EP2577158B1 - Vorrichtung zur führung einer flexiblen lanzette - Google Patents

Vorrichtung zur führung einer flexiblen lanzette Download PDF

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Publication number
EP2577158B1
EP2577158B1 EP11728333.3A EP11728333A EP2577158B1 EP 2577158 B1 EP2577158 B1 EP 2577158B1 EP 11728333 A EP11728333 A EP 11728333A EP 2577158 B1 EP2577158 B1 EP 2577158B1
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EP
European Patent Office
Prior art keywords
lance
guiding
control
wheels
camera
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Active
Application number
EP11728333.3A
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English (en)
French (fr)
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EP2577158A2 (de
Inventor
Didier Martin
Jean-Paul Mandier
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Sarp Osis Sud Est SA
Original Assignee
SRA Savac SA
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Publication date
Application filed by SRA Savac SA filed Critical SRA Savac SA
Priority to SI201130797A priority Critical patent/SI2577158T1/sl
Publication of EP2577158A2 publication Critical patent/EP2577158A2/de
Application granted granted Critical
Publication of EP2577158B1 publication Critical patent/EP2577158B1/de
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    • 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
    • F22B37/005—Positioning apparatus specially adapted therefor
    • 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
    • F22B37/02—Component parts or details of steam boilers applicable to more than one kind or type of steam boiler
    • F22B37/48—Devices for removing water, salt, or sludge from boilers; Arrangements of cleaning apparatus in boilers; Combinations thereof with boilers
    • F22B37/483—Devices for removing water, salt, or sludge from boilers; Arrangements of cleaning apparatus in boilers; Combinations thereof with boilers specially adapted for nuclear steam generators

Definitions

  • the present invention relates to a guiding device for flexible lance for accessing inaccessible places such as for example the interior of a steam generator equipping a thermal power plant including the nuclear type.
  • the steam generators equipping a thermal power plant and more particularly those equipping nuclear power plants generally include a part called cyclone separator for the steam breeding.
  • This part of the generator is in the form of a cylindrical metal enclosure provided with two openings of diameter less than 40 cm and diametrically opposed, called punch holes.
  • This enclosure is also provided on its bottom, vertical metal pipes which, for generating steam, are arranged in rows and rows in a grid.
  • This type of device must be able to move in the circular enclosure of the steam generator so that the lance, generally flexible, can be deployed to inspect and, if necessary, clean the base of the pipes making up the cyclone separator.
  • the patent EP0526120 discloses a lance guiding device which, being able to move freely on a rail, comprises a system for driving and guiding a lance and means for controlling the positioning of the device on the rail.
  • a rail Prior to the use of such a device, a rail is placed in the cyclone separator along the diameter associated with the two punches present in its wall.
  • the device, equipped with a lance is inspection or cleaning, is placed on this rail. It is then, through control means, moved along the rail, to the place to inspect / clean, to deploy, by means of training and guidance, the lance.
  • the lance is then used to inspect / clean the space between two columns of pipes.
  • This type of device if it allows the inspection and cleaning of the base of the pipes present in the steam generator, has a number of disadvantages.
  • the establishment of such a device is complicated, since requiring the installation of a rail.
  • the device allows to inspect / clean that according to the columns of pipes since the lance can be deployed only perpendicular to the rail and, depending on the configuration of the cyclone separator to inspect or clean, some areas of the pipes component cyclone separator are not accessible.
  • the document US 2010/0011522 discloses an inspection and cleaning device comprising in particular a system for driving and guiding a flexible lance and means for holding and moving on the inside face of a cylindrical wall delimiting the enclosure of a generator of steam.
  • the holding and displacement means advantageously comprise two pairs of wheels comprising permanent magnet elements, the wheels of one pair being motorized independently of the wheels of the other pair.
  • wheels comprising permanent magnet elements is ideal for holding on metal walls such as those fitted to the speakers of the steam generators of nuclear power plants.
  • holding and displacement means allow the device to access the entire inner periphery of the enclosure, and therefore a deployment of the lance on any place to inspect or clean regardless of its position in the enclosure this without the use of an additional installation such as a rail.
