EP0281433B1 - Working system for primary pipes and water-chamber in a vapour generator of a nuclear plant - Google Patents

Working system for primary pipes and water-chamber in a vapour generator of a nuclear plant Download PDF

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Publication number
EP0281433B1
EP0281433B1 EP88400163A EP88400163A EP0281433B1 EP 0281433 B1 EP0281433 B1 EP 0281433B1 EP 88400163 A EP88400163 A EP 88400163A EP 88400163 A EP88400163 A EP 88400163A EP 0281433 B1 EP0281433 B1 EP 0281433B1
Authority
EP
European Patent Office
Prior art keywords
arm
vehicle
forming
partition plate
water box
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 - Lifetime
Application number
EP88400163A
Other languages
German (de)
French (fr)
Other versions
EP0281433A2 (en
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 AT88400163T priority Critical patent/ATE78949T1/en
Priority to EP91122369A priority patent/EP0479344B1/en
Publication of EP0281433A2 publication Critical patent/EP0281433A2/en
Publication of EP0281433A3 publication Critical patent/EP0281433A3/en
Application granted granted Critical
Publication of EP0281433B1 publication Critical patent/EP0281433B1/en
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.
  • EP-A-0 178 971 describes an intervention system making it possible to carry out the maintenance and repairs of the water boxes of the steam generators of nuclear power plants.
  • 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 in 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 telescopic arm denoted 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 jack 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 Figures 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 piping primary TP 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.
  • FIGS. 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 noted 2 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 it and the vehicle 3 to the right of 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 docking. of vehicle 3 on the walls of the primary piping TP as shown in Figure 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 as shown in Figure 3j.
  • 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 support point.
  • 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. V .
  • 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 V 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 jack denoted 200 in FIG. 5c, which ensures the fixing in translation of the assembly constituted by the first arm 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 ⁇ ', longitudinal axis of the second arm 2, this direction of movement being parallel to the partition plate PP.
  • This movement ensures the corresponding movement of 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 element 2 forming an arm being thus 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 element 2 forming an arm, 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 mandrel 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 mobile 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. As shown in FIG.
  • the accessories can advantageously comprise 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 axis ⁇ " perpendicular to the longitudinal axis ⁇ 'of the element 2 forming an arm as previously mentioned.
  • the accessories also include guide axes 4001, 4002 of the trolley carrying the decontamination element, the vehicle proper being noted in this embodiment 4003 and consisting of a trolley sliding on the guide pins 4001, 4002, a worm-type drive screw, denoted 4004 and a worm drive motor noted 4005.

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Abstract

System for carrying out work on the water box of a steam generator of a nuclear power station. The system comprises a first member (1) of substantially elongate shape, forming a first arm of the system, and a second member (2) of substantially elongate shape. The second member (2) is articulated at one of its ends to an end of the first member (1). The combination of the first and of the second arm (2) is capable of being introduced into the water box (BAE) of the steam generator through the manhole. The second member (2) can be placed in an extended position in relation to the first member (1). A vehicle (3) mounted movably in relation to the second arm (2) makes it possible to explore and to ensure the decontamination of the internal walls of the water box (BAE) of the steam generator. A means of carrying out work such as decontamination (30) is carried by the vehicle (3). It is capable of reaching a plurality of regions of the surface of the said inner walls. Means for remote control of the vehicle (3) and means for carrying out work (30) are provided. <IMAGE>

Description

La présente invention est relative à un système d'intervention sur les tuyauteries primaires et sur la boîte à eau d'un générateur de vapeur de centrale nucléaire.The present invention relates to an intervention system on the primary pipes and on the water box of a nuclear power plant steam generator.

Le document EP-A-0 178 971 décrit un système d'intervention permettant d'effectuer l'entretien et les réparations des boîtes à eau des générateurs de vapeur des centrales nucléaires.The document EP-A-0 178 971 describes an intervention system making it possible to carry out the maintenance and repairs of the water boxes of the steam generators of nuclear power plants.

Dans le cadre du remplacement d'un générateur de vapeur de centrale nucléaire, les opérations telles que découpe des tuyauteries, chanfreinage, soudage doivent être réaliséessur les parties à remplacer et en particulier sur la boîte à eau. La dose de rayonnement reçue par les opérateurs au cours de ces opérations est importante en raison de la contamination en substances radioactives qui se déposent sur les parois internes des parties précitées.When replacing a nuclear power plant steam generator, operations such as cutting pipes, chamfering, welding must be carried out on the parts to be replaced and in particular on the water box. The radiation dose received by the operators during these operations is significant due to the contamination of radioactive substances which are deposited on the internal walls of the abovementioned parts.

Une possibilité de diminuer les doses précitées reçues au cours de ce type d'intervention peut consister, préalablement aux interventions nécessaires à la réalisation de ces opérations, à décontaminer la tuyauterie primaire de la boîte à eau, sur une longueur de l'ordre de quelques mètres par exemple, la paroi interne de la boîte à eau et la plaque de partition par exemple.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.

Cette décontamination peut être effectuée par électrodécontamination par exemple et, avantageusement, par intervention de l'extérieur de la boîte à eau par la mise en oeuvre du système objet de l'invention.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.

Le système d'intervention sur les tuyauteries primaires et de la boîte à eau des générateurs de vapeur de centrale nucléaire, objet de l'invention, est remarquable en ce qu'il comprend un premier élément ayant une forme sensiblement allongée et formant un premier bras du système et un deuxième élément ayant une forme sensiblement allongée, articulé à une de ses extrémités à une extrémité du premier élément, le deuxième élément formant un deuxième bras du système. L'ensemble du premier et du deuxième bras est susceptible d'être introduit dans la boîte à eau du générateur de vapeur par l'intermédiaire du trou d'homme et ledit deuxième élément peut être mis en position déployée par rapport au premier élément. Un véhicule est monté sur le deuxième bras, le véhicule étant monté mobile par rapport au deuxième bras et un moyen de décontamination est porté par le véhicule. Le moyen d'intervention, du fait de son mouvement par rapport au deuxième bras et de l'ouverture relative entre le premier et le deuxième bras est susceptible d'atteindre une pluralité de zones de la surface interne du générateur de vapeur telles que notamment les tuyauteries primaires, la plaque de partition et la paroi interne du bol sphérique de la boîte à eau du générateur de vapeur. Des moyens de commande à distance du véhicule et des moyens d'intervention sont en outre prévus.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.

Le système objet de l'invention peut avantageusement être utilisé préalablement à toute intervention d'un opérateur sur ou dans la boîte à eau d'un générateur de vapeur, opérations telles que le bouchage des tubes le contrôle des tubes, mise en place des types d'obturation.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.

Il est remarquable en ce que l'intervention telle que la décontamination peut être effectuée et commandée de l'extérieur de la boîte à eau du générateur de vapeur, toute entrée ou sortie d'un opérateur dans la boîte à eau d'un générateur de vapeur préalablement à une décontamination mise en oeuvre conformément au système selon l'invention ayant pour effet de soumettre celui-ci à une dose d'irradiation trop importante.It is remarkable in that the intervention such as decontamination can be carried out and controlled from outside the water box of the steam generator, any entry or exit of an operator in the water box of a steam generator. steam prior to decontamination implemented in accordance to the system according to the invention having the effect of subjecting it to a too high irradiation dose.

