EP0063073B1 - Dispositif pour le positionnement d'un organe en vis-à-vis des perforations d'une plaque - Google Patents

Dispositif pour le positionnement d'un organe en vis-à-vis des perforations d'une plaque Download PDF

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Publication number
EP0063073B1
EP0063073B1 EP82400565A EP82400565A EP0063073B1 EP 0063073 B1 EP0063073 B1 EP 0063073B1 EP 82400565 A EP82400565 A EP 82400565A EP 82400565 A EP82400565 A EP 82400565A EP 0063073 B1 EP0063073 B1 EP 0063073B1
Authority
EP
European Patent Office
Prior art keywords
perforations
members
engagement
engagement members
perforation
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
EP82400565A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0063073A1 (fr
Inventor
Maxime Monne
Andrzej Adamowski
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.)
Intercontrole SA
Original Assignee
Intercontrole SA
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 Intercontrole SA filed Critical Intercontrole SA
Priority to AT82400565T priority Critical patent/ATE11654T1/de
Publication of EP0063073A1 publication Critical patent/EP0063073A1/fr
Application granted granted Critical
Publication of EP0063073B1 publication Critical patent/EP0063073B1/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
    • F22B37/006—Walking equipment, e.g. walking platforms suspended at the tube sheet

Definitions

  • the present invention relates to a device for positioning a member vis-à-vis each of the perforations of a perforated plate according to a given network. More specifically, the invention relates to a device for positioning a guide tube opposite each of the tubes of a steam generator such as those which equip nuclear power plants, in order to successively introduce into each of the tubes a control device such as an eddy current probe.
  • a positioning device comprising two perpendicular arms provided with members allowing them to hang independently of one another in the ends of the tubes and being able to move relative to each other in three perpendicular directions , so as to bring guide tubes carried by the arms facing all of the tubes of the steam generator.
  • a positioning device comprising a body provided with a hooking element and a fixing for an active inspection or repair member.
  • the body rotatably carries two elements themselves carrying two elements, the end of which is provided with a hooking element.
  • This device has the same drawbacks as the previous one.
  • the main object of the present invention is a device making it possible to carry out an automatic, rapid, reliable and complete control of all the tubes of a steam generator while not having the drawbacks of the devices known from the prior art.
  • a device for positioning a member facing each of the perforations of a perforated plate according to a given network comprising a body carrying at least two elements attachment means for moving these elements in a direction perpendicular to the plate independently of one another, so as to introduce or extract them from a perforation opposite, means for fixing each of the hooking elements in a facing perforation and means for moving one of the elements relative to the other, characterized in that the body comprises at least two parts each carrying a hooking element, in that the means for moving one of the elements relative to the other include means for pivoting the body and one of the hooking elements around the other, and vice versa, and in that at least a support carrying said member at its free end is mounted é on the body, means being provided to rotate the other end of this support with respect to the body in order to bring said member successively opposite at least two different perforations without moving the fastening elements .
  • the means for moving one of the elements relative to the other comprise means in order to vary the distance separating these fastening elements as a function of the angular position of the body around at least one of these elements, so as to be able to place the other element opposite perforations located at different distances from the hole in which the first hooking element is fixed.
  • the support is centered on one of the attachment elements and the distance separating the guide tube from this element is equal to the pitch of the perforations.
  • the support is centered on the end of an arm carried by the body at a point located in the center of a mesh of the network formed by the perforations.
  • Means can then be provided to pivot the arm relative to the body about an axis located at an equal distance from two rows of perforations defining said mesh.
  • a steam generator 10 consists of an external cylindrical envelope 12 with a vertical axis closed at its lower end by a tube plate 14 pierced with a very large number of holes in which tubes are fixed.
  • U 16 the ends of which respectively open into an inlet chamber 18 and into an outlet chamber 20 of a water box 22 defined below the tube plate 14.
  • Manholes 24 make it possible to introduce, by example in chamber 18, the device 26 according to the invention.
