EP0149127A2 - Repairs- and assembling-carriage for nuclear installations - Google Patents

Repairs- and assembling-carriage for nuclear installations Download PDF

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Publication number
EP0149127A2
EP0149127A2 EP84115090A EP84115090A EP0149127A2 EP 0149127 A2 EP0149127 A2 EP 0149127A2 EP 84115090 A EP84115090 A EP 84115090A EP 84115090 A EP84115090 A EP 84115090A EP 0149127 A2 EP0149127 A2 EP 0149127A2
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EP
European Patent Office
Prior art keywords
cabin
platform
carriage
repair
crane
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
EP84115090A
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German (de)
French (fr)
Other versions
EP0149127B1 (en
EP0149127A3 (en
Inventor
Günther Zeitzschel
Milan Dipl.-Ing. Sulic
Manfred Tennie
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Siemens AG
Original Assignee
Kraftwerk Union AG
Siemens AG
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Publication date
Application filed by Kraftwerk Union AG, Siemens AG filed Critical Kraftwerk Union AG
Publication of EP0149127A2 publication Critical patent/EP0149127A2/en
Publication of EP0149127A3 publication Critical patent/EP0149127A3/en
Application granted granted Critical
Publication of EP0149127B1 publication Critical patent/EP0149127B1/en
Expired legal-status Critical Current

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    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F7/00—Shielded cells or rooms
    • G21F7/06—Structural combination with remotely-controlled apparatus, e.g. with manipulators

