EP0045454B1 - Manipulateur destiné au positionement d'une sonde de tuyau - Google Patents

Manipulateur destiné au positionement d'une sonde de tuyau Download PDF

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Publication number
EP0045454B1
EP0045454B1 EP81105840A EP81105840A EP0045454B1 EP 0045454 B1 EP0045454 B1 EP 0045454B1 EP 81105840 A EP81105840 A EP 81105840A EP 81105840 A EP81105840 A EP 81105840A EP 0045454 B1 EP0045454 B1 EP 0045454B1
Authority
EP
European Patent Office
Prior art keywords
tube
manipulator
support
arm
carrier body
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
EP81105840A
Other languages
German (de)
English (en)
Other versions
EP0045454A2 (fr
EP0045454A3 (en
Inventor
Georg Gugel
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.)
Kraftwerk Union AG
Original Assignee
Kraftwerk Union AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kraftwerk Union AG filed Critical Kraftwerk Union AG
Publication of EP0045454A2 publication Critical patent/EP0045454A2/fr
Publication of EP0045454A3 publication Critical patent/EP0045454A3/de
Application granted granted Critical
Publication of EP0045454B1 publication Critical patent/EP0045454B1/fr
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
    • F22B37/003—Maintenance, repairing or inspecting equipment positioned in or via the headers
    • F22B37/005—Positioning apparatus specially adapted therefor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S165/00—Heat exchange
    • Y10S165/001—Heat exchange with alarm, indicator, recorder, test, or inspection means
    • Y10S165/003—Remote control inspection means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49718—Repairing