L'invention sera mieux comprise à la lecture de la description et à l'observation des dessins ci-après dans lesquels :

  • la figure 1a représente une vue en perspective éclatée d'un système selon l'invention plus particulièrement adapté à la décontamintion de la tuyauterie primaire de la boîte à eau d'un générateur de vapeur,
  • la figure 1b représente une vue en coupe partielle selon un plan de symétrie commun au trou d'homme TH et à la tuyauterie primaire TP de la boîte à eau d'un générateur de vapeur et du système selon l'invention, tel que représenté en figure 1a,
  • la figure 2a représente une vue en perspective d'un élément essentiel du système objet de l'invention représenté en figures 1a et 1b, cet élément essentiel étant constitué par le véhicule support de l'élément de décontamination,
  • la figure 2b représente en coupe partielle une vue selon un plan de symétrie longitudinal de la figure 2a,
  • les figures 3a, 3b, 3c, 3d, 3e, 3f, 3g, 3h, 3i, 3j représentent les étapes successives de mise en place du véhicule représenté en figures 2a et 2b dans la tuyauterie primaire de la boîte à eau d'un générateur de vapeur,
  • les figures 4a, 4b, 4c représentent le mode opératoire du véhicule dans la tuyauterie primaire pour assurer le déplacement de celui-ci dans la tuyauterie primaire,
  • la figure 5a représente une vue en perspective éclatée d'un système selon l'invention plus particulièrement adapté à la décontamination de la plaque de partition de la boîte à eau d'un générateur de vapeur de centrale nucléaire,
  • les figures 5b et 5c représentent une vue en coupe partielle relative aux étapes d'installation du système selon l'invention tel que représenté en figure 5a,
  • les figures 6a et 6b représentent des schémas des différentes phases de déplacement du deuxième élément formant bras, au moyen du véhicule, dans le mode de réalisation du système objet de l'invention représenté en figure 5a,
  • la figure 7 représente une vue de face d'un détail de réalisation de l'agencement du véhicule sur le deuxième élément formant deuxième bras dans le mode de réalisation du système objet de l'invention représenté en figure 5a,
The invention will be better understood on reading the description and on observing the drawings below in which:
  • FIG. 1a represents an exploded perspective view of a system according to the invention more particularly suitable for decontaminating the primary piping of the water box of a steam generator,
  • FIG. 1b represents a view in partial section 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, as shown in Figure 1a,
  • FIG. 2a represents a perspective view of an essential element of the system which is the subject of the invention represented in FIGS. 1a and 1b, this essential element being constituted by the vehicle supporting the decontamination element,
  • FIG. 2b represents in partial section a view according to a longitudinal plane of symmetry of FIG. 2a,
  • Figures 3a, 3b, 3c, 3d, 3e, 3f, 3g, 3h, 3i, 3j show the successive stages of setting up the vehicle shown in Figures 2a and 2b in the primary piping of the water box of a generator steam,
  • FIGS. 4a, 4b, 4c represent the operating mode of the vehicle in the primary piping to ensure the displacement of the latter in the primary piping,
  • FIG. 5a represents an exploded perspective view of a system according to the invention more particularly adapted to the decontamination of the partition plate of the water box of a steam generator of a nuclear power station,
  • FIGS. 5b and 5c represent a partial sectional view relating to the steps for installing the system according to the invention as shown in FIG. 5a,
  • FIGS. 6a and 6b represent diagrams of the different phases of movement of the second arm-forming element, by means of the vehicle, in the embodiment of the system which is the subject of the invention represented in FIG. 5a,
  • FIG. 7 represents a front view of a detail of the arrangement of the vehicle on the second element forming a second arm in the embodiment of the system which is the subject of the invention represented in FIG. 5a,

Le système d'intervention sur les tuyauteries primaires et sur la boîte à eau d'un générateur de vapeur de centrale nucléaire sera tout d'abord décrit en liaison avec la figure 1a.The intervention system on the primary pipes and on the water box of a steam generator of a nuclear power plant will first be described in conjunction with FIG. 1a.

Ainsi que représenté sur la figure précitée, le système d'intervention dur les tuyauteries primaires et sur la boîte à eau de générateurs de vapeur de centrale nucléaire comprend un premier élément noté 1 ayant une forme sensiblement allongée et formant un premier bras du système. Il comporte en outre un deuxième élément noté 2 ayant une forme également sensiblement allongée, ce deuxième élément étant articulé en 12 à une de ses extrémités à une extrémité du premier élément noté 1. Le deuxième élément 2 forme un deuxième bras du système et l'ensemble du premier 1 et du deuxième bras 2 est susceptible d'être introduit dans la boîte à eau notée BAE sur la figure 1a du générateur de vapeur, par l'intermédiaire du trou d'homme noté TH. Le deuxième élément 2 peut ainsi être mis en position déployée par rapport au premier élément 1, position déployée d'un angle d'ouverture α représenté en figure 1a.As shown in the above figure, the intervention system on the primary pipes and on the water box of steam generators in 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 α shown in FIG. 1a.

En outre, ainsi qu'il apparaît en figure 1a, un véhicule noté 3 est monté sur le deuxième bras 2. Le véhicule 3 est monté mobile par rapport au deuxième bras 2 ainsi qu'il sera décrit plus en détail ci-après dans la description.In addition, as it appears 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.

Un moyen d'intervention tel qu'un moyen de decontamination 30 est en outre porté par le véhicule 3. Le moyen d'intervention 30, du fait de son mouvement par rapport au deuxième bras 2 et de l'ouverture relative entre le premier 1 et le deuxième bras 2 est susceptible d'atteindre une pluralité de zones de la surface interne du générateur de vapeur, telles que notamment les tuyauteries primaires notées TP, la plaque de partition notée PP, la paroi interne du bol sphérique de la boîte à eau notée BAE du générateur de vapeur.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.

En outre, ainsi qu'on la représenté en figure 1a, des moyens de commande 6 sont prévus de façon à permettre la commande à distance du véhicule 3 et des moyens d'intervention 30 de l'extérieur de la boîte à eau BAE du générateur de vapeur. Aux moyens de commande 6 précités sont également associés des éléments auxiliaires tels qu'un système d'alimertation en énergie électrique, notés 7, et un réservoir de produits décontaminants noté 8. Ces deux éléments auxiliaires accessoires feront l'objet d'une description plus détaillée ultérieurement dans le texte de la présente description.In addition, as shown in FIG. 1a, 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.

Les axes de symétrie du trou d'homme, axes de symétrie notés th sur la figure 1a, et de la tuyauterie primaire, axes notés tp sur cette même figure, se situant dans un même plan noté P, le dispositif objet de l'invention est basé sur la théorie du compas et permet, ainsi, par déploiement du deuxième bras noté 2 par rapport au premier bras noté 1, d'atteindre sensiblement tous les points à l'intérieur de la boîte à eau BAE du générateur de vapeur, qui doivent être soumis à un processus de décontamination ainsi qu'il sera décrit ci-après dans la description.The axes of symmetry of the manhole, axes of symmetry denoted th in FIG. 1a, and of the primary piping, axes denoted tp in this same figure, lying in the same plane denoted P, 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.

Conformément à un mode de réalisation particulièrement avantageux représenté en figure 1a, de manière non limitative, le premier élément 1 est un élément creux de forme sensiblement hémi-cylindrique de façon à former corset de protection du deuxième élément 2, lorsque ce dernier est en position non déployée. La position non déployée s'entend pour une valeur de l'angle α sensiblement nulle, ce deuxième élément ou deuxième bras 2 étant alors ramené contre le premier élément ou premier bras 1 et à l'intérieur de la partie creuse de celui-ci.In accordance with a particularly advantageous embodiment represented in FIG. 1a, without limitation, 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 α 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.