  • a bundle of cables and conduits 28 connects the device 26 to an external control system (not shown) ensuring the remote positioning and movement of the device.
  • the bundle 28 further comprises a tube allowing the passage of an eddy current probe when the device 26 is intended to ensure the control of the tubes 16 by means of such a probe.
  • the perforations 30 produced in the tube plate 14 can define a square mesh network.
  • the network formed by the perforations 30 may be different and in particular define meshes in the form of isosceles triangles.
  • the device 26 is designed both to allow remote control of all the tubes 16 and to carry out this control in as short a time as possible. In addition, it is designed to take account of the fact that some of the tubes are closed, which prevents the device from bearing on the ends of the corresponding tubes.
  • the device according to the invention comprises a body 32 constituted by an arm in two parts 32a, 32b.
  • the arm 32a carries at its free end a vertical axis 34 which ends in a hooking element 36.
  • the arm 32b carries at its opposite end a vertical axis 38 which ends elagement by a similar hooking element 40 to element 36.
  • the parts 32a and 32b of the arm are mounted in a telescopic manner and normally urged in approach to one another by a spring 42, so that in the variant shown in fig. 3 and 4, the distance separating the axes 34 and 38 is equal to twice the pitch of the network formed by the perforations 30.
  • the hooking elements 36 and 40 can thus penetrate into two perforations 30 located on the same row of networks and separated by a perforation.
  • the fastening elements 36 and 40 may comprise elastic parts 44 normally urged against the walls of the perforations 30 by a flared part 46 axially urged by a spring 48.
  • the relaxation of one or the other of the elements attachment 36 and 40 can be controlled independently by pressurizing a chamber 50 triggering the axial movement of the flared part 46 towards the inside of the corresponding perforation 30.
  • this movement has the effect of bringing out the flared part of the part 46 from the elastic part 44, which has the effect of detaching the latter from the wall of the corresponding perforation.
  • the pressurization of the chamber 50 is carried out by a conduit 28a of the bundle 28 emerging at the opposite end of the corresponding axis relative to the hooking elements 36 and 40.
  • This pressurization can be carried out by means of '' any fluid such as air.
  • the elements 36 and 40 are automatically locked by the springs 48.
  • the configuration is reversed, that is that is, the release of the fastening elements 36 and 40 is controlled by springs while the fastening is carried out under the action of a pressurized fluid.
  • a convenient variant of the previous attachment system is constituted by inflatable fingers by mechanical or aeroic effect.
  • the center is deported of gravity of the device relative to the plane passing through the axes 34 and 38, so as to cause an immediate tilting leading to jamming of the elements 36 and 40 in the corresponding perforations.
  • Such an offset can be obtained either by means of a counterweight, or by producing a curved arm having a high density portion.
  • the device 26 according to the invention further comprises means for releasing and engaging independently of each other each of the hooking elements 36 and 40 of the perforation 30 vis-à-vis by moving these elements perpendicular to the tube plate 14.
  • These means comprise for example a single-acting cylinder 52 housed in the part 32a of the arm and coming to bear by rods 52a on flanges 34a of the cylinder 34 to control the movement of the hooking element 36.
  • a single-acting cylinder 52 housed in the part 32a of the arm and coming to bear by rods 52a on flanges 34a of the cylinder 34 to control the movement of the hooking element 36.
  • rods 52a on flanges 34a of the cylinder 34 to control the movement of the hooking element 36.
  • jacks 54 and 56 housed in part 32b of the arm and coming to bear respectively by rods 54a and 56a on flanges 38a formed on the cylinder 38 one side of the arm.
  • the movement of the device 26 on the network formed by the perforations 30 is carried out by means making it possible to rotate the entire device alternately either around the axis 34, the element 36 then being hung in a perforation 30, ie around the axis 38 after attachment of the element 40.
  • the rods 52a, 54a and 56a of the cylinders cooperate with the flanges 34a and 38a by rollers or by any similar device .
  • these pivoting means comprise electric motors 58 and 60 carried respectively by the parts 32a and 32b of the arm and controlling the rotation of the worm screw shown diagrammatically by the arrows in FIGS. 3 and 4.
  • These endless screws mesh with pinions 58a and 60a respectively.
  • the pinion 58a is mounted on the axis 34, driven in rotation by the latter but immobilized in translation relative to the part 32a of the arm.
  • the pinion 60a is mounted on the axis 38, driven in rotation by the latter but immobilized in translation relative to the part 32b of the arm.
