EP0281433A2 - Arbeitssystem für primäre Rohrleitungen und Wasserkammer des Dampferzeugers eines Kernreaktors - Google Patents

Arbeitssystem für primäre Rohrleitungen und Wasserkammer des Dampferzeugers eines Kernreaktors Download PDF

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Publication number
EP0281433A2
EP0281433A2 EP88400163A EP88400163A EP0281433A2 EP 0281433 A2 EP0281433 A2 EP 0281433A2 EP 88400163 A EP88400163 A EP 88400163A EP 88400163 A EP88400163 A EP 88400163A EP 0281433 A2 EP0281433 A2 EP 0281433A2
Authority
EP
European Patent Office
Prior art keywords
arm
vehicle
steam generator
decontamination
jacks
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
EP88400163A
Other languages
English (en)
French (fr)
Other versions
EP0281433B1 (de
EP0281433A3 (en
Inventor
Antoine Gemma
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.)
Electricite de France SA
Original Assignee
Electricite de France 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 Electricite de France SA filed Critical Electricite de France SA
Priority to EP91122369A priority Critical patent/EP0479344B1/de
Priority to AT88400163T priority patent/ATE78949T1/de
Publication of EP0281433A2 publication Critical patent/EP0281433A2/de
Publication of EP0281433A3 publication Critical patent/EP0281433A3/fr
Application granted granted Critical
Publication of EP0281433B1 publication Critical patent/EP0281433B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • G21F9/00—Treating radioactively contaminated material; Decontamination arrangements therefor
    • 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
    • G21F9/00—Treating radioactively contaminated material; Decontamination arrangements therefor
    • G21F9/001—Decontamination of contaminated objects, apparatus, clothes, food; Preventing contamination thereof
    • 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
    • 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
    • G21F9/00—Treating radioactively contaminated material; Decontamination arrangements therefor
    • G21F9/001—Decontamination of contaminated objects, apparatus, clothes, food; Preventing contamination thereof
    • G21F9/002—Decontamination of the surface of objects with chemical or electrochemical processes
    • G21F9/004—Decontamination of the surface of objects with chemical or electrochemical processes of metallic surfaces