Definitions

  • the invention is in the field of remotely controllable devices for inspection and / or repair of tube heat exchangers and is to be used in the structural design of a manipulator which is fixed to the tube mouths of the heat exchanger tubes which are contained in a tube plate.
  • a known manipulator of this type consists of a rigid support body, a support which can be moved along the support body, a boom mounted on the support wing and a mouthpiece arranged at the free end of the boom for introducing the tube probe into the respective heat exchanger tube.
  • the manipulator should be able to access all of the pipe orifices which are contained in an approximately semicircular pipe field in the pipe plate.
  • the support body is provided with a linear guideway and can be fixed in parallel to the tube plate by means of pin-like clamping devices.
  • the support is also positioned parallel to the pipe plate and on the supporting body.
  • the boom can be moved linearly on the support surface facing the tube plate and can be pivoted parallel to the tube plate.
  • the mouthpiece can be aligned and fitted onto a pipe mouth (DE-OS 2263143).
  • This known manipulator is not accessible to pipe orifices that are located above the supporting body. This is especially the case with high-performance heat exchangers in which the tube field is only a short distance from the partition of the heat exchanger.
  • the manipulator In another known manipulator, this sits on a carriage that can be moved on a rail.
  • the rail protrudes from the outside through the manhole in the floor space of the heat exchanger and is anchored to the flange of the manhole.
  • the rail also has a rectilinear part which runs parallel to the tube plate of the heat exchanger and on which the manipulator can be fixed with the aid of one or two centering mandrels which can be inserted into the tube mouths.
  • the manipulator itself consists of a housing, a support body for an attached swivel drive and a boom attached to the swivel drive, which carries the mouthpiece at its free end for guiding a tube probe.
  • the housing can be moved on the slide in the longitudinal direction of the rail, the supporting body can also be moved linearly in the longitudinal direction of the rail in a guide frame of the housing and the boom can perform a pivoting movement.
  • the two linear movements and the swiveling movement make it possible to move the boom mouthpiece towards the individual pipe mouths.
  • such pipe openings, into which the centering mandrels of the manipulator engage cannot be accessed without changing the position of the manipulator on the rail.
  • the boom is limited by the centering mandrels in its range of motion, so that a certain part of the pipe mouths is accessible only by moving and re-centering the manipulator (DE-OS 28 30 306).
  • the support body consists of two arms arranged at right angles to one another, which are displaceable relative to one another.
  • Each arm is provided at both ends with expandable and retractable expanding mandrels with which the respective arm can be fixed in the pipe mouth of the pipe plate.
  • the two expanding mandrels of one arm must be sufficient to hold the manipulator as a whole when the other arm moves.
  • Such a manipulator is a relatively complicated structure, which must not only have the location control for the boom carrying the mouthpiece, but also the locomotion control for the walking mechanism (DE-OS 2552341).
  • the invention has for its object to design the support body, support and boom so that all pipe mouths of the tube plate are accessible even with large capacity heat exchangers without moving the manipulator are.
  • the support body is provided with at least three mutually independently lockable in pipe mouths of the tube plate, distributed over the length of the support body in the form of extendable and retractable expanding mandrels that the boom with its joint head on the Axis of rotation of a rotary drive is attached, which is flanged to the support plate facing the support plate at its free end, and that the distance between the mouthpiece and the axis of rotation is greater than the vertical distance of the axis of rotation from the tendon delimiting the approximately semicircular tube field.
  • the arm is arranged above the supporting body between the support and the tube plate and can therefore cover an angular range greater than 180 °.
  • the boom can therefore also reach positions with its mouthpiece that are above the supporting body or even on the other side of the support. If the boom reaches one of the at least three expanding mandrels, it can be retracted; the manipulator will nevertheless held by the other expanding mandrels as a whole. This means that the assembly and centering of the manipulator, once carried out, is retained regardless of which pipe mouth is controlled in each case.
  • Another advantage is that only two drives are required to position the mouthpiece, since the swivel drive of the boom is arranged stationary on the support.