  • the stroke controlled by the implementation of the motors 58 and 60 is controlled so as to allow rotation of the device by an angle corresponding to the coming of the hooking element 36, 40 corresponding vis-à-vis screw of another perforation.
  • this rotation will preferably be 90 ° or 180 °.
  • this rotation could be 60 °, 120 ° or 180 °.
  • this device consists of a cam 62 carried by the axis 38 and integral with the latter in rotation. On this cam comes to bear the end of an extension 32'a of the part 32a of the arm. Like the ends of the rods 52a, 54a and 56a of the jacks, the extension 32'a carries a roller or a similar device which bears on the wedge 62 under the action of the spring 42.
  • the configuration of the cam 62 is chosen as a function of the network formed by the ends of the tubes.
  • the cam allows the movement of the device indifferently in any direction of the network. So that this cam is always perfectly oriented, we see in Figs. 3 and 4 that the cylinder 38 carries a finger 64 which engages in a perforation 30 close to the perforation in which the hooking element 40 is disposed.
  • the cam 62 is thus always perfectly positioned, so that the implementation of the motor 60 over a stroke determined in advance according to the configuration of the network makes it possible to bring the device from the position shown in solid lines to the position shown in broken lines in FIG. 3, by rotating it around the axis 38.
  • the distance separating the axes 34 and 38 increases to allow the hooking element 36 carried by the axis 34 to come opposite a perforation of the neighboring row.
  • a similar structure could be provided to modify the distance between the axes 34 and 38 when the body 32 and the axis 38 pivot around the axis 34.
  • the latter in order to allow the control of several tubes without having to move the device 26, the latter carries a guide tube 66 which is pivotally mounted around the axis 38.
  • the guide tube 66 is connected to a injection system of an external eddy current probe (not shown) by a flexible pipe 28b forming part of the bundle 28.
  • an eddy current probe about to be injected into one of the steam generator tubes.
  • the guide tube 66 is carried by a support arm 70, so that it faces a tube end close to that in which the element is engaged. attachment 40.
  • the rotation of the arm 70 and of the guide tube 66 about the axis 38 is controlled by a motor 72 carried by the part 32b of the arm and driving in rotation an endless screw represented schematically by an arrow.
  • the worm engages on a pinion 74 centered on the axis 38 and integral with the arm 70.
  • the rotation controlled by the motor 72 is determined according to the nature of the network defined by the perforations 30. Thus, this rotation is 90 ° for a square pitch network as shown in FIGS. 2 and 3 or 60 ° for an isosceles triangular pitch network.
  • the body 32 preferably has a curved shape defining a recess 33 releasing the perforation located between the elements d 'hooking 36 and 40.
  • the body 32 preferably has a curved shape defining a recess 33 releasing the perforation located between the elements d 'hooking 36 and 40.
  • the device 126 comprises a body 132 in a single piece mounted to rotate around two axes 134 and 138 by means entirely comparable to those of the previous embodiment and comprising in particular motors 158 and 160.
  • each of the axes 134 and 138 carries a hooking element similar to elements 36 and 40 and each of these elements is capable of moving independently of one another to be introduced into or out of the end of the tube in vis- opposite.
  • the arrangement of the axes 134 and 138 on two distinct rows of the network formed by the perforations 130 allows either to move the device 126 parallel to the sides of the squares formed by these perforations as illustrated by the arrows 180a in FIGS. 5 and 6, or diametrically with respect to these squares, as illustrated by the arrows 180b.
  • the guide tube 166 is integral with a support arm 170 mounted pivoting about an axis 182 disposed in the center of a square defined by the perforations 130.
  • the axis 182 is itself mounted on an arm 184 mounted pivoting by means of an axis 186 on the body 132.
  • the pivoting of the guide tube 166 and of the arm 170 around the axis 182 is controlled by a motor 172 similar to the motor 72 of FIG. 4 and making it possible to bring, for the same position of the device 126, the guide tube 166 opposite three perforations designated respectively by 130 (1), 130 (2) and 130 (3) in FIGS. 5 and 6.
  • the articulation of the arm 184 relative to the body 132 is intended to allow the control of the fourth perforation 130 (4) defining the square on which the axis 182 is centered. More precisely, the pivoting of the arm 184 under the action of a jack 188 makes it possible to pass the guide tube 166 from its position opposite the perforation represented by 130 (3) in FIG. 5 as far as the adjacent perforation designated by 130 (4) (as shown in dashed lines in FIG. 6). For this purpose, it is understood that the axis 186 must be placed at equal distance from the two adjacent rows in which the perforations 130 (3) and 130 (4) are located.