Definitions

  • the present invention relates to an intervention system on the primary pipes and on the water box of a nuclear power plant steam generator.
  • One possibility of reducing the aforementioned doses received during this type of intervention may consist, before the interventions necessary for carrying out these operations, of decontaminating the primary piping of the water box, over a length of the order of a few meters for example, the internal wall of the water box and the partition plate for example.
  • This decontamination can be carried out by electrodecontamination for example and, advantageously, by intervention from the outside of the water box by the implementation of the system which is the subject of the invention.
  • the intervention system on the primary pipes and the water box of the steam generators of a nuclear power plant, object of the invention, is remarkable in that it comprises a first element having a substantially elongated shape and forming a first arm. of the system and a second element having a substantially elongated shape, articulated to one of its ends at one end of the first element, the second element forming a second arm of the system.
  • the assembly of the first and second arms is capable of being introduced into the water box of the steam generator via the manhole and said second element can be put in the deployed position relative to the first element.
  • a vehicle is mounted on the second arm, the vehicle being mounted movable relative to the second arm and a decontamination means is carried by the vehicle.
  • the intervention means due to its movement relative to the second arm and the relative opening between the first and the second arm, is capable of reaching a plurality of areas of the internal surface of the steam generator such as in particular the primary pipes, the partition plate and the internal wall of the spherical bowl of the steam generator water box. Means for remote control of the vehicle and intervention means are also provided.
  • the system which is the subject of the invention can advantageously be used prior to any intervention by an operator on or in the water box of a steam generator, operations such as plugging the tubes, checking the tubes, fitting types shutter.
  • the intervention system on the primary pipes and on the water box of steam generators of a nuclear power plant comprises a first element denoted 1 having a substantially elongated shape and forming a first arm of the system. It also comprises a second element denoted 2 having a shape which is also substantially elongated, this second element being articulated at 12 at one of its ends at one end of the first element denoted 1.
  • the second element 2 forms a second arm of the system and the assembly of the first 1 and of the second arm 2 is capable of being introduced into the water box denoted BAE in FIG. 1a of the steam generator, via of the manhole noted TH.
  • the second element 2 can thus be placed in the deployed position relative to the first element 1, the deployed position with an opening angle ⁇ shown in FIG. 1a.
  • a vehicle denoted 3 is mounted on the second arm 2.
  • the vehicle 3 is mounted movable relative to the second arm 2 as will be described in more detail below in the description.
  • An intervention means such as a decontamination means 30 is also carried by the vehicle 3.
  • the intervention means 30, due to its movement relative to the second arm 2 and the relative opening between the first 1 and the second arm 2 is capable of reaching a plurality of zones of the internal surface of the steam generator, such as in particular the primary pipes denoted TP, the partition plate denoted PP, the internal wall of the spherical bowl of the water box marked BAE of the steam generator.
  • control means 6 are provided so as to allow remote control of the vehicle 3 and intervention means 30 from outside the water box BAE of the generator. steam.
  • Auxiliary control means 6 are also associated with auxiliary elements such as an electrical energy supply system, noted 7, and a tank of decontaminating products noted 8. These two accessory auxiliary elements will be described more detailed later in the text of this description.
  • the device object of the invention is based on the compass theory and thus allows, by deployment of the second arm noted 2 with respect to the first arm noted 1, to reach substantially all the points inside the water box BAE of the steam generator, which must be subjected to a decontamination process as described below in the description.
  • the first element 1 is a hollow element of substantially semi-cylindrical shape so as to form a protective corset for the second element 2, when the latter is in position not deployed.
  • the non-deployed position is understood to mean a value of the angle ⁇ which is substantially zero, This second element or second arm 2 then being brought back against the first element or first arm 1 and inside the hollow part of the latter.
  • the second arm denoted 2 is advantageously constituted by a teles arm copic noted 20 and the vehicle 3 is then removably mounted at the end of the second element 2 forming a second arm.
  • the telescopic arm 20 can be constituted in a conventional manner, by an arm provided with a hydraulic cylinder controlled by the control means 6.
  • the removable attachment of the vehicle 3 at the end of the telescopic arm 20 can advantageously be carried out by means of a jaw 21 controlled by the control means 6 and a corresponding fixing system 35, directly integral with the vehicle 3 as will be described later in the description.
  • the vehicle 3 having been placed in position at the inlet of the primary piping TP by means of the telescopic arm 20 controlled by the control means 6, the release of the jaw 21 is then controlled and the vehicle 3, a self-propelled vehicle as will be described later in the description can then move in the aforementioned primary piping TP.
  • FIG. 1b shows a partial sectional view along a plane of symmetry common to the manhole TH and to the primary piping TP of the water box of a steam generator and of the system according to the invention, the vehicle 3 having moved through the primary piping TP.
  • the vehicle is mechanically secured to a tensor cable denoted 4, the tensor cable circulating during the movement of the removable vehicle 3 in the primary pipes TP by means of end pulleys denoted 200 of the second arm 2, of articulation pulleys noted 100 of the first and second arms for example.
  • a pulley will be understood to mean any suitable guide means allowing movement of the cable without excessive wear of the latter and in particular possibly of guide grooves provided with a self-lubricating coating for example, such as a polytetrafluoroethylene coating.
  • the tensioning cable 4 is distributed by a balancing reel denoted 5 located near the free end of the first element 1 outside the manhole TH when the system and in particular the element 1 is in position, as will be described later in the description.
