EP0149127B1 - Reparatur- und Montage-Wagen für kerntechnische Anlagen - Google Patents

Reparatur- und Montage-Wagen für kerntechnische Anlagen Download PDF

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Publication number
EP0149127B1
EP0149127B1 EP84115090A EP84115090A EP0149127B1 EP 0149127 B1 EP0149127 B1 EP 0149127B1 EP 84115090 A EP84115090 A EP 84115090A EP 84115090 A EP84115090 A EP 84115090A EP 0149127 B1 EP0149127 B1 EP 0149127B1
Authority
EP
European Patent Office
Prior art keywords
cabin
carriage
platform
car
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.)
Expired
Application number
EP84115090A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0149127A3 (en
EP0149127A2 (de
Inventor
Günther Zeitzschel
Milan Dipl.-Ing. Sulic
Manfred Tennie
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.)
Siemens AG
Original Assignee
Siemens 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 Siemens AG filed Critical Siemens AG
Publication of EP0149127A2 publication Critical patent/EP0149127A2/de
Publication of EP0149127A3 publication Critical patent/EP0149127A3/de
Application granted granted Critical
Publication of EP0149127B1 publication Critical patent/EP0149127B1/de
Expired legal-status Critical Current

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Classifications

    • 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 drive crawlers, but its uses 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 which are at risk of radiation, for example from hot cells in reprocessing plants or fuel element factories, especially pipelines, pumps, valves, filters, etc., which are located at different locations which cannot be determined in advance.
  • the work of the staff is also different and must therefore be able to be carried out without the staff being too severely hampered by shielding. In any case, hand holes are inconceivable with regard to radiation and contamination.
  • the solution to the aforementioned task consists in the special design of a repair and assembly vehicle, consisting of a platform which is adjustable in height and preferably also rotatable and which bears a shielded cabin, in such a way that the cabin extends over part of the platform, that one or more manipulators are arranged in the wall of the cabin, the control members of which are located in the cabin and the working members of which grip over the part of the platform lying next to the cabin, and that the platform is arranged on a movable lower part.
  • the carriage can advantageously be designed so that the platform carries a crane.
  • the crane can sit on or at 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, however, also be equipped with steerable wheels or, like the known car, with caterpillars.
  • a lock for entering the cabin is expediently assigned to the car. This means that the vehicle standing in a radiation-endangered area can be entered by the operating personnel without being exposed to the ambient atmosphere of the car.
  • the cabin should be equipped with oxygen bottles with respiratory protection, so that in the event that the radiation-free air supply to the cabin fails, it is possible to bypass the personnel until they get out.
  • 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
  • 3 is enlarged in a vertical section part of the car is shown on a 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 frames 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 is to be regarded as a working platform. 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 upper side 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 side area designated 54 in FIG. 1 next to the cabin 23, a storage area with boxes 55 is provided. 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 pipelines, 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 has been set from the basic position into the position 3a in the corridor 4 for repair work. 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 optimally used.
  • 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.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Manipulator (AREA)
  • Jib Cranes (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP84115090A 1984-01-16 1984-12-10 Reparatur- und Montage-Wagen für kerntechnische Anlagen Expired EP0149127B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19843401278 DE3401278A1 (de) 1984-01-16 1984-01-16 Reparatur- und montage-wagen fuer kerntechnische anlagen
DE3401278 1984-01-16

Publications (3)

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

Family

ID=6225059

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84115090A Expired EP0149127B1 (de) 1984-01-16 1984-12-10 Reparatur- und Montage-Wagen für kerntechnische Anlagen

Country Status (3)

Country Link
EP (1) EP0149127B1 (ja)
JP (1) JPS60159697A (ja)
DE (2) DE3401278A1 (ja)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3815357A1 (de) * 1988-05-05 1989-11-16 Wiederaufarbeitung Von Kernbre Montagevorrichtung fuer das ein- oder ausbauen einer rohrleitungsdurchfuehrung durch fernbedienung
US5215202A (en) * 1990-09-05 1993-06-01 Aichi Sharyo Co., Ltd. Mobile vehicular apparatus with aerial cabin
US5183168A (en) * 1990-09-05 1993-02-02 Aichi Sharyo Co. Ltd. Mobile vehicular apparatus with aerial cabin
JPH04247146A (ja) * 1991-02-01 1992-09-03 Misawa Homes Co Ltd 住宅の屋上
JPH0671087U (ja) * 1991-03-14 1994-10-04 株式会社安川電機 マスタ・スレーブ ロボット
DE4428501A1 (de) * 1994-08-11 1996-02-15 Siemens Ag Vorrichtung und Verfahren zur Demontage eines Behälters, insbesondere eines Reaktordruckbehälters einer Kernkraftanlage
JP6196926B2 (ja) * 2014-03-27 2017-09-13 日立Ｇｅニュークリア・エナジー株式会社 燃料デブリまたは炉内機器等の搬出用作業ハウス及びそれに用いられる作業員接近用エアロック装置
JP6520478B2 (ja) * 2015-06-30 2019-05-29 株式会社デンソーウェーブ ロボットアームの操作システム
JP6963922B2 (ja) * 2017-06-29 2021-11-10 三菱重工業株式会社 放射性物質の搬出装置、放射性物質の搬入装置並びに放射性物質の搬送システム及びその方法

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1789001A1 (de) * 1968-09-19 1972-01-20 Siemens Ag Schutzeinrichtung
US3756915A (en) * 1971-01-25 1973-09-04 Maximov L Rnals device for detecting flaws on nuclear reactor inner surfaces and inte
US4200172A (en) * 1978-04-14 1980-04-29 Westinghouse Electric Corp. Radiation shielded movable work station apparatus

Also Published As

Publication number Publication date
EP0149127A3 (en) 1985-08-28
DE3401278A1 (de) 1985-07-18
EP0149127A2 (de) 1985-07-24
JPS60159697A (ja) 1985-08-21
DE3470248D1 (en) 1988-05-05

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