Une description plus spécifique du système objet de l'invention dans le cas où celui-ci permet d'assurer la décontamination des tuyauteries primaires notés TP d'un générateur de vapeur, sera donnée en liaison avec les figures 1a, 1b, et 2a, 2b, ci-après.A more specific description of the system which is the subject of the invention in the case where it makes it possible to ensure the decontamination of the primary pipes denoted TP of a steam generator, will be given in connection with FIGS. 1a, 1b, and 2a, 2b, below.

Dans le cas précité, le deuxième bras noté 2 est avantageusement constitué par un bras télescopique noté 20 et le véhicule 3 est alors monté amovible à l'extrémité du deuxième élément 2 formant deuxième bras. Le bras télescopique 20 peut être constitué de façon classique, par un bras muni d'un vérin hydraulique commandé par les moyens de commande 6. La fixation amovible du véhicule 3 en extrémité du bras télescopique 20 peut avantageusment être réalisée au moyen d'une mâchoire 21 commandée par les moyens de commande 6 et d'un système de fixation correspondant 35, directement solidaire du véhicule 3 ainsi qu'il sera décrit ultérieurement dans la description.In the aforementioned case, the second arm denoted 2 is advantageously constituted by a telescopic arm denoted 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 jack 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.

Bien entendu, le véhicule 3 ayant été mis en position à l'entrée de la tuyauterie primaire TP au moyen du bras télescopique 20 commandé par les moyens de commande 6, le dégagement de la mâchoire 21 est alors commandé et le véhicule 3, véhicule autotractable tel qu'il sera décrit ultérieurement dans la description, peut alors se déplacer dans la tuyauterie primaire TP précitée.Of course, 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.

Sur la figure 1b on a représenté une vue en coupe partielle selon un plan de symétrie commun au trou d'homme TH et à la tuyauterie primaire TP de la boîte à eau d'un générateur de vapeur et du système selon l'invention, le véhicule 3 s'étant déplacé dans la tuyauterie primaire 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.

Ainsi qu'on le remarquera sur la figure 1b précitée, le véhicule est mécaniquement solidaire d'un câble tenseur noté 4, le câble tenseur circulant lors du déplacement du véhicule amovible 3 dans les tuyauteries primaires TP par l'intermédiaire de poulies d'extrémité notées 200 du deuxième bras 2, de poulies d'articulation notées 100 du premier et du deuxième bras par exemple. Bien entendu par poulie on comprendra tout moyen de guidage adapté permettant le déplacement du câble sans usure abusive de ce dernier et en particulier éventuellement de gorges de guidage munies d'un revêtement auto-lubrifiant par exemple, tel qu'un revêtement en polytétrafluoréthylène. Ainsi qu'on l'a représenté en outre en figure 1b, le câble tenseur 4 est distribué par un enrouleur équilibreur noté 5 situé au voisinage de l'extrémité libre du premier élément 1 à l'extérieur du trou d'homme TH lorsque le système et en particulier l'élément 1 est en position, ainsi qu'il sera décrit ultérieurement dans la description.As will be seen in FIG. 1b above, 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. Of course, 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. As has also been shown in FIG. 1b, 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.

Ainsi, le véhicule 3 permet de déplacer les moyens de décontamination 30 le long de la tuyauterie primaire TP.Thus, the vehicle 3 makes it possible to move the decontamination means 30 along the primary piping TP.

De façon générale, le véhicule permet d'imprimer au moyen de décontamination 30 un mouvement de rotation autour de l'axe de la tuyauterie TP lors de la décontamination et un mouvement longitudinal incrémental autorisant la progression de l'ensemble véhicule 3- moyens de décontamination 30, le long de la tuyauterie.In general, 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.

Une description plus détaillée du véhicule 3 sera donnée en liaison avec les figures 2a et 2b.A more detailed description of the vehicle 3 will be given in conjunction with Figures 2a and 2b.

Selon la figure 2a précitée, le véhicule 3 peut avantageusement comporter un corps de véhicule noté 31 constitué par un élément longitudinal disposé selon l'axe longitudinal Δ du véhicule. Celui-ci comporte également un châssis 32 monté à rotation sur l'élément longitudinal formant corps de véhicule 31. Le châssis 32 comprend un plateau noté 320, destiné à supporter les moyens de décontamination 30. En outre, ainsi qu'on le remarquera en figure 2a, des moyens de sustentation du véhicule 3 sont prévus. Ces moyens de sustentation sont constitués par un premier noté 33, et un deuxième noté 34, jeux de vérins. Chaque jeu de vérins est solidaire du corps de véhicule 31 et présente dans un plan orthogonal à l'axe longitudinal Δ du véhicule, une configuration tripode. Chaque vérin formant les jeux de vérins 33 et 34 sont munis à leur extrémité d'une ventouse d'application destinée à prendre appui sur la paroi interne de la paroi primaire TP. On remarquera sur la figure 2a que le jeu de vérins 33 a été représenté avec deux vérins seulement, le troisième vérin ayant été omis afin de ne pas surcharger inutilement le dessin.According to the aforementioned FIG. 2a, the vehicle 3 may advantageously include a vehicle body denoted 31 consisting of a longitudinal element arranged along the longitudinal axis Δ 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. In addition, as will be seen in FIG. 2a, 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 Δ 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.

Selon un mode de réalisation avantageux du véhicule 3 représenté en figure 2a, le châssis 32 est monté à rotation sur l'élément longitudinal 31 par l'intermédiaire d'une couronne dentée 310 et d'un moteur 321 comprenant un pignon s'engrenant sur la couronne dentée précitée. Le moteur 321 est bien entendu solidaire du châssis 32. La mise en rotation du pignon du moteur 321 permet ainsi d'assurer la mise en rotation du châssis 32 et de tous les éléments qui lui sont assujettis.According to an advantageous embodiment of the vehicle 3 shown in FIG. 2a, 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.

Ainsi qu'on le remarquera en outre sur la figure 2a, les moyens de décontamination 30 sont supportés par le plateau 320, par l'intermédiaire de vérins notés 3201, 3202. Les vérins 3201, 3202 sont reliés chacun par une articulation à rotule 3203, 3204 aux moyens de décontamination. Une translation radiale de l'ensemble, c'est-à-dire dans une direction orthogonale à l'axe longitudinal Δ du corps de véhicule 31, est commandée par un moteur 3205 solidaire des moyens de décontamination 30, afin de permettre l'accostage de ces moyens sur la paroi de tuyauterie primaire à traiter. Sur les figures 2a et 2b notamment, on remarquera que le moteur 3205 est monté solidaire du plateau 320 et donc des moyens de décontamination 30,le moteur 3205 engrenant une chaîne de transmission 3206, laquelle entraîne deux écrous 3207, 3208, entraînant solidairement le plateau 320 et les moyens de décontamination 30, par l'intermédiaire de deux tiges filetées 3209 solidaires du châssis 32. La mise en rotation du moteur 3205 permet ainsi la mise en mouvement de la chaîne de transmission 3206, le déplacement en translation de l'ensemble de l'équipage constitué par le plateau 320, le moteur 3205 et les moyens de décontamination 30, selon une direction perpendiculaire à l'axe Δ . Sur les figures 2a et 2b, on remarquera également que le corps de véhicule 31 comporte à l'une de ses extrémités une partie tronconique 35 munie d'une gorge 3500, et destinée à venir s'engager dans la mâchoire de fixation disposée en extrémité du bras télescopique 20.As will also be noted in FIG. 2a, 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 Δ 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. In FIGS. 2a and 2b in particular, it will be noted that 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 Δ. In FIGS. 2a and 2b, it will also be noted that 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.