  • the steam generator DE shown in FIG. 1 for pressurized water nuclear reactors has a boiler wall 1 with a welded-in tube sheet 2 and a dome wall part 1a for the two primary chamber halves 1 a, 1 b.
  • the heat exchanger tubes 3 are welded into the tube sheet, of which only three are more clearly drawn out and the others are only indicated by dashed lines, with tube openings 3a pointing into the primary chamber 1a, 1b.
  • the primary medium, treated normal water, which is heated in the core of the reactor pressure vessel, not shown passes through a primary circuit pipeline, also not shown, via an invisible inlet connection, for. B. in the primary chamber half 1a, which is separated from the primary chamber half 1b by an arched partition 4.
  • the manipulator M is used to manipulate all of these probes, which consequently serves for remote-controlled positioning of the tube probes RS, which are used for inspection and, if necessary, repair, at the tube mouths 3a of the tubes 3 of steam generators DE for the nuclear reactors contained in the tube plate 2.
  • the probe RS is connected to a flexible supply hose 5.1, which at the same time serves as a push hose for the pipe probe RS at its end and which is mounted so that it can move back and forth within a flexible guide hose 5.2.
  • Supply and guide hose 5.1, 5.2 are drawn out enlarged for a section in FIG. 1 and designated 5 as a whole.
  • the guide hose 5.2 ends in a mouthpiece 6, which is supported by the free end of a boom 7 pivotably mounted in a tube-transverse plane.
  • the manipulator M has a supporting body 9 with a guideway 10 in the form of a spindle, which can be fastened to the pipe orifices 3a by means of spaced-apart expanding mandrels 8, a bearing mounted on the supporting body 9 and on its guideway 10 rectilinear in the direction of x rectilinearly movable support 11 as well as the already mentioned arm 7 pivotably supported on the support 11 in a tube-transverse plane.
  • the supporting body 9 consists of an elongated frame construction with end plates 9.1, which with the pivot bearings for the two ends of the one having an external thread Spindle 10 are provided.
  • a drive motor 12 for the spindle 10 is also flanged to one of the circuit boards 9.1.
  • the support 11 is a rigid cantilever beam, which is mounted with its traveling nut body 11.1 on the spindle 10 so that when the spindle 10 is rotated the support can be moved back and forth in the x direction depending on the direction of rotation, but cannot rotate with it.
  • the support 11 grips with a U-shaped holding part 11.2, indicated schematically in FIG. 1, with upper and lower holding spaces 11.21, 11.22, corresponding upper and lower guideways 9.2 of the support body 9.
  • All the guide surfaces on the support 11 and their counter surfaces on the support body 9 for moving the support in the x direction can be provided with roller bodies (not shown in more detail) in order to achieve a rolling instead of a sliding friction.
  • a swivel drive 14 which is a continuously adjustable rotary motor, with the axis of rotation 13 of which serves as a joint head bearing body 7.1 of the boom 7 is connected.
  • the length of the support body 9, the support 11 and the boom 7 is now each dimensioned such that by moving the support 11 in the x direction and by pivoting the boom 7 by the angle ⁇ in an angular range of at least 360 ° -2a , as explained in detail later, with the mouthpiece 6 of the boom 7 any pipe mouth 3a of the pipe field 30 can be reached (FIG. 2).
  • the tubular field 30 is indicated in FIG. 2 in sections by a grid of lines crossing at right angles and by the dash-dotted outline of a circular section.
  • the expansion mandrels 8 are extended and retracted (see in particular FIG. 1) by means of expanding mandrel drives consisting of a push rod 8.2 having the expanding mandrel 8 at its free end and a drive housing 8.3 for the push rod 8.2, which acts as a pneumatic cylinder for the corresponding (not shown) )
  • Push rods 8.2 having pneumatic pistons can be designed.
  • the expansion mandrels 8 are extended and retracted in the shown working position of the manipulator in the z direction, see arrow. Structure and function of such expanding mandrels are known per se and z. B. in DE-OS 25 52 341 described in more detail so that a detailed explanation can be omitted here.
  • FIG. 2 and 3 show that at least three, in the present case there are four expandable mandrels 8 that can be extended and retracted and distributed over the length of the supporting body 9.
  • Fig. 2 further clarifies on the basis of the boom positions 7, 7 ', 7 "and 7"' that the boom 7 can be pivoted in an angular range of 360 ° -2a, and can be pivoted continuously, so that the mouthpiece 6 is aligned with any pipe mouth 3a and so the tube probe RS can be easily retracted.
  • the tube probe RS is also expediently tapered at its entry end in order to facilitate the insertion in the event of slight lateral deviations.