  • the vehicle 3 makes it possible to move the decontamination means 30 along the primary piping TP.
  • the vehicle makes it possible to print, by means of decontamination 30, a rotational movement around the axis of the piping TP during decontamination and an incremental longitudinal movement allowing the progression of the vehicle assembly 3 - decontamination means 30, along the piping.
  • the vehicle 3 may advantageously include a vehicle body denoted 31 consisting of a longitudinal element arranged along the longitudinal axis ⁇ of the vehicle.
  • the latter also comprises a chassis 32 rotatably mounted on the longitudinal element forming the vehicle body 31.
  • the chassis 32 comprises a plate denoted 320, intended to support the decontamination means 30.
  • means for supporting the vehicle 3 are provided. These lift means are constituted by a first denoted 33, and a second denoted 34, sets of jacks. Each set of jacks is integral with the vehicle body 31 and has a tripod configuration in a plane orthogonal to the longitudinal axis ⁇ of the vehicle.
  • Each cylinder forming the sets of cylinders 33 and 34 are provided at their end with an application suction cup intended to bear on the internal wall of the primary wall TP. It will be noted in FIG. 2a that the set of jacks 33 has been shown with only two jacks, the third jack having been omitted so as not to unnecessarily overload the drawing.
  • the chassis 32 is rotatably mounted on the longitudinal element 31 by means of a ring gear 310 and a motor 321 comprising a pinion meshing on the aforementioned toothed crown.
  • the motor 321 is of course integral with the chassis 32. The rotation of the pinion of the motor 321 thus makes it possible to ensure the rotation of the chassis 32 and all the elements which are subject to it.
  • the decontamination means 30 are supported by the plate 320, by means of jacks denoted 3201, 3202.
  • the jacks 3201, 3202 are each connected by a ball joint 3203, 3204 to the decontamination means.
  • a radial translation of the assembly that is to say in a direction orthogonal to the longitudinal axis ⁇ of the vehicle body 31, is controlled by a motor 3205 secured to the decontamination means 30, in order to allow docking of these means on the primary pipe wall to be treated.
  • the motor 3205 is mounted integral with the plate 320 and therefore with decontamination means 30, the motor 3205 meshing a transmission chain 3206, which drives two nuts 3207, 3208, driving the plate solidly 320 and the decontamination means 30, by means of two threaded rods 3209 secured to the chassis 32.
  • the rotation of the motor 3205 thus makes it possible to set the transmission chain 3206 in motion, the movement in translation of the assembly of the crew formed by the plate 320, the motor 3205 and the decontamination means 30, in a direction perpendicular to the axis ⁇ .
  • the vehicle body 31 comprises at one of its ends a frustoconical part 35 provided with a groove 3500, and intended to come to engage in the fixing jaw disposed at the end of the telescopic arm 20.
  • CA represents the power cord of the vehicle
  • this power cord being deemed to include a hose for supplying and discharging the liquid or fluid decontaminating towards the decontamination means 30, as will be described later in the description, as well as an electrical power supply pipe and a hydraulic fluid pipe allowing the actuation of the various cylinders constituting the vehicle 3.
  • the two sets of jacks, 33, 34 are, in order to allow the traction of the vehicle 3 to be ensured in the primary piping tp, mounted on a seat plate denoted 330, 340, the orientation of which relative to a plane orthogonal to the longitudinal axis ⁇ of the vehicle body is adjustable according to a value angle determined by means of ball joint fasteners denoted 331, 332 respectively 341, 342.
  • the fasteners at ball joints can consist of lockable and unlockable ball joints.
  • the support or seat plate 330 is in fact mechanically independent of the anchoring point of the tensor cable on the vehicle body 31.
  • the seat plate 340 is movable in translation in a direction parallel to the longitudinal axis ⁇ of the vehicle 3, by means of traction jacks denoted 343 and 344.
  • traction jacks denoted 343 and 344.
  • the vehicle 3 as shown in s s 2a and 2b allows in particular through the set of cylinders 33 and 34 having the above tripod configuration, centering and holding the vehicle 3 in the primary piping TP.
  • the advance of the vehicle 3 is ensured by the aforementioned set of jacks 343, 344, articulated at their end so as to allow the angular offset of the set of jacks 34, with respect to the assembly constituted by the other set of jacks 33 and the vehicle body 31 and the chassis 32 during the progression of the assembly in the curved parts of the primary piping TP.
  • the entire vehicle 3 is held by the tensioning cables 4 mentioned above, the latter being actuated in order to prevent the fall of the vehicle 3, during the possible failure of one of the sets of jacks 33 or 34.
  • the decontamination process of the primary piping TP can then be carried out as follows. Vehicle 3 is lowered to the lowest point to be decontaminated from the primary piping TP. The decontamination of the walls of the primary piping TP is then ensured by means of the decontamination means 30, which are rotated around the longitudinal axis ⁇ of the vehicle, via the chassis 32 set in motion by the engine. 321 cited above. A side strip of the pipe TP primary land having been decontaminated, the vehicle is then moved by an increment and the ascent thereof is effected by means of the second set of jacks 34 previously described. It is at this point that the tensioning cables 4 fully play their role of means ensuring safety in the event of a failure in the aforementioned cylinders.
  • the tensor cable or cables 4 being wound on the balancer 5, these facilitate the ascent of the vehicle 3, in particular when the vehicle and in particular the support jacks of the sets of jacks 33 or 34, pass in front of a decontaminated surface, that is to say a surface having a surface condition exhibiting adhesion difficulties.
  • FIGS. 3a, 3b , 3c, 3d, 3e, 3f, 3g, 3h, 3i, 3d A detailed description of the installation of the systems which are the subject of the invention in the BAE water box of a steam generator, installation from the outside thereof, will be described in conjunction with FIGS. 3a, 3b , 3c, 3d, 3e, 3f, 3g, 3h, 3i, 3d.
  • FIGS. 3a and 3b the installation of the system which is the subject of the invention is shown on an elevator marked 50 brought near the manhole marked TH.
  • the elevator system 50 can consist, for example, of an inclined plane, the angle of inclination of which allows the assembly, that is to say of the system which is the subject of the invention, to position the articulation 12 of the first and second arms in the vicinity of the center of the tube plate denoted PT of the water box of the steam generator.