Une description plus détaillée du véhicule représenté en figure 2a, sera donnée en liaison avec la figure 2b selon une vue en coupe suivant un plan de symétrie longitudinal passant par l'axe Δ du véhicule.A more detailed description of the vehicle shown in Figure 2a will be given in conjunction with Figure 2b in a sectional view along a longitudinal plane of symmetry passing through the axis Δ of the vehicle.

Sur la figure 2b, on remarquera notamment la présence d'un élément noté CA, lequel représente le cordon d'alimentation du véhicule, ce cordon d'alimentation étant réputé comprendre un tuyau d'alimentation et d'évacuation du liquide ou fluide décontaminant vers les moyens de décontamination 30, ainsi qu'il sera décrit ultérieurement dans la description, ainsi qu'une canalisation d'alimentation en énergie électrique et une canalisation en fluide hydraulique permettant l'actuation des différents vérins constitutifs du véhicule 3.In FIG. 2b, it will be noted in particular the presence of an element denoted CA, which 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.

Ainsi qu'il apparaît en outre en figure 2b, les deux jeux de vérins, 33, 34, sont, afin de permettre d'assurer la traction du véhicule 3 dans la tuyauterie primaire tp, montés sur une plaque d'assise notée 330, 340, dont l'orientation par rapport à un plan orthogonal à l'axe longitudinal Δ du corps du véhicule est ajustable selon un angle de valeur déterminé par l'intermédiaire de fixations à rotules notées 331, 332 respectivement 341, 342. Les fixations à rotule peuvent être constituées par des rotules verrouillables et déverrouillables. On notera que la plaque d'appui ou d'assise 330 est en fait mécaniquement indépendante du point d'ancrage du câble tenseur sur le corps de véhicule 31. Selon une caractéristique avantageuse du système objet de l'invention, la plaque d'assise 340 est mobile en translation dans une direction parallèle à l'axe longitudinal Δ du véhicule 3, par l'intermédiaire de vérins de traction notés 343 et 344. Ainsi, l'un ou l'autre jeu de vérins 33 ou 34 étant mis en contact et en point d'appui sur la paroi interne de la tuyauterie primaire TP, le déplacement du jeu de vérins 34 par rapport au corps du véhicule, puis la fixation, c'est-à-dire la mise en appui des vérins du jeu de vérins 34 sur la tuyauterie primaire et le dégagement du jeu de vérins 33, permet ensuite le déplacement en translation par incrément du véhicule 3 le long de l'axe de symétrie de la tuyauterie primaire TP, ainsi qu'il sera décrit plus en détail ultérieurement dans la description.As it also appears in FIG. 2b, 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 Δ 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. It will be noted that the support or seat plate 330 is in fact mechanically independent of the anchoring point of the tensor cable on the vehicle body 31. According to an advantageous characteristic of the system which is the subject of the invention, the seat plate 340 is movable in translation in a direction parallel to the longitudinal axis Δ of the vehicle 3, by means of traction jacks denoted 343 and 344. Thus, one or the other set of jacks 33 or 34 being placed in contact and fulcrum on the internal wall of the primary piping TP, the displacement of the set of jacks 34 relative to the body of the vehicle, then the fixing, that is to say the setting of the jacks of the game of cylinders 34 on the primary piping and the clearance of the set of cylinders 33, allows then the incremental translational movement of the vehicle 3 along the axis of symmetry of the primary piping TP, as will be described in more detail later in the description.

Le véhicule 3 tel que représenté sur les figures 2a et 2b permet notamment grâce au jeu de vérins 33 et 34 présentant la configuration tripode précitée, le centrage et le maintien du véhicule 3 dans la tuyauterie primaire TP. L'avance du véhicule 3 est assurée par l'ensemble de vérins 343, 344 précités, articulés à leur extrémité afin de permettre du décalage angulaire du jeu de vérins 34, par rapport à l'ensemble constitué par l'autre jeu de vérins 33 et le corps de véhicule 31 et le châssis 32 lors de la progression de l'ensemble dans les parties courbes de la tuyauterie primaire TP.The vehicle 3 as shown in Figures 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.

L'ensemble du véhicule 3 est maintenu par les câbles tenseurs 4 précédemment cités, ces derniers étant actionnés afin d'empêcher la chute du véhicule 3, lors de la défaillance éventuelle d'un des jeux de vérins 33 ou 34.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.

Le processus de décontamination de la tuyauterie primaire TP peut alors s'effectuer de la manière ci-après. Le véhicule 3 est descendu au point le plus bas à décontaminer de la tuyauterie primaire TP. La décontamination des parois de la tuyauterie primaire TP est alors assurée par l'intermédiaire des moyens de décontamination 30, lesquels sont mus en rotation autour de l'axe longitudinal Δ du véhicule, par l'intermédiaire du châssis 32 mis en mouvement par le moteur 321 précité. Une bande latérale de la tuyauterie primaire TP ayant été décontaminée, le véhicule est alors déplacé d'un incrément et la remontée de celui-ci est effectuée grâce au deuxième jeu de vérins 34 précédemment décrit. C'est à ce moment que les câbles tenseurs 4 jouent pleinement leur rôle de moyens assurant une sécurité en cas de défaillance dans les vérins précités. Le ou les câbles tenseurs 4 étant enroulés sur l'équilibreur 5, ceux-ci facilitent la remontée du véhicule 3, notamment lorsque le véhicule et en particulier les vérins d'appui des jeux de vérins 33 ou 34, passent devant une surface décontaminée, c'est-à-dire une surface présentant un état de surface présentant des difficultés d'adhérence.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 Δ of the vehicle, via the chassis 32 set in motion by the engine. 321 cited above. A side strip of the piping primary TP 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.

Une description détaillée de la mise en place des systèmes objet de l'invention dans la boîte à eau BAE d'un générateur de vapeur, mise en place de l'extérieur de celle-ci, sera décrite en liaison avec les figures 3a, 3b, 3c, 3d, 3e, 3f, 3g, 3h, 3i, 3j.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.

Sur les figures 3a et 3b on a représenté la mise en place du système objet de l'invention sur un ascenseur noté 50 amené à proximité du trou d'homme noté TH. Bien entendu on comprendra que la figure 3b représente une vue en coupe selon un plan de symétrie de la figure 3a sensiblement. Le système ascenseur 50 peut consister par exemple en un plan incliné dont l'angle d'inclinaison permet par seule translation de l'ensemble, c'est-à-dire du système objet de l'invention, la mise en position de l'articulation 12 du premier et du deuxième bras au voisinage du centre de la plaque à tube notée PT de la boîte à eau du générateur de vapeur.In 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. Of course it will be understood that Figure 3b shows a sectional view along a plane of symmetry of Figure 3a substantially. 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.

Les figures 3c et 3d représentent notamment la position du système objet de l'invention, après translation du système sur l'ascenseur 50 et mise en position de l'articulation 12 au voisinage du centre de la plaque à tube PT. La position de l'ensemble étant telle que représentée en figure 3b par exemple, le véhicule 3 est alors, ainsi que représenté en figure 3e et 3f, accosté en extrémité du bras télescopique 20 et verrouillé à l'extrémité de celui-ci. Le bras télescopique peut alors être rentré de façon à amener le véhicule à l'intérieur de la boîte à eau BAE. Bien entendu les connexions du cordon d'alimentation sont également effectuées préalablement.FIGS. 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. Of course, the power cord connections are also made beforehand.