  • the support 11 is moved in the direction x1 , so all pipe orifices lying in this direction can be reached from the mouthpiece 6 to the outermost position 7 ′′, with the exception of the pipe orifices occupied by the expanding mandrels 8c and 8d. Therefore, when the boom with its mouthpiece 6 is just in front of the pipe mouth covered by the expanding mandrel 8c or 8d, the expanding mandrels are briefly retracted or retracted in the direction z1 (FIG. 1), but the remaining expanding mandrels 8a, 8b and 8d (in the case of the lifted expanding mandrel 8c) remain in engagement. The fastening and centering position of the manipulator M or of the support body 9 is thus retained.
  • the expanding mandrel 8a is pulled in briefly, as has already been explained in principle, so that 1. the boom can continue to be moved and 2. also a test of the pipe blocked by the expanding mandrel.
  • the mouthpiece 6 of the boom 7 reaches all pipe orifices 3a of the pipe field 30 by appropriate adjustment operations, regardless of whether the pipe field is based on a Cartesian or a polar coordinate system.
  • its rotary motor 14 is assigned an angle encoder, and the support 11 can e.g. B.
  • the manipulator M is positioned symmetrically to the axis of symmetry y and the length of the arm 7 is also matched to this position.
  • the electrical supply lines for the adjusting motors 12 and 14 as well as the length and angle encoders, and also the pneumatic supply lines for the expanding mandrel cylinders 8.3 are omitted for the sake of simplicity.
  • an expanding mandrel 8 ' is indicated by dashed lines, which could be used in a second embodiment instead of the two expanding mandrels 8c and 8b, so that the manipulator M would be equipped with the expanding mandrels 8a, 8' and 8d.
  • Three expanding mandrels represent the minimum per manipulator, since two of them are in The test position of the manipulator M must always be engaged.
  • the first version with four expanding mandrels provides increased clamping security, since if one of the at least three expanding mandrels that fail to engage at the same time fails, two are still engaged. It is also possible to provide more than four expanding mandrels.
  • Fig. 4 shows in detail a boom 70, which is adjustable in length, due to a telescopic linkage with cylinder part 71 and piston part 72.
  • a boom can be shortened in length by almost half, which z. B. has the advantage that - see Fig. 2 - for pivoting the boom from position 7 to position 7 'it does not need to be moved into the central position.
  • the advantage can be achieved that no such precise adjustment of the boom length and the dimensions of the support 11 and the support body 9 need be made to the inner contours of the steam generator chamber; such a manipulator would be more universal, i. H. Can be used for different steam generator sizes with different primary chamber dimensions.
  • the support body 9 has a support device 15 with at least one support foot 15.1 which can be braced laterally against the partition 4.
  • This is advantageously a pneumatic piston-cylinder arrangement.
  • the support foot 15.1 is z. B. articulated with a ball joint to the piston rod 15.2 to adapt to the curvature of the partition 4.
  • the dash-dotted partial representation of the manipulator M in the left part of FIG. 1 within the primary chamber half 1a shows that it is possible to move the mouthpiece 6 into acute-angled niches 16, which are caused by the convex curvature of the partition 4, but with the flexibility of guide and supply hose 5.2, 5.1 special requirements are made.
  • the primary chamber of the steam generator is not divided by a partition 4; in this case it would be advantageous to use a manipulator M by doubling.
  • d. H. Reflection on its expanding mandrel connection axis is to be thought and thus has a support 11 with a bracket 7 on each side of the longitudinal axis of a support body 9 doubled in this way.
  • both swivel arms could even work at the same time, which would make it possible to achieve around half the test time compared to a manipulator with only one arm.
  • the manipulator M is inserted through the manhole ML (the cover, not shown, of which is removed for this purpose) when the steam generator primary chamber is drained, and is brought into the test position that can best be seen in FIG. 2. All that is required is a short stay of operating personnel in protective suits in the primary chamber. After the test has been carried out, the manipulator M is correspondingly disassembled and removed. It is also fundamentally possible, in order to prevent operators from entering the steam generator primary chamber, by attaching a rail system protruding from the outside through the socket to the primary chamber on the manhole spigot ML1, on which the manipulator M is mounted on the outside and then operated remotely in his test position can be moved, as already explained in DE-OS 28 30 306.