Definitions

  • the invention relates to a repair and assembly car for nuclear facilities. These wagons are to be used for areas exposed to radiation. That is why, for example, the Düsseldorf Nuclear Research Center has developed such a car that is operated entirely by remote control. The car can be moved on difficult terrain with the help of caterpillars, but its possibilities of use are limited, for example, by the fact that the operating personnel only have a limited view, in particular via television monitors. Therefore, only relatively simple work can be carried out with it.
  • the invention is based on the object of being able to repair or replace components at risk of radiation, for example from hot cells in reprocessing plants or fuel element factories, especially pipelines, pumps, valves, filters, etc., without the personnel being too severely hampered by shielding is.
  • the solution to the above problem consists in the special design of a repair and assembly vehicle, in such a way that a vertically adjustable and preferably also rotatable platform is arranged on a movable lower part, that the platform carries a shielded cabin, which is a Part of the platform extends that in the wall of the Ka bine one or more manipulators are arranged, the control members are in the cabin and the working members over the adjacent to the cabin part of the platform.
  • the carriage can advantageously be designed so that the platform carries a crane.
  • the crane can sit on or on the cabin, so that its structure is used as a supporting structure.
  • the term crane also means hoists other than those with a boom.
  • the carriage can have a driven undercarriage, control elements in the cabin being assigned to the undercarriage. This results in a simple chassis if the path of the car is predetermined by rails according to the circumstances.
  • the car according to the invention can also be equipped with steerable wheels or, like the known car, with caterpillars.
  • a lock is expediently assigned to the car for entering the cabin. This means that the vehicle standing in a radiation-endangered environment can be entered by the operating personnel without being exposed to the ambient atmosphere of the vehicle.
  • the cabin should be equipped with oxygen cylinders with respiratory protection in order to ensure that the radiation-free air supply to the The cabin fails to have a bridging option until the staff alight.
  • the new car can include travel, lifting and rotary drives integrated in the lower part.
  • the height-adjustable platform should extend to the top edge of frames in which components that are susceptible to repair must be treated.
  • the screening walls of the cabin should be transparent over a large area, preferably in the form of single or multi-layer lead glass windows.
  • the manipulators can be provided with various interchangeable tools. In principle, they are designed as is known from hot cells, so they preferably work as master-slave manipulators with pressure medium support.
  • FIG. 1 shows the floor plan of a reprocessing plant
  • FIG. 2 is a vertical section through the plant.
  • Fig. 3 a part of the carriage is shown in a vertical section on an enlarged scale.
  • the concrete building 1 shown in FIG. 1 belongs to a reprocessing plant for fuel elements.
  • the components housed in the room 2 are arranged in racks 3, which are set up on both sides of a central aisle 4 along the walls 5 and 6.
  • the racks include, for example, containers, pipes and valves for dissolving the spent fuel and for chemical treatment of the predominantly liquid substances.
  • 2 shows that the frames 3 taper upwards at about half the height. This improves the accessibility for a carriage 10, which can be moved in the aisle 4 along rails 3 along dash-dotted lines 11.
  • the carriage 10 is shown in the end position in which it is connected to a personnel lock 14. Seals 15 ensure a gas-tight connection between the carriage 10 and the lock 14.
  • the carriage 10 comprises a lower part 20 which runs on the rails 11 with wheels 21.
  • the wheels are actuated by a drive, not shown, the control elements of which are accommodated in a cabin 23 with shielded walls 24.
  • the cabin 23 sits on a platform 25 which is arranged on the lower part 20.
  • the platform 25 can be rotated once about the axis 26 indicated by dash-dotted lines, as shown by the arrow 27.
  • the platform 25 is adjustable in height. In Fig. 2 the highest position at 30 is shown in dash-dot lines.
  • the cabin 23 is made of shielding material. As shown in FIG. 1, it only covers a little more than half of the platform 25. Therefore, there is an area 32 located next to the cabin 23 that functions as a working area platform is to be viewed. The wall facing this work platform is clearly visible with shielding lead glass windows 34.
  • manipulators for example 35, 36 and 37, which can be operated from inside the cabin 23, for example with the master device 40, so that the tools 41, 42 and 43 held by the manipulators are the same as those shown in FIG. 3 Carry out the movements indicated by the arrows. They all cover at least area 32 of the platform. But some also go beyond that.
  • a hoist 46 is arranged on the top 45 of the cabin 23, the lifting mechanism 47 of which carries a crane hook 48 and is seated at the end of a telescopic arm 50 which is adjustable in the direction of the arrow 51.
  • a storage area with boxes 55 is provided in the lateral area, designated 54 in FIG. 1, next to the cabin 23. Interchangeable tools can be deposited there with which the manipulators can be equipped if necessary.
  • the carriage 10 can be anchored to these with hooks 57.
  • Such gripping members result in greater stability for the application of forces, for example for loosening nuts or for sawing or bending pipes, so that the carriage itself can be carried out relatively easily.
  • a frame 3 with a trolley 58 located on the ceiling of the room 2 for Repair work has been set from the basic position to position 3a in gear 4. This makes it possible to reach into the frame from the side.
  • the platform 25 is rotated in the direction of the arrow 27, so that the manipulators 35, 36 and 37 can be used optimally.
  • the front of the cabin 23 is also provided with a nozzle opening 60 which can be pivoted in two mutually perpendicular planes, as indicated by the arrows 61 and 62. This means that a jet of decontaminating liquid can be directed onto components without the direct use of personnel, so that contaminating waste can be flushed out of room 2.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Jib Cranes (AREA)

Abstract

1. A repair and assembly carriage for nuclear installations, composed of a vertically adjustable and preferably rotatable platform (25) which carries a screened cabin (23), characterised in that the cabin extends over a part of the platform (25), that in the wal (24) of the cabin (23) are arranged one or more than one manipulator (35, 36, 37) the control elements of which are located in the cabin (23) and the operating elements of which engage over that part (32) of the platform (25) which lies next to the cabin (23), and that the platform (25) is arranged on a mobile lower section (20).

Description

Die Erfindung betrifft einen Reparatur- und Montage-Wagen für kerntechnische Anlagen. Diese Wagen sollen für strahlungsgefährdete Bereiche eingesetzt werden. Deshalb ist zum Beispiel von der Kernforschungsanstalt Karlsruhe ein solcher Wagen entwickelt worden, der vollständig durch Fernsteuerung betrieben wird. Der Wagen ist mit Hilfe von Antriebsraupen zwar auch in schwierigem Gelände beweglich, seine Nutzungsmöglichkeiten sind aber zum Beispiel dadurch begrenzt, daß das Bedienungspersonal nur eine eingeschränkte Sicht insbesondere über Fernsehmonitore hat. Deshalb können nur relativ einfache Arbeiten damit ausgeführt werden.The invention relates to a repair and assembly car for nuclear facilities. These wagons are to be used for areas exposed to radiation. That is why, for example, the Karlsruhe Nuclear Research Center has developed such a car that is operated entirely by remote control. The car can be moved on difficult terrain with the help of caterpillars, but its possibilities of use are limited, for example, by the fact that the operating personnel only have a limited view, in particular via television monitors. Therefore, only relatively simple work can be carried out with it.