Landscapes

  • 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 Or Analyzing Materials By The Use Of Magnetic Means (AREA)
  • Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
  • Printers Or Recording Devices Using Electromagnetic And Radiation Means (AREA)
  • Transition And Organic Metals Composition Catalysts For Addition Polymerization (AREA)
  • Paper (AREA)
  • Pipeline Systems (AREA)
  • Exposure Of Semiconductors, Excluding Electron Or Ion Beam Exposure (AREA)
  • Earth Drilling (AREA)
  • Drilling And Boring (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
  • Replacement Of Web Rolls (AREA)
  • Emergency Alarm Devices (AREA)
  • Devices For Medical Bathing And Washing (AREA)
  • Sampling And Sample Adjustment (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Jib Cranes (AREA)
  • Details Of Aerials (AREA)
  • Surgical Instruments (AREA)
  • Exposure And Positioning Against Photoresist Photosensitive Materials (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
EP82400565A 1981-04-08 1982-03-29 Dispositif pour le positionnement d'un organe en vis-à-vis des perforations d'une plaque Expired EP0063073B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT82400565T ATE11654T1 (de) 1981-04-08 1982-03-29 Vorrichtung zum positionieren eines geraetes in den oeffnungen einer rohrplatte.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8107063 1981-04-08
FR8107063A FR2503920B1 (fr) 1981-04-08 1981-04-08 Dispositif pour le positionnement d'un organe en vis-a-vis des perforations d'une plaque

Publications (2)

Publication Number Publication Date
EP0063073A1 EP0063073A1 (fr) 1982-10-20
EP0063073B1 true EP0063073B1 (fr) 1985-02-06

Family

ID=9257172

Family Applications (1)

Application Number Title Priority Date Filing Date
EP82400565A Expired EP0063073B1 (fr) 1981-04-08 1982-03-29 Dispositif pour le positionnement d'un organe en vis-à-vis des perforations d'une plaque

Country Status (14)

Country Link
US (1) US4585203A (es)
EP (1) EP0063073B1 (es)
JP (1) JPS57182163A (es)
KR (1) KR890001238B1 (es)
AT (1) ATE11654T1 (es)
BR (1) BR8202020A (es)
CA (1) CA1191625A (es)
DE (2) DE3262194D1 (es)
ES (1) ES511271A0 (es)
FI (1) FI821211L (es)
FR (1) FR2503920B1 (es)
NO (1) NO821150L (es)
SU (1) SU1314962A3 (es)
ZA (1) ZA822160B (es)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2503921A1 (fr) * 1981-04-10 1982-10-15 Commissariat Energie Atomique Dispositif pour le positionnement d'un organe en vis-a-vis des perforations d'une plaque et procede de montage a distance d'un tel dispositif
FR2529131B1 (fr) * 1982-06-23 1985-11-22 Int Robotic Engineerin Robot capable de se deplacer sur parois inclinees ou verticales
ES8703321A1 (es) * 1983-10-11 1987-02-16 Babcock & Wilcox Co Un dispositivo manipulador a distancia para reparar tuberias y chapas de tuberias de un generador de vapor.
DE3603801A1 (de) * 1986-02-07 1987-08-20 Bbc Reaktor Gmbh Spannelement zum festlegen in einer bohrung eines bauteiles
DE8712772U1 (es) * 1987-09-22 1989-01-19 Siemens Ag, 1000 Berlin Und 8000 Muenchen, De
FR2626515B1 (fr) * 1988-02-02 1990-07-20 Barras Provence Vehicule concu pour se deplacer sur la plaque perforee d'un faisceau de tubes, pour positionner selectivement un outil au droit des tubes dudit faisceau
FR2643135B1 (fr) * 1989-02-15 1991-06-21 Barras Provence Vehicule d'exploration et de maintenance des tubes de generateurs de vapeur ou similaires
US5070723A (en) * 1989-09-20 1991-12-10 Electric Power Research Institute, Inc. Condenser on-line leak detector and method
US5897282A (en) * 1996-10-01 1999-04-27 Comardo; Mathis P. Catalytic reactor charging system and method for operation thereof
DE69942172D1 (de) 1998-08-06 2010-05-06 Mitsubishi Heavy Ind Ltd Wirbelstromsonde zur detektion von fehlern
DE102004012754A1 (de) * 2004-03-15 2005-10-06 Basf Ag Vorrichtung zum Einfüllen von Schüttgütern in Rohre, Behälter u. dgl.
US8746089B2 (en) 2009-01-19 2014-06-10 Babcock & Wilcox Nuclear Energy, Inc. Apparatus for automated positioning of eddy current test probe
US10480874B2 (en) * 2016-08-25 2019-11-19 Stoneage, Inc. Pro-boxer flexible lance positioner apparatus