Puis, ainsi qu'il est représenté en figure 3g, le deuxième élément noté 2 formant bras, est alors déverrouillé et mis en position déployée par rapport au premier élément formant bras noté 1. Le deuxième élément formant bras 2 est alors déployé de façon à amener celui-ci et le véhicule 3 au droit de la tuyauterie primaire TP ainsi que représenté sur la figure 3g. Le déploiement du bras 2 peut être effectué par l'intermédiaire d'un vérin ou par l'intermédiaire d'un moteur entraînant à rotation le bras 2 dans sa position déployée.Then, as shown in FIG. 3g, the second element noted 2 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 it and the vehicle 3 to the right of 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.

Ensuite, ainsi qu'il est représenté en figure 3h, le bras télescopique est alors actionné de façon à introduire le véhicule 3 dans la tuyauterie primaire TP.Then, as shown in FIG. 3h, the telescopic arm is then actuated so as to introduce the vehicle 3 into the primary piping TP.

Les vérins des jeux de vérins 33 et 34 du véhicule 3 sont alors actionnés afin d'actionner l'accostage du véhicule 3 sur les parois de la tuyauterie primaire TP ainsi qu'il a été représenté en figure 3i.The jacks of the sets of jacks 33 and 34 of the vehicle 3 are then actuated in order to actuate the docking. of vehicle 3 on the walls of the primary piping TP as shown in Figure 3i.

Le véhicule 3 peut alors être déconnecté du bras télescopique 20 par l'intermédiaire de la mâchoire précédemment décrite et la progression du véhicule 3 dans la tuyauterie primaire peut être réalisée ainsi que l'a déjà mentionné, par progression séquentielle le long de l'axe de la tuyauterie ainsi qu'il est représenté en figure 3j.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 as shown in Figure 3j.

Une description plus détaillée de la progression du véhicule 3, notamment en partie courbe de la tuyauterie primaire TP, sera donnée en liaison avec les figures 4a, 4b et 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.

Sur la figure 4a, on a représenté les deux jeux de vérins 33 et 34 en position d'appui sur la paroi interne de la tuyauterie primaire TP dans une partie courbe de celle-ci. On notera en particulier que grâce à la liaison à rotule des vérins de traction 343 et 341 et de la plaque d'appui 330 et 340, le système peut aisément se déplacer dans les parties courbes. Sur la figure 4a, au point (1) les vérins constitutifs des jeux de vérins 33 et 34 sont sous pression et permettent l'application des ventouses sur la paroi, afin de constituer point d'appui. Les rotules peuvent être alors verrouillés ainsi que représenté par la lettre V.In Figure 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. Note in particular that thanks to the ball joint of the traction cylinders 343 and 341 and the support plate 330 and 340, the system can easily move in the curved parts. In FIG. 4a, at point (1) 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 support point. The ball joints can then be locked as shown by the letter V.

Au point (2) de la figure 4a, les vérins du jeu de vérins 34 sont mis en dépression afin de placer ceux-ci en position de retrait, les rotules 341 et 342 étant déverrouillées, position notée V.At point (2) of FIG. 4a, 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. V .

Sur la figure 4b, au point 1, le jeu de vérins 33 est maintenu sous pression et constitue point d'appui pour le véhicule 3. Au contraire, sur le jeu de vérins 34, la pression étant supprimée et les vérins de traction 343 et 344 sont alors mis en action par mise en pression, de façon à déplacer le deuxième jeu de vérins 34 selon la flèche indiquée dans une direction sensiblement parallèle à la tangente à l'axe de la tuyauterie primaire TP. On notera que sur les figures 4a à 4c l'axe de tuyauterie TP est représenté en trait mixte.In FIG. 4b, at point 1, the set of jacks 33 is kept under pressure and constitutes a fulcrum for the vehicle 3. On the contrary, on the set of jacks 34, the pressure being removed and the traction jacks 343 and 344 are then put into action by pressurization, so as to move the second set of jacks 34 according to the arrow indicated in a direction substantially parallel to the tangent to the axis of the primary piping TP. Note that in Figures 4a to 4c the pipe axis TP is shown in phantom.

Le jeu de vérins 34 s'étant translaté d'une longueur sensiblement égale à la course des vérins 343 et 344, la pression est rétablie au niveau des vérins du jeu de vérins 34, le véhicule 3 étant alors dans sa nouvelle position d'équilibre, ainsi que représenté en figure 4b au point (2). La longueur d'élongation des tiges de chaque vérin du jeu de vérins 34 peut alors être ajustée, grâce aux moyens de commande, pour obtenir un centrage parfait du point central des rotules 341, 342 sur l'axe du tuyau primaire TP, les rotules 331, 332 ayant été placées en position déverrouillée V ainsi que représenté en figure 4b au point (2).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 V as shown in Figure 4b in point (2).

Sur la figure 4c au point (1), la pression est alors supprimée au niveau des vérins du jeu de vérins 33 et les vérins de traction 343 et 344 sont alors actionnés de façon à ramener l'ensemble du véhicule 3 vers le jeu de vérins 34. Puis, ainsi que représenté au point (2), la pression est rétablie au niveau des vérins du jeu de vérins 33 et le véhicule 3 se trouve dans une nouvelle position stable décalée d'un incrément de déplacement, le long de l'axe longitudinal de la tuyauterie primaire TP. Un centrage parfait du point central des rotules 331, 332 sur l'axe du tuyau primaire TP peut être effectué de manière analogue au centrage correspondant du point central des rotules 341, 342 représenté en figure 4b (2). Bien entendu, le cycle est ainsi recommencé autant de fois que nécessaire, afin de parcourir la longueur de tuyauterie primaire TP à décontaminer.In FIG. 4c at point (1), the pressure is then removed at the level of the jacks of the set of jacks 33 and the traction jacks 343 and 344 are then actuated so as to bring the entire vehicle 3 back to the set of jacks 34. Then, as shown in point (2), the pressure is restored at the level of the jacks of the set of jacks 33 and the vehicle 3 is in a new stable position offset by a displacement increment, along the longitudinal axis of the primary piping TP. Perfect centering of the central point of the ball joints 331, 332 on the axis of the primary pipe TP can be carried out in a similar manner to the corresponding centering of the central point of the ball joints 341, 342 shown in FIG. 4b (2). Of course, the cycle is thus restarted as many times as necessary, in order to cover the length of primary piping TP to be decontaminated.

La progression du véhicule 3 dans la tuyauterie primaire TP ayant été effectuée du point le plus bas du traitement jusqu'au voisinage de la mâchoire de fixation du véhicule au bras télescopique 20, la fixation du véhicule au bras télescopique 20 est alors réalisée. Afin de faciliter l'opération, une caméra vidéo peut avantageusement être fixée sur le véhicule 3, de façon à faciliter les manoeuvres d'approche du véhicule et de son embout de fixation au voisinage de la mâchoire de fixation du bras télescopique 20. Le bras télescopique 20, lorsque le véhicule 3 est à nouveau fixé en extrémité de celui-ci, est alors rentré et l'élément 2 formant bras est alors ramené dans sa position non déployée correspondant à la position de mise en place du début des opérations. Le système objet de l'invention peut alors être retiré au moyen de l'ascenseur 50 ainsi que décrit précédemment.The progression of the vehicle 3 in the primary piping TP having been carried out from the lowest point of the treatment to the vicinity of the jaw for fixing the vehicle to the telescopic arm 20, the vehicle is then fixed to the telescopic arm 20. In order to facilitate the operation, 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.