Die Erfindung geht dagegen von der Aufgabe aus, strahlungsgefährdete Komponenten, zum Beispiel aus heißen Zellen in Wiederaufbereitungsanlagen ober Brennelementfabriken, vor allem Rohrleitungen, Pumpen, Ventile, Filter usw. reparieren oder austauschen zu können, ohne daß das Personal dabei durch eine Abschirmung zu stark behindert ist.The invention, on the other hand, is based on the object of being able to repair or replace components at risk of radiation, for example from hot cells in reprocessing plants or fuel element factories, especially pipelines, pumps, valves, filters, etc., without the personnel being too severely hampered by shielding is.

Die Lösung der vorgenannten Aufgabe besteht in der besonderen Ausbildung eines Reparatur- und Montagewagens, und zwar so, daß auf einem fahrbaren Unterteil eine in der Höhenlage verstellbare und vorzugsweise auch drehbare Plattform angeordnet ist, daß die Plattform eine abgeschirmte Kabine trägt, die sich über einen Teil der Plattform erstreckt, daß in der Wand der Kabine ein oder mehrere Manipulatoren angeordnet sind, deren Steuerglieder in der Kabine liegen und deren Arbeitsglieder über den neben der Kabine liegenden Teil der Plattform greifen. Damit können die meisten in kerntechnischen Anlagen anfallenden Reparaturarbeiten direkt vor Ort vorgenommen werden, und zwar mit Hilfe bekannter Manipulatoren unter unmittelbarer Beobachtung durch das Bedienungspersonal, das in der abgeschirmten Kabine freibeweglich untergebracht ist.The solution to the above problem consists in the special design of a repair and assembly vehicle, in such a way that a vertically adjustable and preferably also rotatable platform is arranged on a movable lower part, that the platform carries a shielded cabin, which is a Part of the platform extends that in the wall of the Ka bine one or more manipulators are arranged, the control members are in the cabin and the working members over the adjacent to the cabin part of the platform. This means that most of the repair work in nuclear facilities can be carried out directly on site, with the help of known manipulators under the direct observation of the operating personnel, who is accommodated in the shielded cabin.

Der Wagen kann vorteilhaft so ausgebildet werden, daß die Plattform einen Kran trägt. Zum Beispiel kann der Kran auf oder an der Kabine sitzen, so daß deren Aufbau als Tragstruktur genutzt wird. Mit Kran sind dabei auch andere Hebezeuge als solche mit einem Ausleger gemeint.The carriage can advantageously be designed so that the platform carries a crane. For example, the crane can sit on or on the cabin, so that its structure is used as a supporting structure. The term crane also means hoists other than those with a boom.

Der Wagen kann ein angetriebenes Fahrwerk aufweisen, wobei dem Fahrwerk Steuerorgane in der Kabine zugeordnet sind. Dabei ergibt sich ein einfaches Fahrwerk, wenn der Weg des Wagens den Umständen entsprechend durch Schienen vorgegeben ist. Der erfindungsgemäße Wagen kann aber durchaus auch mit lenkbaren Rädern oder, wie der bekannte Wagen, mit Raupen ausgerüstet werden.The carriage can have a driven undercarriage, control elements in the cabin being assigned to the undercarriage. This results in a simple chassis if the path of the car is predetermined by rails according to the circumstances. However, the car according to the invention can also be equipped with steerable wheels or, like the known car, with caterpillars.