  • Figures 3c and 3d show in particular the position of the system which is the subject of the invention, after translation of the system on the elevator 50 and positioning of the articulation 12 in the vicinity of the center of the tube plate PT.
  • the position of the assembly being as shown in Figure 3b for example, the vehicle 3 is then, as shown in Figure 3e and 3f, docked at the end of the telescopic arm 20 and locked at the end thereof.
  • the telescopic arm can then be retracted so as to bring the vehicle inside the BAE water box.
  • the power cord connections are also made beforehand.
  • the second element noted2 forming an arm is then unlocked and put in the deployed position relative to the first element forming an arm noted 1.
  • the second element forming an arm 2 is then deployed so as to bring this and the vehicle 3 in line with the primary piping TP as shown in Figure 3g.
  • the deployment of the arm 2 can be carried out by means of a jack or by means of a motor driving the arm 2 in rotation in its deployed position.
  • the telescopic arm is then actuated so as to introduce the vehicle 3 into the primary piping TP.
  • the jacks of the sets of jacks 33 and 34 of the vehicle 3 are then actuated in order to actuate the ac costing of the vehicle 3 on the walls of the primary piping TP as shown in FIG. 3i.
  • the vehicle 3 can then be disconnected from the telescopic arm 20 by means of the jaw previously described and the progression of the vehicle 3 in the primary piping can be achieved as already mentioned, by sequential progression along the axis piping.
  • FIGS. 4a, 4b and 4c A more detailed description of the progression of the vehicle 3, in particular in the curved part of the primary piping TP, will be given in connection with FIGS. 4a, 4b and 4c.
  • FIG. 4a there is shown the two sets of cylinders 33 and 34 in the support position on the inner wall of the primary pipe TP in a curved part thereof.
  • the system can easily move in the curved parts.
  • the cylinders constituting the sets of cylinders 33 and 34 are under pressure and allow the application of the suction cups on the wall, in order to constitute a fulcrum.
  • the ball joints can then be locked as shown by the letter V.
  • the jacks of the jack set 34 are placed under vacuum in order to place them in the withdrawn position, the ball joints 341 and 342 being unlocked, position noted. .
  • the set of jacks 34 having translated with a length substantially equal to the stroke of the jacks 343 and 344, the pressure is restored at the jacks of the set of jacks 34, the vehicle 3 then being in its new equilibrium position , as shown in Figure 4b in point (2).
  • the length of elongation of the rods of each cylinder of the cylinder set 34 can then be adjusted, by means of the control means, in order to obtain perfect centering of the central point of the ball joints 341, 342 on the axis of the primary pipe TP, the ball joints 331 , 332 having been placed in the unlocked position as shown in Figure 4b in point (2).
  • a video camera can advantageously be fixed on the vehicle 3, so as to facilitate the maneuvers of approaching the vehicle and its fixing endpiece in the vicinity of the fixing jaw of the telescopic arm 20.
  • the arm telescopic 20, when the vehicle 3 is again fixed at the end of the latter is then retracted and the element 2 forming an arm is then returned to its non-deployed position corresponding to the position of positioning of the start of the operations.
  • the system which is the subject of the invention can then be removed by means of the elevator 50 as described above.
  • the partition plate PP is a plate substantially orthogonal to the tube plate PT of the water box of the steam generator, the aforementioned partition plate dividing the water box into two half-hemispheres substantially.
  • the second element 2 forming the second arm is articulated to the first arm 1 by means of a joint of the Cardan joint type denoted 120.
  • the joint 120 comprises in position a first axis denoted D1, substantially parallel to the partition plate PP, and a second axis denoted D2 substantially perpendicular to the partition plate PP.
  • the vehicle 3 is then mounted movable in translation along the second arm 2.
  • the second arm 2 advantageously comprises a first central cylinder denoted 200, which ensures the fixing in translation of the assembly constituted by the first denoted 1 and the second arm denoted 2 in the direction D2 perpendicular to the partition plate PP.
  • a plurality of jacks denoted 21, 22, respectively 23, 24 are arranged at the free end of the second arm 2 or in the vicinity thereof.
  • at least two opposite jacks, for example jacks 21 and 23, form a moving element with respect to the second arm, this moving element being able to be moved perpendicular to the direction ⁇ , axis longitudinal of the second arm 2, this direction of movement being parallel to the partition plate PP.
  • This movement ensures the movement corresponding to the second arm 2 relative to the axis D2 forming an axis of rotation for the second arm 2 relative to the fixed point formed by the central cylinder 200.
  • the fixing of the suction cups is of course carried out by placing them in depression.
  • the jack 200 forming the central jack is provided with a suction cup 201 allowing the system object of the invention to be supported at the joint 120 between the arms 1 and 2, in the vicinity of the central point of the tubular plate PT previously described.
  • the vehicle 3 is provided with decontamination means such as those described in connection with the previous embodiment.
  • the system according to the invention is set up at the level of the manhole TH by means of an elevator 50, as has been previously described. It will be noted in FIG. 5b above that the articulation 120 is brought in the vicinity of the center of the tube plate PT of the steam generator. The system is then mounted by translation on the elevator 50 and engaged in the manhole TH, a locking on false studs fixed on the manhole flange being then carried out. The object of the invention system is in position as shown in Figure 5b. The element 2 forming an arm is then retracted into the hollow part of the arm 1 constituted, as described above, by a semi-cylindrical hollow part for example.
  • the element 2 forming an arm is subjected, as shown in FIG. 5c, to a rotational movement around the axis D1 the element 2 forming an arm thus being brought into position substantially parallel to the partition plate PP, as shown in FIG. 5c.
  • the assembly of the element 2 forming an arm and the articulation 120 has been brought into the deployed position around the axis D1.
  • the central cylinder 200 is then docked, the suction cup 201 then being applied in the vicinity of the center of the tube plate PT, as shown in FIG. 5c.