  • the present invention aims to remedy these disadvantages.
  • the technical problem underlying the invention is therefore to provide a device for inspecting and cleaning a confined chamber with difficult access such as for example the interior of a steam generator equipping a thermal power plant.
  • This device must also allow a complete inspection of such a speaker without requiring a heavy installation such as a rail.
  • Such mounting of the front part allows maximum control of the deployment angle of the lance. Indeed, the displacement of this part about a transverse axis and about a longitudinal axis, allows a controlled movement of the front part, and therefore the deployment of the lance, according to the directions included in a half-sphere facing inside the enclosure.
  • two of the motorized wheels rotate about substantially parallel axes of rotation and offset relative to each other.
  • Such an offset of the axes of the motorized wheels of the device allows the passage of obstacles, such as vertical welds, present on the wall of the enclosure to be inspected / cleaned. Indeed, during such a meeting, only one of these two training wheels will be simultaneously blocked.
  • the device also comprises at least one support member complementary to the motorized wheels.
  • Such a member allows a point of support and additional support of the device on the wall of the enclosure thus ensuring optimized stability for the deployment of the lance.
  • the lance drive system comprises a drive wheel equipped with lugs, driven by a motor intended to be powered and controlled by the control device, the lugs being intended to mesh with holes formed in the lance, which has a flattened shape, rollers being provided to provide guidance downstream of the lance.
  • Such a lance drive system allows a robust, continuous and controlled lance, important quality for a device to be installed in a difficult access chamber does not allow the intervention of a technician.
  • the maintenance of the lance by rollers offers both a support and a guide of the spear.
  • the rear part of the device is pivotally mounted on the body of the device about a transverse axis substantially parallel to the axes of rotation of the wheels of the carriage.
  • control means comprise at least one positioning camera and at least one lighting system associated with at least one positioning camera.
  • Such a camera allows a direct and visual control of the positioning of the device on the wall of the enclosure.
  • the use of a lighting system coupled to this camera makes it possible to mitigate the absence of light in this type of enclosure.
  • a camera is positioned on one side of the device, intended to be turned down to determine the height of the device.
  • Such a camera allows a visual check of the position of the device vis-à-vis the bottom of the enclosure. The operator can thus better control the movement of the device.
  • At least one camera is positioned on the front face of the body of the device so as to control the orientation of the drive and guide system of the flexible lance.
  • Such visual control of the orientation of the drive system and guide the lance allows deployment of the lance in a controlled direction to reach the places to inspect or clean.
  • the front part of the device is equipped with a control camera turned in the direction of the output of the lance.
  • Such a visual control makes it possible to follow the lance during its deployment to be able to place it precisely in the place to be inspected or cleaned.
  • the present invention also relates to an assembly for the inspection of a confined enclosure with difficult access comprising a device according to the invention and a flexible lance of rectangular section having at its free end an inspection camera of which the axis of vision of the optical sensor is oriented at about 45 ° downward, when the lance is horizontal.
  • Such an assembly is ideal for inspecting a confined chamber with difficult access, such as the enclosure of a nuclear power station steam generator.
  • equipment of the lance allows for accurate inspection of the bottom of the generator enclosure and in particular the base of the pipes.
  • the lance contains elements for transmitting video data to the control and power supply device, as well as a supply conduit for miniature tools for extracting migrating bodies.
  • the present invention also relates to an assembly for the inspection of a confined enclosure with a difficult access comprising a device according to the invention and a flexible high-pressure cleaning lance and of rectangular section, the lance comprising several ducts of supply of liquid under pressure and a downstream end equipped with a plurality of outlet orifices arranged symmetrically with respect to the axis of the lance.
  • Such an assembly is ideal for cleaning a confined chamber with difficult access such as the enclosure of a nuclear power plant steam generator.
  • equipment of the lance makes it possible to use the device for cleaning the corroded deposits present at the bottom of the enclosure stably since the symmetry of the outlets of the liquid at high pressure makes it possible to balance the forces induced on the the lance by the liquid at high pressure.