Zweckmäßigerweise ist dem Wagen eine Schleuse zum Betreten der Kabine zugeordnet. Damit kann man erreichen, daß das in strahlengefährdeter Umgebung stehende Fahrzeug vom Bedienungspersonal ohne Belastung durch die Umgebungsatmosphäre des Wagens betreten werden kann. Außerdem sollte die Kabine mit Sauerstoff-Flaschen mit Atemschutz ausgerüstet sein, um für den Fall, daß die strahlenfreie Luftversorgung der Kabine ausfällt, eine Überbrückungsmöglichkeit bis zum Aussteigen des Personals zu haben.A lock is expediently assigned to the car for entering the cabin. This means that the vehicle standing in a radiation-endangered environment can be entered by the operating personnel without being exposed to the ambient atmosphere of the vehicle. In addition, the cabin should be equipped with oxygen cylinders with respiratory protection in order to ensure that the radiation-free air supply to the The cabin fails to have a bridging option until the staff alight.

Für Arbeiten, die größere Kräfte erfordern, ist es günstig, wenn äußere Greiforgane zur Verankerung in einer Arbeitsstellung vorgesehen sind. Damit wird ein Widerlager geschaffen, so daß der Wagen selbst relativ leicht ausgebildet werden kann.For work that requires greater forces, it is advantageous if external gripping members are provided for anchoring in a working position. This creates an abutment so that the car itself can be made relatively light.

Der neue Wagen kann in dem Unterteil Fahr-, Hub- und Drehantriebe integriert enthalten. Die höhenverstellbare Plattform sollte bis zur Oberkante von Gestellen reichen, in denen reparaturanfällige Komponenten behandelt werden müssen.The new car can include travel, lifting and rotary drives integrated in the lower part. The height-adjustable platform should extend to the top edge of frames in which components that are susceptible to repair must be treated.

Die Abschirmwände der Kabine sollten großflächig durchsichtig sein, vorzugsweise in Form ein- oder mehrlagiger Bleiglasfenster.The screening walls of the cabin should be transparent over a large area, preferably in the form of single or multi-layer lead glass windows.

Die Manipulatoren können mit verschiedenen austauschbaren Werkzeugen versehen sein. Im Prinzip sind sie so ausgebildet, wie dies aus heißen Zellen bekannt ist, sie arbeiten also vorzugsweise als master-slave-Manipulatoren mit Druckmittelunterstützung.The manipulators can be provided with various interchangeable tools. In principle, they are designed as is known from hot cells, so they preferably work as master-slave manipulators with pressure medium support.

Zur näheren Erläuterung der Erfindung wird anhand der Zeichnung ein vereinfachtes Ausführungsbeispiel beschrieben. Dabei zeigt die Fig. 1 den Grundriß einer Wiederaufbereitungsanlage, die Fig. 2 ist ein Vertikalschnitt durch die Anlage. In Fig. 3 ist in einem Vertikalschnitt mit vergrößertem Maßstab ein Teil des Wagens dargestellt.For a more detailed explanation of the invention, a simplified embodiment is described with reference to the drawing. 1 shows the floor plan of a reprocessing plant, FIG. 2 is a vertical section through the plant. In Fig. 3, a part of the carriage is shown in a vertical section on an enlarged scale.

Das in Fig. 1 ersichtliche Betongebäude 1 gehört zu einer Wiederaufbereitungsanlage für Brennelemente. Dabei sind die in dem Raum 2 untergebrachten Komponenten in Gestellen 3 angeordnet, die zu beiden Seiten eines Mittelganges 4 längs der Wände 5 und 6 aufgestellt sind. Die Gestelle umfassen zum Beispiel Behälter, Rohrleitungen und Ventile zum Auflösen der abgebrannten Brennelemente und zur chemischen Behandlung der überwiegend flüssigen Stoffe. Dabei zeigt die Fig. 2, daß die Gestelle 3 sich etwa in halber Höhe nach oben zu verjüngen. Damit ist die Zugänglichkeit für einen Wagen 10 verbessert, der im Gang 4 auf strichpunktiert dargestellten Schienen 11 längs der Gestelle 3 bewegbar ist. In Fig. 1 ist der Wagen 10 in der Endstellung dargestellt, in der er mit einer Personalschleuse 14 in Verbindung steht. Durch Dichtungen 15 ist für einen gasdichten Anschluß zwischen dem Wagen 10 und der Schleuse 14 gesorgt.The concrete building 1 shown in FIG. 1 belongs to a reprocessing plant for fuel elements. The components housed in the room 2 are arranged in racks 3, which are set up on both sides of a central aisle 4 along the walls 5 and 6. The racks include, for example, containers, pipes and valves for dissolving the spent fuel and for chemical treatment of the predominantly liquid substances. 2 shows that the frames 3 taper upwards at about half the height. This improves the accessibility for a carriage 10, which can be moved in the aisle 4 along rails 3 along dash-dotted lines 11. In Fig. 1, the carriage 10 is shown in the end position in which it is connected to a personnel lock 14. Seals 15 ensure a gas-tight connection between the carriage 10 and the lock 14.