  • the jacks 21, 22, 23, 24 can then also be approached on the partition plate PP, as shown in FIG. 5c and the corresponding suction cups 210, 220, 230, 240 can then be put under vacuum to ensure the maintenance of the arm 2 in a position substantially parallel to the partition plate PP.
  • the two opposite jacks 21 and 23 forming a moving assembly are made mobile by means of a double-acting jack denoted 25, the body of which is mounted floating on the second arm 2, and recalled to an average position by means of an elastic system.
  • a double-acting jack denoted 25 the body of which is mounted floating on the second arm 2, and recalled to an average position by means of an elastic system.
  • the elastic system is constituted by two return springs denoted 251 and 252, the jack 25 being guided in its movement to return it to its mean position by means of a light and pin system denoted 250
  • the mobile assembly constituted by the cylinders 21 and 23 and their corresponding suction cup 210 and 230 moves in a direction perpendicular to the longitudinal axis of the element 2 forming an arm of the system which is the subject of the invention, this movement being carried out in one or the other direction.
  • FIG. 6b the different stages corresponding to the movement of the movable assembly constituted by the jacks 21 and 23 and by the element 2 forming an arm, are shown respectively 1, 2, 3, 4, 5, 6, 7.
  • Position 7 corresponds substantially to the initial position 1 after displacement of the element 2 forming an arm with an increment of displacement in rotation corresponding to the movement of the element 2 forming an arm relative to the movable assembly constituted by the jacks 21 and 23 actuated by the jack 25.
  • the vehicle 3 supporting the decontamination means 30 can move parallel to the element 2 forming an arm thanks to a motor driving a worm screw housed in the element 2 forming an arm. Such an arrangement will not be described in detail since it is within the reach of those skilled in the art.
  • the decontamination means can advantageously be rotatable along an axis perpendicular to the axis of the element 2 forming an arm and to the partition plate PP, as will be described later in the description.
  • a so-called safety cylinder denoted 26 may be provided at the free end of the element 2 forming an arm. This cylinder is directed in the direction of the longitudinal axis ⁇ of the second element 2 forming an arm. In the event of a power supply fault, it makes it possible to block the second elements 2 forming arms in its current position.
  • Figure 7 a partial sectional view of the arm member 2, front view in a direction parallel to the axis ⁇ shown in Figure 5a.
  • G a circle surrounding the element 2 forming an arm, provided with its accessories, and representing the size of the manhole.
  • the opposite jacks 21 and 23 form the above-mentioned mobile assembly and are, for this purpose, mounted so as to have a spacing greater than the pair of fixed jacks 22, 24, according to a direction perpendicular to the longitudinal axis ⁇ of the second arm 2 and parallel to the partition plate PP.
  • the above-mentioned jacks 21 and 23 are mounted integral with the motor chuck of the jack 25 by means of arched arms denoted 2123 and 2321. As will be seen in FIG.
  • one of the jacks, the jack 21 by example, constituting the movable assembly, is retractable in order to allow the retraction of the assembly in the protective corset formed by the first arm 1, in order to allow the introduction of the assembly through the manhole TH .
  • the retraction of the jack 21 is shown in FIG. 7, the assembly constituted by the element 2 forming an arm and its accessories being inscribed in the circle G representative of the size of the manhole TH.
  • the accessories may advantageously include a motor for orienting the decontamination means 30, this motor being denoted 400, the orientation of the decontamination means 30 being produced by a rotation about the perpendicular axis ⁇ to the longitudinal ⁇ axis of the element 2 forming an arm as previously mentioned.
  • the accessories also include guide pins 4001, 4002 of the decontamination element carriage, the vehicle proper being noted in this embodiment 4003 and consisting of a carriage sliding on the guide pins 4001, 4002, a worm-type drive screw, denoted 4004 and a worm drive motor noted 4005.
  • FIGS. 5a to 7 advantageously makes it possible to ensure the decontamination of the partition plate PP of the water box of a steam generator.
  • FIGS. 8a and 8b A particularly advantageous embodiment of the system which is the subject of the invention will now be described in connection with FIGS. 8a and 8b, this embodiment being more particularly suitable for decontamination of the internal wall of the bowl of the BAE water box.
  • a nuclear power plant steam generator a nuclear power plant steam generator.
  • the second element 2 forming the second arm is articulated to the first arm 1 by means of a hinge whose deflection plane is rotatable.
  • the deflection plane of the orientable hinge denoted 1200 is shown, by the longitudinal axis ⁇ of the second arm denoted 2 and the orientation rotation axis denoted D3, axis of rotation of the hinge 1200, the movement of the hinge, that is to say the orientation of the longitudinal axis ⁇ of the arm forming the second arm 2 in the plane of movement constituted by the axes D3 and ⁇ then takes place around an orthogonal axis D4 to the hinge 1200 travel plane.
  • the deflection plane of the hinge 1200 constitutes in operation, the first element denoted 1 and the second element denoted 2 forming an arm being in the deployed position, a diametral plane of the hemispherical bowl of the BAE water box of the steam generator.
  • the orientable hinge 1200 may advantageously include a bearing denoted 12000 fixed at the end of the first arm 1.
  • the bearing is provided with a contact plate denoted 12000 with the tubular plate PT of the generator. steam.
  • the contact plate can advantageously be made of a material conforming to the profile of the tube plate or tube plate of a set of retractable fingers distributed on the contact plate or not of tubes on the tube plate and coming to engage in these to ensure the fixing of the assembly.
  • the orientable hinge 1200 further comprises a turntable denoted 12001, this turntable freely around the bearing.
  • the axis of rotation of the turntable constitutes the orientation axis of rotation denoted D3, of the deflection plane of the orientable hinge 1200.
  • the turntable 12001 has at its periphery an articulation denoted 12002 whose axis D4 is orthogonal to the orientation rotation axis D3 of the hinge 1200 and thus forms the aforementioned orientable hinge.
  • the second element 2 forming an arm is articulated around the joint 12002, as shown in FIG. 8a.
  • the vehicle 3 is mounted at the end of the second arm 2, by means of a pusher member denoted 2000, allowing the vehicle 3 to press against the internal wall of the bowl in operation.
  • a pusher member denoted 2000 allowing the vehicle 3 to press against the internal wall of the bowl in operation.