  • the figure 1 partially represents the inside of a cyclone separator 1 fitted to a nuclear power station steam generator in which a flexible lance guide device 2 is working 3.
  • a cyclone separator 1 is in the form of a cylindrical enclosure 1 metal provided with two openings 4 of diameter less than 40 cm and diametrically opposed, said punch holes.
  • This enclosure has a cylindrical wall 5 whose inner face is metallic.
  • This enclosure is also provided, on its bottom 6, with vertical metal pipes 7 which, for generating steam, are arranged in rows and rows in a grid.
  • the device 2 is in the form of a trolley in three parts, namely a front portion 10, called a head, a central portion 11, called body, and a rear portion 16 comprising a power supply and control.
  • a front portion 10 called a head
  • a central portion 11 called body
  • a rear portion 16 comprising a power supply and control.
  • the figure 2 shows a bottom view of this device 2 which has an elongate shape.
  • the rear portion 16 has a projection of general shape isosceles triangle whose rear apex is truncated.
  • On this truncation 18 of the rear portion 16 is provided an opening for receiving the connector of the cable 17 of supply and control.
  • the rear portion 16 is pivotally mounted about a transverse axis on the body 11 of the device 2. This assembly can be, as shown in FIG. figure 3 articulated around a piece 20.
  • the body 11 of the device 2 has a generally flat parallelepipedal shape flattened. It has, on its underside, two wheels 12, 13 arranged around transverse axes of rotation, substantially parallel and offset with respect to each other. These two wheels 12, 13 have on their periphery elements 21 permanent magnet. These wheels 12, 13, as shown in figure 3 , are motorized by means of two independent motors 14, 15. Such an independent motorization of these wheels 12, 13 allows a control of the trajectory during the movements of the device 2.
  • a support piece 22 is also disposed on the underside of the body 11 of the device and offset relative to the wheels 12, 13 so as to achieve an additional point of support.
  • This support piece 22 improves the stability of the device 2 during its movement along the wall 5 of the chamber 1 and during the deployment of the lance 3.
  • the device 2 also has on its body 11, cameras 23 arranged on the lateral sides thereof. Each of these cameras 23 may be equipped with a lighting system. This lighting system can be constituted, as illustrated on the figure 4 by light-emitting diodes 24 disposed on the periphery of these cameras 23.
  • the body 11 of the device 2 is also equipped, as illustrated on the figure 3 , a motorization system between the head 10 of the device 2 and its body 11.
  • This drive system allows pivotal mounting of the head 10 on the body 11 of the device 2 about a transverse axis substantially parallel to the axes of rotation wheels 12,13. Such a configuration allows controlled pivoting of the head 10 at an angle substantially equal to 45 °.
  • the motorization system advantageously comprises a motor 25 and a gear assembly 26.
  • the body 11 may comprise on its front face a camera 27.
  • This camera 27 may be combined, as illustrated in FIG. figure 2 with a lighting system including, for example, light emitting diodes 28.
  • the head 10 of the device 2 is also mounted, by means of an intermediate piece 29, pivoting about the longitudinal axis of the device 2.
  • This assembly is motorized by an assembly consisting of a motor 30 and gears 31 , and allows the head 10 to perform a controlled pivotal movement at an angle substantially equal to 90 °.
  • the head 10 comprises a first parallelepipedal portion 32 from which extends a projecting portion 33. This second portion 33 forms an angle substantially equal to 110 ° with the first portion 32 of the head 10.
  • the head 10 also comprises a system for driving and guiding the lance 3.
  • the drive and guide system comprises a channel 34 formed in the two parts 32, 33 for guiding the lance 3 through the head 10 of the device 2.
  • the driving and guiding system also comprises a motor 35 mounted on the first part 32. This motor 35 drives, via a gear system 36, as shown in FIGS. figures 2 and 5 , a wheel 37 equipped with lugs 38, which is arranged in the channel 34. These lugs 38 are intended to mesh with the lance 3 when it is inserted into the channel 34 of the head 10. This guidance of the lance can be completed by pebbles, not shown here.
  • the lance 3 when the lance 3 is installed on the device 2, it is inserted in the head 10 of the device 2 by the channel 34.