Der Wagen 10 umfaßt ein Unterteil 20, das mit Rädern 21 auf den Schienen 11 läuft. Die Räder werden von einem nicht dargestellten Antrieb betätigt, dessen Steuerorgane in einer Kabine 23 mit abgeschirmten Wänden 24 untergebracht sind. Die Kabine 23 sitzt auf einer Plattform 25, die auf dem Unterteil 20 angeordnet ist. Die Plattform 25 ist einmal um die strichpunktiert angedeutete Achse 26 verdrehbar, wie durch den Pfeil 27 dargestellt ist. Ferner ist die Plattform 25 höhenverstellbar. In Fig. 2 ist die höchste Stellung bei 30 strichpunktiert dargestellt.The carriage 10 comprises a lower part 20 which runs on the rails 11 with wheels 21. The wheels are actuated by a drive, not shown, the control elements of which are accommodated in a cabin 23 with shielded walls 24. The cabin 23 sits on a platform 25 which is arranged on the lower part 20. The platform 25 can be rotated once about the axis 26 indicated by dash-dotted lines, as shown by the arrow 27. Furthermore, the platform 25 is adjustable in height. In Fig. 2 the highest position at 30 is shown in dash-dot lines.

Die Kabine 23 besteht aus Abschirmmaterial. Sie bedeckt, wie die Fig. 1 zeigt, nur etwas mehr als die Hälfte der Plattform 25. Deshalb gibt es einen neben der Kabine 23 liegenden Bereich 32, der als Arbeitsplattform anzusehen ist. Die dieser Arbeitsplattform zugekehrte Wand ist mit abschirmenden Bleiglasfenstern 34 gut einsehbar.The cabin 23 is made of shielding material. As shown in FIG. 1, it only covers a little more than half of the platform 25. Therefore, there is an area 32 located next to the cabin 23 that functions as a working area platform is to be viewed. The wall facing this work platform is clearly visible with shielding lead glass windows 34.

Dort sitzen verschiedene Manipulatoren, zum Beispiel 35, 36 und 37, die vom Inneren der Kabine 23 aus zum Beispiel mit dem Master-Gerät 40 bedient werden können, so daß die von den Manipulatoren gehaltenen Werkzeuge 41, 42 und 43 die in der Fig. 3 durch die Pfeile angedeuteten Bewegungen ausführen. Sie bestreichen dabei alle mindestens den Bereich 32 der Plattform. Einzelne greifen aber auch darüber hinaus.There are various manipulators, for example 35, 36 and 37, which can be operated from inside the cabin 23, for example with the master device 40, so that the tools 41, 42 and 43 held by the manipulators are the same as those shown in FIG. 3 Carry out the movements indicated by the arrows. They all cover at least area 32 of the platform. But some also go beyond that.

Die Fig. 3 läßt noch erkennen, daß auf der Oberseite 45 der Kabine 23 ein Hebezeug 46 angeordnet ist, dessen Hubwerk 47 einen Kranhaken 48 trägt und am Ende eines Teleskoparmes 50 sitzt, der in Richtung des Pfeiles 51 verstellbar ist.3 also shows that a hoist 46 is arranged on the top 45 of the cabin 23, the lifting mechanism 47 of which carries a crane hook 48 and is seated at the end of a telescopic arm 50 which is adjustable in the direction of the arrow 51.

