Publication number Publication date
ES8101966A1 (es) 1980-12-16
SU1028238A3 (ru) 1983-07-07
YU41927B (en) 1988-02-29
ES492030A0 (es) 1980-12-16
FR2457741A1 (fr) 1980-12-26
ZA803207B (en) 1981-05-27
US4373855A (en) 1983-02-15
BR8003310A (pt) 1980-12-30
JPS55164495A (en) 1980-12-22
YU139680A (en) 1983-02-28
CA1136390A (fr) 1982-11-30
EP0020272A1 (de) 1980-12-10
FR2457741B1 (de) 1983-07-22
DE3061145D1 (en) 1982-12-30
JPS6333997B2 (de) 1988-07-07

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