  • the pusher member 2000 can be produced by a hydraulic cylinder for example.
  • the stroke of the aforementioned hydraulic cylinder advantageously makes it possible to compensate for the variations in the radius of action of the assembly constituted by the second element 2 forming an arm and the vehicle, these variations in the radius of action being due to the slight offset from the center of rotation of the hinge 1200, axis of rotation D3, with respect to the axis of symmetry of the hemispherical bowl of the water box of the steam generator.
  • the vehicle 3 is also movable in rotation relative to the longitudinal axis of the second arm, by means of a gear motor noted 2001.
  • the vehicle 3 on the action of the jack or pusher member 2000 is thus pressed against the internal wall of the hemispherical bowl of the water box of the steam generator.
  • the vehicle 3 can then be moved, causing the element 2 forming the system arm to be cel, by means of a displacement system disposed on the vehicle 3.
  • the displacement system The aforementioned cement consists of a plurality of motorized drive rollers, the motorized drive rollers being denoted 331, 332, 333 in FIG. 8a.
  • the motorized rollers 331, 332, 333 form a tripod system.
  • the drive control of each roller can advantageously be provided independently.
  • each roller can advantageously include a drive motor noted 3310, consisting of a gear motor coupled to a drive system by pinion and chain 3311 of the drive wheel of the roller 3312.
  • each roller such as the roller 331 shown in FIG. 8b, can be oriented by means of an orientation motor 3313, coupled by a gear 3314, to the axis integral with the body of the roller 331.
  • the rollers forming the tripod system can then be oriented simultaneously in the same direction and the independent traction control of the roller can allow, if necessary, the independent control of one or more rollers or of all of the rollers, in order to ensure the displacement by traction of the assembly formed by the element 2 forming an arm and of the vehicle 3.
  • FIGS. 9a, 9b 9c, 9d, 9th A more detailed description of the installation of the system which is the subject of the invention, in its embodiment as shown in FIG. 8a and 8b, will be given in conjunction with FIGS. 9a, 9b 9c, 9d, 9th.
  • FIG. 9a the system which is the subject of the invention is set up by means of an elevator 50 as previously described.
  • the system is slid by translation on the inclined plane of the elevator and the contact plate is brought in the vicinity of the tubular plate, in order to ensure the fixing thereon.
  • the system thus fixed both on the tube plate PT and on the flange of the manhole TH is shown in FIG. 9b.
  • the formation of the positioning position of the support plate on the tubular plate is given for example by three proximity sensors arranged on the support plate for this purpose.
  • the drive movement of the rollers then ensures the working movements to ensure decontamination by means of decontamination means 30 carried by the vehicle 3 and of sector change so as to pass from a decontaminated zone to an uncontaminated zone , to be subjected to the decontamination process.
  • the extraction of the system which is the subject of the invention can then, after the end of the decontamination process, be carried out by returning the element 2 forming an arm shown in FIG. vehicle having been brought back by the thrust element 2000 to its position furthest from the internal wall of the bowl of the steam generator, folding of the arm 2 inside the element 1 forming an arm by return of a cable recall for example or any other suitable means for this purpose.
  • the system which is the subject of the invention can then be brought back to the elevator as described above.
  • Figures 9d and 9e provide a better understanding of the principle of monitoring the arm 2 during its movement in the hemispherical bowl of the water box BAE of the steam generator.
  • the pusher arm 2 via the jack 2000 applies the vehicle 3 against the spherical surface of the water box and follows the movements of the vehicle 3 thanks to the two degrees of freedom present at the joint 1200.
  • the axis of rotation D3 allows the element 2 forming an arm to bypass the structure as shown in particular in FIG. 9e.
  • This system advantageously makes it possible to ensure the passage of the vehicle around the manhole as will be readily understood on observation of FIG. 9e, only a substantially circular zone denoted ZE cannot be reached by the vehicle and by the decontamination means 30.
  • the pusher arm interface 20 - vehicle 3 consists of a geared motor assembly allowing the orientation of the decontamination means 30 in order to respect the direction of arrival and exit of the decontamination fluid.
  • the element 2 forming an arm can then advantageously be linked to the vehicle 3 by means of a ball joint of the Cardan type. This type of connection makes it possible to transmit the orientation command to the vehicle 3 while guaranteeing the transmission of the force from the pusher arm 20 and an application of the vehicle 3 to the surface to be decontaminated.
  • the pusher arm 20 retains its pusher function and maintains the position of the vehicle 3. This is made possible in particular by reducing the range of action of the pusher arm 20 from top to bottom. the steam generator water box.
  • the upper plate 12001 of the joint 1200 can be mechanically oriented from the outside of the water box BAE of the steam generator in order to reposition the element 2 forming the arm and the vehicle 2 in the fold axis of the element 2 forming an arm in the event of a major breakdown.
  • control means 6 shown in particular in Figure 1a will be described in conjunction with Figures 10a, 10b and 10c.
  • control means 6 comprise a control console having the controls vehicle movement, viewing spots on a double screen and safety controls.
  • the double screen allows the display of the sectors of the primary piping TP on which the decontamination must be carried out and an analogical representation of the decontamination passes to be carried out for each sector.
  • the system which is the subject of the invention is more particularly suitable for the decontamination of the PP partition plate of the water box of the steam generator
  • the system is controlled by an operator having on the control desk means of command 6, the commands for elementary movements of rotation of the decontamination means 30, working movement of the vehicle 3 and pendular movement of the arm 2, as shown in FIG. 10b.
  • the different axes of movement are instrumented in order to give on the desk with two screens previously described, on the one hand the image of the partition plate with the bands already subjected to decontamination and the bands to be subjected to decontamination and on the other the image of the strip being decontaminated with a visualization of the passes made.