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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)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Claims (5)

1. Manipulateur servant au positionnement d'une sonde pour tubes dans les embouchures de tubes d'un échangeur de chaleur, par télécommande de la sonde pour tubes raccordée à des tuyaux d'alimentation et prévue pour réaliser l'inspection et/ou la réparation des tubes de l'échangeur de chaleur, les embouchures des tubes étant serties dans une plaque porte-tubes, dans une zone de disposition des tubes approximativement semi-circulaire, constitué
a) par un organe de support rigide qui est muni d'une glissière linéaire et peut être fixé par l'intermédiaire de dispositifs de blocage en forme de tiges parallèlement à la plaque porte-tubes, à cette dernière,
b) par un support qui est monté parallèlement à la plaque porte-tubes sur l'organe de support en s'écartant de ce dernier et peut être déplacé le long de l'organe de support,
c) par un bras en console qui est tourillonné de façon à pouvoir pivoter parallèlement à la plaque porte-tubes sur la surface d'appui du support tournée vers la plaque porte-tubes,
d) et par un embout qui est disposé sur l'extrémité libre du bras en console en vue de permettre l'introduction de la sonde pour tubes dans le tube considéré de l'échangeur de chaleur et peut être aligné et appliqué sur l'embouchure d'un tube, caractérisé par le fait que,
e) l'organe de support (9) est pourvu d'au moins trois dispositifs de serrage pouvant être verrouillés indépendamment les uns des autres, dans des embouchures (3a) de tubes de la plaque porte-tubes (2) et répartis sur la longueur de l'organe de support et se présentant sous la forme de mandrins à expansion (8) pouvant être dégagés et introduits,
f) que le bras en console (7) est fixé par sa tête d'articulation (7.1) sur l'axe de rotation (17) d'un système d'entraînement en rotation (14) qui est relié par brides à la surface d'appui du support (11), tournée vers la plaque porte-tubes, au niveau de l'extrémité libre dudit support,
g) et que la distance (n) entre l'embout (6) et l'axe de rotation (13) est supérieure à la distance (m) comptée perpendiculairement entre l'axe de rotation (13) et la corde (301) limitant la zone approximativement semi-circulaire de disposition des tubes.
2. Manipulateur selon la revendication 1, caractérisé par le fait que le bras en console (7) possède une longueur réglable.
3. Manipulateur suivant la revendication 2, caractérisé par le fait que le bras en console est un bras télescopique (70) comportant une tringlerie télescopique (71, 72).
4. Manipulateur suivant l'une des revendications 1 à 3, caractérisé par le fait que l'organe de support (9) comporte quatre mandrins à expansion (8a-8d) répartis uniformément sur sa longueur.
5. Manipulateur suivant l'une des revendications 1 à 4, dans lequel le générateur de vapeur devant être inspecté est un générateur de vapeur à tubes en U, avec une chambre primaire séparée en deux moitiés par une cloison cintrée de séparation, caractérisé par le fait que l'organe de support (9) comporte un dispositif de soutien (15) possédant au moins un pied de soutien (15.1) pouvant être appliqué latéralement contre la cloison de séparation (4).
EP81105840A 1980-08-06 1981-07-23 Manipulateur destiné au positionement d'une sonde de tuyau Expired EP0045454B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19803029811 DE3029811A1 (de) 1980-08-06 1980-08-06 Manipulator zur fernbedienbaren inspektion und gegebenenfalls reparatur von waermtauscherrohren
DE3029811 1980-08-06

Publications (3)

Publication Number Publication Date
EP0045454A2 EP0045454A2 (fr) 1982-02-10
EP0045454A3 EP0045454A3 (en) 1982-04-14
EP0045454B1 true EP0045454B1 (fr) 1984-05-02

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ID=6109031

Family Applications (1)

Application Number Title Priority Date Filing Date
EP81105840A Expired EP0045454B1 (fr) 1980-08-06 1981-07-23 Manipulateur destiné au positionement d'une sonde de tuyau

Country Status (5)

Country Link
US (1) US4438805A (fr)
EP (1) EP0045454B1 (fr)
JP (1) JPS5754090A (fr)
DE (2) DE3029811A1 (fr)
ES (1) ES504571A0 (fr)

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US20100329408A1 (en) * 2009-06-24 2010-12-30 Sergey Fiodorov Systems, Apparatuses and Methods of Gripping, Cutting and Removing Objects
JP5314609B2 (ja) * 2010-01-27 2013-10-16 三菱重工業株式会社 水室内作業装置
JP2011247829A (ja) * 2010-05-28 2011-12-08 Mitsubishi Heavy Ind Ltd 水室内作業装置および水室内作業装置の設置方法
JP5656674B2 (ja) * 2011-02-02 2015-01-21 三菱重工業株式会社 伝熱管の検査装置および検査方法
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EP0045454A2 (fr) 1982-02-10
ES8206251A1 (es) 1982-08-16
ES504571A0 (es) 1982-08-16
DE3163390D1 (en) 1984-06-07
DE3029811A1 (de) 1982-02-18
JPS5754090A (fr) 1982-03-31
EP0045454A3 (en) 1982-04-14
US4438805A (en) 1984-03-27

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