In dem in Fig. 1 mit 54 bezeichneten seitlichen Bereich neben der Kabine 23 ist eine Ablagefläche mit Kästen 55 vorgesehen. Dort können auswechselbare Werkzeuge deponiert werden, mit denen die Manipulatoren bei Bedarf auszustatten sind.A storage area with boxes 55 is provided in the lateral area, designated 54 in FIG. 1, next to the cabin 23. Interchangeable tools can be deposited there with which the manipulators can be equipped if necessary.

Für das Arbeiten an einzelnen Gestellen 3 kann der Wagen 10 mit Haken 57 an diesen verankert werden. Solche Greiforgane ergeben eine größere Standfestigkeit für die Aufbringung von Kräften, zum Beispiel zum Lösen von Muttern oder zum Sägen oder Biegen von Rohrleitungen, so daß der Wagen selbst relativ leicht ausgeführt werden kann.For working on individual frames 3, the carriage 10 can be anchored to these with hooks 57. Such gripping members result in greater stability for the application of forces, for example for loosening nuts or for sawing or bending pipes, so that the carriage itself can be carried out relatively easily.

In Fig.1 ist noch angedeutet,daß ein Gestell 3 mit einer an der Decke des Raumes 2 gelegenen Laufkatze 58 für Reparaturarbeiten aus der Grundposition in die Stellung 3a im Gang 4 gesetzt worden ist. Dies ergibt die Möglichkeit, von der Seite her in das Gestell zu greifen. Für diese Arbeiten wird die Plattform 25 in Richtung des Pfeiles 27 gedreht, so daß die Manipulatoren 35, 36 und 37 optimal eingesetzt werden können.In Fig.1 it is also indicated that a frame 3 with a trolley 58 located on the ceiling of the room 2 for Repair work has been set from the basic position to position 3a in gear 4. This makes it possible to reach into the frame from the side. For this work, the platform 25 is rotated in the direction of the arrow 27, so that the manipulators 35, 36 and 37 can be used optimally.

Die Vorderseite der Kabine 23 ist noch mit einer Düsenöffnung 60 versehen, die in zwei zueinander senkrechten Ebenen geschwenkt werden kann, wie dies durch die Pfeile 61 und 62 angedeutet ist. Damit kann ohne direkten Personaleinsatz ein Strahl dekontaminierender Flüssigkeit auf Komponenten gerichtet werden, so daß kontaminierende Abfälle aus dem Raum 2 ausgeschwemmt werden können.The front of the cabin 23 is also provided with a nozzle opening 60 which can be pivoted in two mutually perpendicular planes, as indicated by the arrows 61 and 62. This means that a jet of decontaminating liquid can be directed onto components without the direct use of personnel, so that contaminating waste can be flushed out of room 2.

Claims (6)