  • the system which is the subject of the invention is more particularly suitable for decontaminating the bowl of the water box BAE of the steam generator
  • the system is controlled by an operator having on the control console control means 6, the basic movement controls such as the movement and orientation of the traction rollers, the orientation of the vehicle as well as the emergency stop orders.
  • a display assembly mounted on a turret fixed to the element 2 forming an arm makes it possible to follow the vehicle 3 during its evolutions.
  • the object system of the invention can advantageously make it possible to ensure decontamination by electrodecontamination.
  • decontamination can be carried out by electrodecontamination from outside the water box of the steam generator.
  • the decontamination means 30 may advantageously comprise an electropolishing cell as shown in FIG. 11a.
  • FIGS. 11a and 11b A more detailed description of an electropolishing cell which is particularly suitable for the decontamination system which is the subject of the invention will be given in conjunction with FIGS. 11a and 11b.
  • an electropolishing cell denoted 30, which comprises a suction cup formed by a suction cup body 300, substantially of revolution.
  • a permeable electrode denoted 301 is located in the suction cup body 300 and delimits therein a chamber.
  • a seal noted 304 is disposed at the periphery of the suction cup body 300.
  • a set of rollers 305 is integral with the suction cup body 300, the rollers being intended to form a bearing stop for the suction cup on the surface S in order to keep the distance from the electrode 301 at the surface S to be treated.
  • the seal 304 Under the effect of the vacuum induced by the suction of the electrolyte, the seal 304 is normally crushed.
  • the aforementioned set of rollers consisting of polytetrafluoroethylene rollers for example, is mounted on ball bearings with pivoting axis fixed on the body of the suction cup. This set of rollers has the function of ensuring and facilitating the sliding of the suction cup on the surface S, and prevents the phenomenon of chattering which appears when the seal 304 is too crushed.
  • the intake chamber 302 and the suction chamber 303 respectively comprise an intake tank 306 and a suction nozzle 307 of the above-mentioned electrolyte.
  • the electropolishing suction cup is made integral with the vehicle 3 by means of an indexing table 308 mounted movable in rotation relative to a axis perpendicular to the direction formed by the intake nozzle 306 and the suction nozzle 307 of the electrolyte.
  • the indexing table 308 is provided with adjustment means 3080 making it possible, when the vehicle 3 is moving, to maintain the plane containing the axis of the electrolyte intake and suction nozzles, nozzles denoted 306, 307, substantially vertical. .
  • the adjustment of the orientation of the aforementioned plane can be adjusted once and for all.
  • the surface to be treated is constituted by a spherical surface, in particular in the case of decontamination of the bowl of the water box BAE of the steam generator
  • the path of movement of the vehicle can be constituted by a large circle of the sphere for example, and the orientation of the plan can thus be established for a given path.
  • the aforementioned adjustment means 3080 can then be constituted by a stepping motor secured to the indexing table and allowing remote adjustment of the latter as a function of the path chosen.
  • the suction cup body 300 is made integral with the indexing table 308 by means of an elastic suspension 309.
  • the latter comprises at least two spring jacks denoted 3091, 3092 in FIG. 2b, the mandrel of which is made integral with the suction cup body 300 by means of an articulation with ball joint noted 3100, 3110.
  • the above-mentioned ball joint 3100, 3110 is mounted on two fixing lugs 3101, 3111, integral with the suction cup body 300 and arranged according to a diameter thereof.
  • each ball joint 3100, 3110 is mounted to slide according to the aforementioned diameter.
  • the spring jacks 3091, 3092 are mounted fixed on the table or indexing table and are arranged so that the force exerted by the springs of the jack or pressing force ensures permanent contact of the suction cup with the wall to be treated.
  • the aforementioned cylinders make it possible to compensate for any variations in level of the wall by allowing a movement back and forth along the axis previously described.
  • the connection of the jacks or suction cup body 300 by the sliding ball joints 3100, 3110 allows the suction cup to take any angular position without introducing bending stress in the jack rods and in the fixing lugs 3101, 3111 previously described.
  • two flanges fixed on the body of the cylinders 3091, 3092 make it possible to ensure compressing them while maintaining the suction cup body and the suction cup in the high position.
  • the suction cup body 300 can advantageously be made of a synthetic material such as hydrogenated polypropylene, PPH, or difluorinated polyvinyl denoted PVDH.
  • each element 2 forming an arm can be directly associated as a function of the zone to be decontaminated from the water box of the steam generator with a corresponding articulation 12, 120 or 1200, this articulation being able to be fixed on an arm or element 1 forming universal arm, susceptible to receive the corresponding joint.
  • the elements 2 forming arms constitute a set of arms capable of being adapted to the element 1 forming a single arm.
  • the electrical energy supply means 7 are advantageously constituted by a battery of controlled rectifiers, in order to allow the electrical energy supply to the vehicle and, in particular, electrodecontamination means previously described.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Food Science & Technology (AREA)
  • Chemical & Material Sciences (AREA)
  • General Chemical & Material Sciences (AREA)
  • Electrochemistry (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Thermal Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Structure Of Emergency Protection For Nuclear Reactors (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Domestic Plumbing Installations (AREA)
  • Cleaning In General (AREA)
EP88400163A 1987-01-28 1988-01-26 Arbeitssystem für primäre Rohrleitungen und Wasserkammer des Dampferzeugers eines Kernreaktors Expired - Lifetime EP0281433B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP91122369A EP0479344B1 (de) 1987-01-28 1988-01-26 Arbeitssystem für Innenwände der Wasserkammern in dem Dampferzeuger eines Kernreaktors
AT88400163T ATE78949T1 (de) 1987-01-28 1988-01-26 Arbeitssystem fuer primaere rohrleitungen und wasserkammer des dampferzeugers eines kernreaktors.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8700994A FR2610137B1 (fr) 1987-01-28 1987-01-28 Systeme de decontamination des tuyauteries primaires et de la boite a eau d'un generateur de vapeur de centrale nucleaire
FR8700994 1987-01-28