Une variante avantageuse du système objet de l'invention sera maintenant décrite en liaison avec la figure 5a dans le cas où le système est plus particulièrement adapté à une intervention telle que la décontamination de la plaque de partition notée PP de la boîte à eau d'un générateur de vapeur de centrale nucléaire. On notera que la plaque de partition PP est une plaque sensiblement orthogonale à la plaque à tube PT de la boîte à eau du générateur de vapeur, la plaque de partition précitée subdivisant la boîte à eau en deux demi-hémisphères sensiblement.An advantageous variant of the system which is the subject of the invention will now be described in conjunction with FIG. 5a in the case where the system is more particularly adapted to an intervention such as the decontamination of the partition plate denoted PP of the water box of a nuclear power plant steam generator. It will be noted that 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.

Ainsi qu'il apparaît en figure 5a, le deuxième élément 2 formant deuxième bras est articulé au premier bras 1 par l'intermédiaire d'une articulation du type articulation à la Cardan notée 120. De manière avantageuse, l'articulation 120 comprend en position de fonctionnement un premier axe noté D1, sensiblement parallèle à la plaque de partition PP, et un deuxième axe noté D2 sensiblement perpendiculaire à la plaque de partition PP.As it appears in FIG. 5a, 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. Advantageously, 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.

Ainsi qu'on le remarquera en outre en figure 5a, le véhicule 3 est alors monté mobile en translation le long du deuxième bras 2.As will also be noted in FIG. 5a, the vehicle 3 is then mounted movable in translation along the second arm 2.

En vue d'assurer le maintien et le déplacement du deuxième bras 2 sur la plaque de partition PP, le deuxième bras 2 comporte avantageusement un premier vérin central noté 200 en figure 5c, lequel assure la fixation en translation de l'ensemble constitué par le premier bras noté 1 et le deuxième bras noté 2 selon la direction D2 perpendiculaire à la plaque de partition PP.In order to maintain and move the second arm 2 on the partition plate PP, the second arm 2 advantageously comprises a first central jack denoted 200 in FIG. 5c, which ensures the fixing in translation of the assembly constituted by the first arm denoted 1 and the second arm denoted 2 in the direction D2 perpendicular to the partition plate PP.

En outre, une pluralité de vérins notés 21, 22, respectivement 23, 24 sont disposés à l'extrémité libre du deuxième bras 2 ou au voisinage de celle-ci. Selon une autre caractéristique avantageuse du dispositif objet de l'invention, deux vérins opposés au moins, par exemple les vérins 21 et 23, forment un équipage mobile par rapport au deuxième bras, cet équipage mobile pouvant être déplacé perpendiculairement à la direction Δ', axe longitudinal du deuxième bras 2, cette direction de déplacement étant parallèle à la plaque de partition PP. Ce déplacement permet d'assurer le déplacement correspondant du deuxième bras 2 par rapport à l'axe D2 formant axe de rotation pour le deuxième bras 2 par rapport au point fixe formé par le vérin central 200. Bien entendu, l'ensemble des vérins 21, 22, 23 et 24 est muni à l'extrémité de leur tige mobile, d'une ventouse de fixation notée 210, respectivement 220, 230, 240. La fixation des ventouses est bien entendu réalisée par mise en dépression de celles-ci. De la même manière, le vérin 200 formant vérin central est muni d'une ventouse 201 permettant la mise en appui du système objet de l'invention au niveau de l'articulation 120 entre les bras 1 et 2, au voisinage du point central de la plaque tubulaire PT précédemment décrite.In addition, 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. According to another advantageous characteristic of the device which is the subject of the invention, 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 Δ ', longitudinal axis of the second arm 2, this direction of movement being parallel to the partition plate PP. This movement ensures the corresponding movement of 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. Of course, all of the cylinders 21 , 22, 23 and 24 is provided at the end of their movable rod, with a fixing suction cup denoted 210, respectively 220, 230, 240. The fixing of the suction cups is of course carried out by placing them in depression. In the same way, 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.

Bien entendu, le véhicule 3 est muni de moyens de décontamination tels que ceux décrits en liaison avec le mode de réalisation précédent.Of course, the vehicle 3 is provided with decontamination means such as those described in connection with the previous embodiment.

Une description plus détaillée de la mise en place du système objet de l'invention dans le cas où celui-ci est plus particulièrement adapté à une intervention telle que la décontamination de la plaque de partition PP de la boîte à eau BAE d'un générateur de vapeur sera décrite en liaison avec les figures 5b et 5c.A more detailed description of the installation of the system which is the subject of the invention in the case where it is more particularly suitable for an intervention such as the decontamination of the partition plate PP of the water box BAE of a generator steam will be described in connection with Figures 5b and 5c.

Selon la figure 5b, le système selon l'invention est mis en place au niveau du trou d'homme TH par l'intermédiaire d'un ascenseur 50, ainsi qu'il a été précédemment décrit. On remarquera sur la figure 5b précitée que l'articulation 120 est amenée au voisinage du centre de la plaque à tube PT du générateur de vapeur. Le système est alors monté par translation sur l'ascenseur 50 et engagé dans le trou d'homme TH, un verrouillage sur faux goujons fixés sur la bride du trou d'homme étant alors effectué. Le système objet de l'invention se trouve en position ainsi que représenté en figure 5b. L'élément 2 formant bras se trouve alors escamoté dans la partie creuse du bras 1 constitué, ainsi que décrit précédemment,par une partie creuse semi-cylindrique par exemple.According to FIG. 5b, 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.

Puis après fixation de l'élément 1 formant bras sur la bride du trou d'homme TH, l'élément 2 formant bras est sousmis, ainsi que représenté en figure5c, à un mouvement de rotation autour de l'axe D1 l'élément 2 formant bras étant ainsi amené en position sensiblement parallèle à la plaque de partition PP, ainsi que représenté en figure 5c. Afin de réaliser cette opération, l'ensemble de l'élément 2 formant bras et de l'articulation 120 a été amené en position déployée autour de l'axe D1. Le vérin central 200 est alors accosté, la ventouse 201 étant alors appliquée au voisinage du centre de la plaque à tube PT, ainsi que représenté en figure 5c. Les vérins 21, 22, 23, 24 peuvent alors être également accostés sur la plaque de partition PP, ainsi que représenté en figure 5c et les ventouses correspondantes 210, 220, 230, 240 peuvent alors être mises en dépression pour assurer le maintien du bras 2 en position sensiblement parallèle par rapport à la plaque de partition PP.Then after fixing of the element 1 forming an arm on the flange of the manhole TH, the element 2 forming an arm is subjected, as shown in FIG. 5c, to a rotational movement around the axis D1 element 2 forming an arm being thus brought into position substantially parallel to the partition plate PP, as shown in FIG. 5c. In order to achieve this operation, 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.

Le principe de déplacement de l'élément 2 formant bras pour le système objet de l'invention, tel que représenté en figure 5a, sera décrit en liaison avec les figures 6a et 6b.The principle of displacement of the element 2 forming an arm for the system which is the subject of the invention, as shown in FIG. 5a, will be described in conjunction with FIGS. 6a and 6b.

Ainsi qu'il apparaît en figure 6a, les deux vérins opposés 21 et 23 formant équipage mobile, sont rendus mobiles par l'intermédiaire d'un vérin à double effet noté 25, dont le corps est monté flottant sur le deuxième bras 2, et rappelés à une position moyenne par l'intermédiaire d'un système élastique. Sur la figure 6a, le système élastique est constitué par deux ressorts de rappel notés 251 et 252, le vérin 25 étant guidé dans son mouvement pour le rappel à sa position moyenne par l'intermédiaire d'un système de lumière et de goupille noté 250. On comprendra bien entendu que par action du vérin à double effet 25, selon l'un ou l'autre sens de déplacement de la tige de commande correspondante, l'équipage mobile constitué par les vérins 21 et 23 et leur ventouse correspondante 210 et 230 se déplace dans une direction perpendiculaire à l'axe longitudinal de l'élément 2 formant bras du système objet de l'invention, ce déplacement étant réalisé dans l'un ou l'autre sens.As it appears in FIG. 6a, 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. In FIG. 6a, 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 It will of course be understood that by the action of the double-acting cylinder 25, in one or the other direction of movement of the corresponding control rod, 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.