1. Reparatur- und Montage-Wagen für kerntechnische Anlagen, dadurch gekennzeichnet, daß auf einem fahrbaren Unterteil (20) eine in der Höhenlage verstellbare und vorzugsweise auch drehbare Plattform (25) angeordnet ist, daß die Plattform (25) eine abgeschirmte Kabine (23) trägt, die sich über einen Teil der Plattform (25) erstreckt, daß in der Wand (24) der Kabine (23) ein oder mehrere Manipulatoren (35, 36, 37) angeordnet sind, deren Steuerglieder (40) in der Kabine (23) liegen und deren Arbeitsglieder über den neben der Kabine liegenden Teil (32) der Plattform (25) greifen.1. repair and assembly car for nuclear facilities, characterized in that on a movable lower part (20) an adjustable in height and preferably also rotatable platform (25) is arranged, that the platform (25) is a shielded cabin (23rd ), which extends over part of the platform (25), that one or more manipulators (35, 36, 37) are arranged in the wall (24) of the cabin (23), the control members (40) of which in the cabin ( 23) and their working members grip over the part (32) of the platform (25) lying next to the cabin. 2. Wagen nach Anspruch 1, dadurch gekennzeichnet, daß die Plattform (25) einen Kran (46) trägt.2. Cart according to claim 1, characterized in that the platform (25) carries a crane (46). 3. Wagen nach Anspruch 2, dadurch gekennzeichnet, daß der Kran (46) auf oder an der Kabine (23) sitzt.3. Cart according to claim 2, characterized in that the crane (46) sits on or on the cabin (23). 4. Wagen nach Anspruch 1, 2 oder 3, dadurch gekennzeichnet, daß der Wagen (10) ein angetriebenes Fahrwerk (21) aufweist und daß dem Fahrwerk (21) Steuerorgane in der Kabine zugeordnet sind.4. Carriage according to claim 1, 2 or 3, characterized in that the carriage (10) has a driven undercarriage (21) and that the undercarriage (21) is associated with control elements in the cabin. 5. Wagen nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß dem Wagen (10) eine Schleuse (14) zum Betreten der Kabine (23) zugeordnet ist.5. Carriage according to one of claims 1 to 4, characterized in that the carriage (10) is assigned a lock (14) for entering the cabin (23). 6. Wagen nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß äußere Greiforgane (57) zur Verankerung in einer Arbeitsstellung vorgesehen sind.6. Trolley according to one of claims 1 to 5, characterized in that outer gripping members (57) are provided for anchoring in a working position.
EP84115090A 1984-01-16 1984-12-10 Repairs- and assembling-carriage for nuclear installations Expired EP0149127B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3401278 1984-01-16
DE19843401278 DE3401278A1 (en) 1984-01-16 1984-01-16 REPAIR AND ASSEMBLY TROLLEYS FOR NUCLEAR SYSTEMS

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EP0149127A2 true EP0149127A2 (en) 1985-07-24
EP0149127A3 EP0149127A3 (en) 1985-08-28
EP0149127B1 EP0149127B1 (en) 1988-03-30

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EP (1) EP0149127B1 (en)
JP (1) JPS60159697A (en)
DE (2) DE3401278A1 (en)

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DE4428501A1 (en) * 1994-08-11 1996-02-15 Siemens Ag Reactor pressure vessel decommissioning appts.

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JPH04247146A (en) * 1991-02-01 1992-09-03 Misawa Homes Co Ltd Roof-top for dwelling house
JPH0671087U (en) * 1991-03-14 1994-10-04 株式会社安川電機 Master / slave robot
JP6196926B2 (en) * 2014-03-27 2017-09-13 日立Ｇｅニュークリア・エナジー株式会社 A work house for carrying out fuel debris or in-furnace equipment, etc. and an air lock device for approaching a worker used therefor
JP6520478B2 (en) * 2015-06-30 2019-05-29 株式会社デンソーウェーブ Robot arm operation system
JP6963922B2 (en) * 2017-06-29 2021-11-10 三菱重工業株式会社 Radioactive material carry-out device, radioactive material carry-in device, radioactive material transport system and its method

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FR2018443A1 (en) * 1968-09-19 1970-05-29 Siemens Ag Radiation shelter for use in nuclear reactor - safety envelopes
FR2123409A1 (en) * 1971-01-25 1972-09-08 V Trudov
EP0004861A1 (en) * 1978-04-14 1979-10-31 Westinghouse Electric Corporation Radiation shielded movable work station apparatus

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2018443A1 (en) * 1968-09-19 1970-05-29 Siemens Ag Radiation shelter for use in nuclear reactor - safety envelopes
FR2123409A1 (en) * 1971-01-25 1972-09-08 V Trudov
EP0004861A1 (en) * 1978-04-14 1979-10-31 Westinghouse Electric Corporation Radiation shielded movable work station apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4942661A (en) * 1988-05-05 1990-07-24 Deutsche Gesellschaft Fur Wiederaufarbeitung Von Kernbrennstoffen Mbh Apparatus for performing the remotely-manipulated installation and removal of detachable conduit units
DE4428501A1 (en) * 1994-08-11 1996-02-15 Siemens Ag Reactor pressure vessel decommissioning appts.

Also Published As

Publication number Publication date
EP0149127B1 (en) 1988-03-30
EP0149127A3 (en) 1985-08-28
JPS60159697A (en) 1985-08-21
DE3470248D1 (en) 1988-05-05
DE3401278A1 (en) 1985-07-18

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