Related Child Applications (1)

Application Number Title Priority Date Filing Date
EP91122369.1 Division-Into 1991-12-30

Publications (3)

Publication Number Publication Date
EP0281433A2 true EP0281433A2 (de) 1988-09-07
EP0281433A3 EP0281433A3 (en) 1988-09-21
EP0281433B1 EP0281433B1 (de) 1992-07-29

Family

ID=9347350

Family Applications (2)

Application Number Title Priority Date Filing Date
EP88400163A Expired - Lifetime EP0281433B1 (de) 1987-01-28 1988-01-26 Arbeitssystem für primäre Rohrleitungen und Wasserkammer des Dampferzeugers eines Kernreaktors
EP91122369A Expired - Lifetime EP0479344B1 (de) 1987-01-28 1988-01-26 Arbeitssystem für Innenwände der Wasserkammern in dem Dampferzeuger eines Kernreaktors

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP91122369A Expired - Lifetime EP0479344B1 (de) 1987-01-28 1988-01-26 Arbeitssystem für Innenwände der Wasserkammern in dem Dampferzeuger eines Kernreaktors

Country Status (10)

Country Link
US (1) US4984598A (de)
EP (2) EP0281433B1 (de)
JP (1) JP2755586B2 (de)
KR (1) KR880009389A (de)
AT (2) ATE125059T1 (de)
CA (1) CA1308497C (de)
DE (2) DE3873117T2 (de)
ES (2) ES2034282T3 (de)
FR (1) FR2610137B1 (de)
ZA (1) ZA88544B (de)

Cited By (1)

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CN102494326A (zh) * 2011-11-28 2012-06-13 中国核工业二三建设有限公司 蒸汽发生器的观察孔的检修方法及所用到的工具

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5265129A (en) * 1992-04-08 1993-11-23 R. Brooks Associates, Inc. Support plate inspection device
US5305356B1 (en) * 1992-05-14 1998-09-01 Brooks Support Systems Inc Inspection device
JP5314609B2 (ja) * 2010-01-27 2013-10-16 三菱重工業株式会社 水室内作業装置

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FR2538602A1 (fr) * 1982-12-23 1984-06-29 Thome Paul Equipage automoteur de controle des canalisations du circuit primaire des centrales nucleaires
FR2544123A1 (fr) * 1983-04-07 1984-10-12 Thome Jean Patrick Dispositif et procede d'intervention sur des tubes de generateurs de vapeur de chaudieres nucleaires
EP0146833A2 (de) * 1983-12-14 1985-07-03 Siemens Aktiengesellschaft Vorrichtung zum Elektropolieren der Innenoberfläche von hohlzylindrischen Körpern
FR2566309A1 (fr) * 1984-06-22 1985-12-27 Barras Provence Dispositif pour positionner selectivement un outil porte par un vehicule se deplacant sur la plaque perforee d'un faisceau de tubes
EP0178971A1 (de) * 1984-09-20 1986-04-23 Commissariat A L'energie Atomique Werkzeugtragender Roboter für das Ausführen von Arbeiten innerhalb eines mit einer Zugangsöffnung versehenen Raumes

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US3599871A (en) * 1969-07-08 1971-08-17 Goodrich Co B F Jet spray tank cleaner
US3741808A (en) * 1970-08-12 1973-06-26 Goodrich Co B F Tank cleaner
FR2381657A1 (fr) * 1977-02-24 1978-09-22 Commissariat Energie Atomique Vehicule autopropulse a bras articules
US4244523A (en) * 1979-03-15 1981-01-13 Looper Bruce T Apparatus for cleaning tanks or vessels
US4220170A (en) * 1979-07-30 1980-09-02 Hebert Chris J Apparatus for cleaning large tank interiors
US4326317A (en) * 1979-10-16 1982-04-27 Westinghouse Electric Corp. Decontamination apparatus
JPS57185000A (en) * 1981-05-08 1982-11-13 Mitsubishi Heavy Ind Ltd Method and device for working by remote control
US4646768A (en) * 1983-07-18 1987-03-03 Mitsubishi Jukogyo Kabushiki Kaisha Extendable and retractable cleaning apparatus
US4672741A (en) * 1985-06-27 1987-06-16 Westinghouse Electric Corp. End effector apparatus for positioning a steam generator heat exchanger tube plugging tool

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
FR2538602A1 (fr) * 1982-12-23 1984-06-29 Thome Paul Equipage automoteur de controle des canalisations du circuit primaire des centrales nucleaires
FR2544123A1 (fr) * 1983-04-07 1984-10-12 Thome Jean Patrick Dispositif et procede d'intervention sur des tubes de generateurs de vapeur de chaudieres nucleaires
EP0146833A2 (de) * 1983-12-14 1985-07-03 Siemens Aktiengesellschaft Vorrichtung zum Elektropolieren der Innenoberfläche von hohlzylindrischen Körpern
FR2566309A1 (fr) * 1984-06-22 1985-12-27 Barras Provence Dispositif pour positionner selectivement un outil porte par un vehicule se deplacant sur la plaque perforee d'un faisceau de tubes
EP0178971A1 (de) * 1984-09-20 1986-04-23 Commissariat A L'energie Atomique Werkzeugtragender Roboter für das Ausführen von Arbeiten innerhalb eines mit einer Zugangsöffnung versehenen Raumes

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102494326A (zh) * 2011-11-28 2012-06-13 中国核工业二三建设有限公司 蒸汽发生器的观察孔的检修方法及所用到的工具
CN102494326B (zh) * 2011-11-28 2014-05-28 中国核工业二三建设有限公司 蒸汽发生器的观察孔的检修方法及所用到的工具

Also Published As

Publication number Publication date
DE3854162D1 (de) 1995-08-17
EP0281433B1 (de) 1992-07-29
EP0479344A3 (en) 1992-09-23
DE3873117D1 (de) 1992-09-03
DE3854162T2 (de) 1996-03-21
JPS63201402A (ja) 1988-08-19
KR880009389A (ko) 1988-09-15
ZA88544B (en) 1988-10-26
JP2755586B2 (ja) 1998-05-20
ATE125059T1 (de) 1995-07-15
FR2610137B1 (fr) 1993-09-24
EP0479344B1 (de) 1995-07-12
EP0281433A3 (en) 1988-09-21
FR2610137A1 (fr) 1988-07-29
US4984598A (en) 1991-01-15
DE3873117T2 (de) 1992-12-03
ATE78949T1 (de) 1992-08-15
ES2076455T3 (es) 1995-11-01
ES2034282T3 (es) 1993-04-01
EP0479344A2 (de) 1992-04-08
CA1308497C (fr) 1992-10-06

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