Sur la figure 6b, les différentes étapes correspondant au déplacement de l'équipage mobile constitué par les vérins 21 et 23 et par l'élément 2 formant bras, sont représentées respectivement 1, 2, 3, 4, 5, 6, 7.In 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.

A partir d'une position donnée de l'élément 2 formant bras, la procédure de déplacement est la suivante conformément aux 7 positions représentées en figure 6b :

  • position 1 : les ventouses 210, 220 sont mises en dépression,
  • position 2 : la dépression dans la ventouse 210 est supprimée,
  • position 3 : le vérin 25 est actionné de façon à déplacer l'équipage mobile formé par les vérins 21 et 23, le vérin 21 et la ventouse 210 étant décollés de l'élément 2 formant bras,
  • position 4 : mise en dépression de la ventouse 210 et arrêt de la dépression dans la ventouse 220,
  • position 5 : action sur le vérin 25 lequel entraîne en translation l'élément 2 formant bras vers la ventouse 210 et le vérin 21,
  • position 6 : mise en dépression de la ventouse 220 et arrêt de la dépression dans la ventouse 210, le vérin 25 est en outre ramené dans sa position moyenne par les moyens élastiques 251 et 252 représentés en figure 6a.
  • position 7 : mise en dépression de la ventouse 210.
From a given position of the element 2 forming an arm, the displacement procedure is as follows in accordance with the 7 positions represented in FIG. 6b:
  • position 1: the suction cups 210, 220 are placed under vacuum,
  • position 2: the vacuum in the suction cup 210 is eliminated,
  • position 3: the actuator 25 is actuated so as to move the mobile assembly formed by the actuators 21 and 23, the actuator 21 and the suction cup 210 being detached from the element 2 forming an arm,
  • position 4: depression of the suction cup 210 and stop of the depression in the suction cup 220,
  • position 5: action on the jack 25 which drives in translation the element 2 forming an arm towards the suction cup 210 and the jack 21,
  • position 6: depression of the suction cup 220 and stop of the depression in the suction cup 210, the jack 25 is further returned to its average position by the elastic means 251 and 252 shown in Figure 6a.
  • position 7: vacuum suction of the suction cup 210.

La position 7 correspond sensiblement à la position 1 initiale après déplacement de l'élément 2 formant bras d'un incrément de déplacement en rotation correspondant au débattement de l'élément 2 formant bras par rapport à l'équipage mobile constitué par les vérins 21 et 23 actionnés par le vérin 25.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.

Bien entendu, le véhicule 3 supportant les moyens de décontamination 30 peut se mouvoir parallèlement à l'élément 2 formant bras grâce à un moteur entraînant une vis sans fin logée dans l'élément 2 formant bras. Un tel agencement ne sera pas décrit en détail car il est à la portée de l'homme de l'art.Of course, 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.

En outre, les moyens de décontamination peuvent avantageusement être orientables en rotation selon un axe perpendiculaire à l'axe de l'élément 2 formant bras et à la plaque de partition PP, ainsi qu'il sera décrit ultérieurement dans la description.In addition, 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.

En outre, un vérin dit de sécurité noté 26 peut être prévu à l'extrémité libre de l'élément 2 formant bras. Ce vérin est dirigé dans la direction de l'axe longitudinal Δ' du deuxième élément 2 formant bras. Il permet en cas de défaut d'alimentation, d'assurer un blocage des deuxièmes éléments 2 formant bras dans sa position actuelle.In addition, 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 Δ '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.

On a représenté en figure 7, une vue en coupe partielle de l'élément 2 formant bras, vue de face selon une direction parallèle à l'axe Δ' représenté en figure 5a. Sur cette même figure 7, on a désigné par G un cercle entourant l'élément 2 formant bras, muni de ses accessoires, et représentant le gabarit du trou d'homme.There is shown in Figure 7, a partial sectional view of the element 2 forming an arm, front view in a direction parallel to the axis Δ 'shown in Figure 5a. In this same figure 7, we have designated by G a circle surrounding the element 2 forming an arm, provided with its accessories, and representing the size of the manhole.

Ainsi qu'il apparaît sur la figure 7 précitée, les vérins opposés 21 et 23 forment l'équipage mobile précédemment cité et sont, à cet effet, montés de façon à présenter un écartement supérieur au couple de vérins fixes 22, 24, selon une direction perpendiculaire à l'axe longitudinal Δ' du deuxième bras 2 et parallèle à la plaque de partition PP. Les vérins 21 et 23 précités sont montés solidaires du mandrin moteur du vérin 25 par l'intermédiaire de bras en arceau notés 2123 et 2321. Ainsi qu'on pourra le remarquer sur la figure 7, l'un des vérins, le vérin 21 par exemple, constitutif de l'équipage mobile, est escamotable afin de permettre l'escamotage de l'ensemble dans le corset de protection formé par le premier bras 1, afin de permettre l'introduction de l'ensemble par le trou d'homme TH. L'escamotage du vérin 21 est représenté sur la figure 7, l'ensemble constitué par l'élément 2 formant bras et ses accessoires étant inscrit dans le cercle G représentatif du gabarit du trou d'homme TH. Ainsi que représenté en figure 7, les accessoires peuvent comprendre avantageusement, un moteur d'orientation des moyens de décontamination 30, ce moteur étant noté 400, l'orientation des moyens de décontamination 30 étant réalisée par une rotation autour de l'axe Δ" perpendiculaire à l'axe Δ' longitudinal de l'élément 2 formant bras ainsi que précédemment cité. Les accessoires comprennent également des axes de guidage 4001, 4002 du chariot porte-élément de décontamination, le véhicule proprement dit étant noté dans ce mode de réalisation 4003 et consistant en un chariot glissant sur les axes de guidage 4001, 4002, une vis d'entraînement de type vis sans fin, notée 4004 et un moteur d'entraînement de la vis sans fin noté 4005.As shown in FIG. 7 above, 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 Δ '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 mandrel of the jack 25 by means of arched arms denoted 2123 and 2321. As will be seen in FIG. 7, one of the jacks, the jack 21 by example, constituting the mobile 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. As shown in FIG. 7, the accessories can advantageously comprise 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 axis Δ " perpendicular to the longitudinal axis Δ 'of the element 2 forming an arm as previously mentioned. The accessories also include guide axes 4001, 4002 of the trolley carrying the decontamination element, the vehicle proper being noted in this embodiment 4003 and consisting of a trolley sliding on the guide pins 4001, 4002, a worm-type drive screw, denoted 4004 and a worm drive motor noted 4005.