Family Cites Families (17)

* 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
US3889820A (en) * 1973-08-01 1975-06-17 Combustion Eng Method and apparatus for suspendedly supporting a platform
FR2309314A1 (fr) * 1974-12-05 1976-11-26 Framatome Sa Dispositif de positionnement selectif d'un organe sur une plaque tubulaire
JPS5233784A (en) * 1975-09-11 1977-03-15 Mitsubishi Heavy Ind Ltd Automatic flaw detection apparatus
FR2394374A2 (fr) * 1977-06-15 1979-01-12 Framatome Sa Dispositif de positionnement selectif d'un organe sur une plaque tubulaire
US4168782A (en) * 1977-06-13 1979-09-25 Westinghouse Electric Corp. Remote access manipulator
US4205939A (en) * 1978-01-30 1980-06-03 Westinghouse Electric Corp. Apparatus for remotely repairing tubes in a steam generator
US4205940A (en) * 1978-03-21 1980-06-03 Westinghouse Electric Corp. Apparatus for remotely repairing tubes in a steam generator
US4213732A (en) * 1978-04-13 1980-07-22 Westinghouse Electric Corp. Apparatus for remotely repairing tubes in a steam generator
US4200424A (en) * 1978-04-14 1980-04-29 Westinghouse Electric Corp. Remotely controlled tool positioning table
US4193735A (en) * 1978-04-24 1980-03-18 Combustion Engineering, Inc. Work table for a stepped platform
US4231696A (en) * 1978-06-14 1980-11-04 Westinghouse Electric Corp. Multi-function end effector
US4302146A (en) * 1978-08-23 1981-11-24 Westinghouse Electric Corp. Probe positioner
US4303368A (en) * 1978-09-18 1981-12-01 Westinghouse Electric Corp. Remote docking apparatus
FR2448143A1 (fr) * 1979-02-05 1980-08-29 Intercontrole Sa Procede et dispositif pour retirer un porte-sonde de la chambre inferieure d'un echangeur de chaleur tubulaire verticale
DE3029811A1 (de) * 1980-08-06 1982-02-18 Kraftwerk Union AG, 4330 Mülheim Manipulator zur fernbedienbaren inspektion und gegebenenfalls reparatur von waermtauscherrohren
US4449599A (en) * 1982-09-27 1984-05-22 Combustion Engineering, Inc. Finger walker for tube sheet

Also Published As

Publication number Publication date
SU1314962A3 (ru) 1987-05-30
FR2503920B1 (fr) 1987-08-21
FI821211L (fi) 1982-10-09
JPS57182163A (en) 1982-11-09
ZA822160B (en) 1983-02-23
ES8402970A1 (es) 1984-02-16
ATE11654T1 (de) 1985-02-15
CA1191625A (en) 1985-08-06
FI821211A0 (fi) 1982-04-06
DE63073T1 (de) 1983-04-14
BR8202020A (pt) 1983-03-15
FR2503920A1 (fr) 1982-10-15
KR890001238B1 (ko) 1989-04-28
US4585203A (en) 1986-04-29
NO821150L (no) 1982-10-11
DE3262194D1 (en) 1985-03-21
EP0063073A1 (fr) 1982-10-20
ES511271A0 (es) 1984-02-16

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