Claims (3)

  1. System for working on the water box of nuclear power station steam generators, comprising :
    . a first member (1) having a substantially elongate shape and forming a first arm of the system,
    . a second member (2) having a substantially elongate shape, articulated (12) at one end to an end of the first member, said second member (2) forming a second arm of the system, and the combination of the first (1) and second (2) arms being adapted to be inserted into the water box (BAE) of the steam generator through the intermediary of a manhole (TH) and said second member (2) being adapted to be placed in a deployed position relative to the first member (1),
    . a vehicle (3) mounted on said second arm (2), said vehicle (3) being mobile relative to said second arm (2),
    . working means (30) carried by said vehicle (3), the working means (30) being, by virtue of its movement relative to said second arm and relative angular displacement between the first (1) and second (2) arms, adapted to reach a plurality of areas of the internal surface of the steam generator such as in particular the primary pipework (TP), the partition plate (PP) and the internal wall of the spherical bowl of the water box (BAE) of the steam generator,
    . remote control means (6) for the vehicle and the working means,
       characterized in that to provide for work such as decontamination of the partition plate (PP) of the water box of a steam generator said second member (2) forming the second arm is articulated to said first arm (1) through the intermediary of a universal joint type articulation (120), said articulation (120) comprising, in the operative position, a first axis (D1) substantially parallel to the partition plate and a second axis (D2) substantially perpendicular to the partition plate (PP), said vehicle (3) being mounted to be mobile in translation along said second arm (2), and in that to provide for holding said second arm (2) on and moving it over the partition plate (PP) said second arm (2) comprises :
    . a central first actuator (200) disposed in the vicinity of the articulation provided with a fixing sucker (201), said first actuator serving to fix the combination constituted by the first (1) and second (2) arms in translation in the direction perpendicular (D2) to the partition plate, and
    . a plurality of actuators (21, 22, 23, 24) disposed at the free end of the second arm (2), at least two opposed actuators (21, 23) forming an assembly mobile relative to said second arm (2) being displacable perpendicularly to the longitudinal direction (Δ') of the second arm (2) in a direction parallel to the partition plate (PP) to procure the corresponding displacement of said second arm (2), the axis (D2) perpendicular to the partition plate forming an axis of rotation, relative to the fixed point formed by the central actuator (200) the set of actuators (21, 22, 23, 24) being provided at the end of the piston rods with a sucker (210, 220, 230, 240) adapted to be fixed by depressurization,
    . the two opposed actuators (21, 23) forming the mobile assembly being rendered mobile by means of a double-acting actuator (25) the body of which is spring-mounted on said second arm and resiliently urged towards an intermediate position.
  2. System according to claim 1, wherein a safety actuator (26) directed towards the longitudinal axis of said second arm is further provided at the end thereof, this actuator serving to lock said second arm (2) in its current position in the case of any failure of supply.
  3. System according to claim 1, wherein said opposed actuators (21, 23) forming the mobile assembly are mounted at a distance apart greater than that of the pair of fixed actuators (22, 24) in a direction perpendicular to the longitudinal axis (Δ') of the second arm and parallel to the partition plate (PP), one (21) of said actuators constituting the mobile assembly being retractable to enable the assembly to be retracted into the protective jacket formed by the first arm (1) in order to enable insertion of the assembly through the manhole (TH).
EP88400163A 1987-01-28 1988-01-26 Working system for primary pipes and water-chamber in a vapour generator of a nuclear plant Expired - Lifetime EP0281433B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AT88400163T ATE78949T1 (en) 1987-01-28 1988-01-26 WORKING SYSTEM FOR PRIMARY PIPING AND WATER CHAMBER OF THE STEAM GENERATOR OF A NUCLEAR REACTOR.
EP91122369A EP0479344B1 (en) 1987-01-28 1988-01-26 Working system for internal walls of the water-chamber in a vapour generator of a nuclear plant

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8700994A FR2610137B1 (en) 1987-01-28 1987-01-28 DECONTAMINATION SYSTEM FOR PRIMARY PIPES AND WATER BOX OF A NUCLEAR POWER STATION GENERATOR
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 EP0281433A2 (en) 1988-09-07
EP0281433A3 EP0281433A3 (en) 1988-09-21
EP0281433B1 true EP0281433B1 (en) 1992-07-29

Family

ID=9347350

Family Applications (2)

Application Number Title Priority Date Filing Date
EP91122369A Expired - Lifetime EP0479344B1 (en) 1987-01-28 1988-01-26 Working system for internal walls of the water-chamber in a vapour generator of a nuclear plant
EP88400163A Expired - Lifetime EP0281433B1 (en) 1987-01-28 1988-01-26 Working system for primary pipes and water-chamber in a vapour generator of a nuclear plant

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP91122369A Expired - Lifetime EP0479344B1 (en) 1987-01-28 1988-01-26 Working system for internal walls of the water-chamber in a vapour generator of a nuclear plant

Country Status (10)

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US (1) US4984598A (en)
EP (2) EP0479344B1 (en)
JP (1) JP2755586B2 (en)
KR (1) KR880009389A (en)
AT (2) ATE78949T1 (en)
CA (1) CA1308497C (en)
DE (2) DE3873117T2 (en)
ES (2) ES2076455T3 (en)
FR (1) FR2610137B1 (en)
ZA (1) ZA88544B (en)

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* 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 (en) * 2010-01-27 2013-10-16 三菱重工業株式会社 Water chamber working device
CN102494326B (en) * 2011-11-28 2014-05-28 中国核工业二三建设有限公司 Method for overhauling observation hole of steam generator and tool used

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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 (en) * 1977-02-24 1978-09-22 Commissariat Energie Atomique SELF-PROPELLED VEHICLE WITH ARTICULATED ARMS
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
FR2538602B1 (en) * 1982-12-23 1988-05-06 Thome Paul SELF-PROPELLED EQUIPMENT FOR CHECKING THE PIPES OF THE PRIMARY CIRCUIT OF NUCLEAR POWER PLANTS
FR2544123B1 (en) * 1983-04-07 1988-02-12 Thome Jean Patrick DEVICE AND METHOD FOR INTERVENTING ON TUBES OF NUCLEAR BOILER STEAM GENERATORS
US4646768A (en) * 1983-07-18 1987-03-03 Mitsubishi Jukogyo Kabushiki Kaisha Extendable and retractable cleaning apparatus
DE3345278A1 (en) * 1983-12-14 1985-06-27 Kraftwerk Union AG, 4330 Mülheim DEVICE FOR ELECTROPOLISHING THE INTERNAL SURFACE OF HOLLOW CYLINDRICAL BODIES
FR2566309B1 (en) * 1984-06-22 1986-11-07 Barras Provence DEVICE FOR SELECTIVELY POSITIONING A TOOL CARRIED BY A VEHICLE MOVING ON THE PERFORATED PLATE OF A TUBE BEAM
FR2570314B1 (en) * 1984-09-20 1987-03-06 Commissariat Energie Atomique TOOL HOLDER ROBOT FOR PERFORMING INTERVENTIONS WITHIN AN ENCLOSURE HAVING AN ACCESS OPENING
US4672741A (en) * 1985-06-27 1987-06-16 Westinghouse Electric Corp. End effector apparatus for positioning a steam generator heat exchanger tube plugging tool

Also Published As

Publication number Publication date
ES2076455T3 (en) 1995-11-01
EP0479344A3 (en) 1992-09-23
DE3854162T2 (en) 1996-03-21
FR2610137A1 (en) 1988-07-29
EP0479344B1 (en) 1995-07-12
EP0281433A2 (en) 1988-09-07
ATE78949T1 (en) 1992-08-15
KR880009389A (en) 1988-09-15
ES2034282T3 (en) 1993-04-01
FR2610137B1 (en) 1993-09-24
ATE125059T1 (en) 1995-07-15
DE3873117T2 (en) 1992-12-03
DE3873117D1 (en) 1992-09-03
CA1308497C (en) 1992-10-06
JP2755586B2 (en) 1998-05-20
DE3854162D1 (en) 1995-08-17
EP0479344A2 (en) 1992-04-08
JPS63201402A (en) 1988-08-19
EP0281433A3 (en) 1988-09-21
ZA88544B (en) 1988-10-26
US4984598A (en) 1991-01-15

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