  • the lance 3 comes out, as shown in FIG. figure 1 on the upper face of the protruding portion 33 of the head 10 guided by the channel 34 and the rollers.
  • the deployment of the lance 3 can then be achieved by rotating the wheel 37 provided with lugs 38 which will cause the lance 3.
  • the head 10 has, on its projecting portion 33, a camera 39.
  • This camera 39 may also be equipped with a lighting system, for example with light emitting diodes.
  • the lance 3 which can equip the device 2 is a flexible lance of rectangular section pierced, along its length, holes. These holes are intended to cooperate with the wheel 37 with pins 38 of the head 10 when the lance 3 is engaged by the wheel 37. Depending on the type of operation to be performed in the enclosure, inspection or cleaning, the lance 3 equipping the Device 2 will be configured differently.
  • the free end of the flexible lance 3 is equipped with an optical sensor, and the lance 3 contains elements for transmitting video data to the control and power supply device.
  • the lance 3 also includes a conduit for supplying miniature tools for extracting migrating bodies.
  • the lance 3 comprises several conduits for supplying pressurized liquid, and its downstream end is equipped with several outlet orifices arranged symmetrically with respect to the axis of the lance 3.
  • Such a symmetrical arrangement makes it possible to maintain place the lance, the forces exerted by the pressure of the jet of liquid out of each orifice being compensated by the jet of liquid of the symmetrical orifice.
  • the procedure is as follows.
  • the power and control cable 17 is previously connected to the device 2, and the flexible lance 3, equipped according to the needs of an inspection camera or a high-pressure lance, is introduced into the channel 34. arranged in the head 10 of the device 2.
  • the equipment device 2 made, the latter is introduced, as shown in the figure 1 in the chamber 1 from one of the two punch holes 4.
  • the device is then placed on the inner face of the wall 5 of the chamber 1 of the cyclone separator.
  • the device remains in place, by means of its wheels 12, 13 and its support piece 22, on the inner face of the metal wall 5 which is generally vertical.
  • the device can be controlled by an operator by an electronic device, ideally computerized, such as for example a computer having an acquisition card connected to the device via the cable 17 of supply and control.
  • the operator accesses by these electronic means both the control means that are the cameras 23, 27, 39 arranged on the device and the control of the various actuators 14, 15, 25, 30, 35 of the device.
  • the control of the different motorizations of the device by means of a joystick.
  • the operator can then use the three cameras 23, 27, 29 control arranged on the body 11 of the device 2 to determine the position of the device 2 vis-à-vis the enclosure 1.
  • the operator can independently control the two wheels 12, 13 of the device to move it to the desired location on the inner face of the wall 5.
  • the device in place, the operator actuates the two motors 25, 30 positioning of the head 10 to obtain the deployment angle required to reach the place to inspect or clean.
  • the lance 3 is then deployed to the desired length. To do this, the wheel 37 with pins 38 is rotated by the motor 35 disposed on the head of the device.
  • the required length of deployed lance 3 being reached, the operator uses, depending on the chosen equipment, either the camera disposed on the lance to inspect / clean the location where the lance is deployed, or the high pressure lance to clean. this same place.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Thermal Sciences (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Spray Control Apparatus (AREA)

Claims (11)

  1. Vorrichtung (2) zum Führen für eine flexible Lanze (3) zur Inspektion und/ oder Reinigung eines begrenzten Raumes (1) mit erschwertem Zugang (4), wobei sich die Vorrichtung (2) zum Führen in Form eines Schlittens darstellt und folgendes umfasst:
    - ein Antriebs- und Führungssystem einer flexiblen Lanze (3), das gelenkig auf der Vorrichtung (2) montiert ist,
    - Mittel zur Kontrolle der Positionierung der Vorrichtung (2),
    - einen Steckanschluss zur Stromversorgung und Steuerung, der dazu bestimmt ist, über ein flexibles Kabel (17) mit einer Vorrichtung zur Steuerung und zur Stromversorgung verbunden zu werden,
    - Mittel zum Halten und Fahren an der Innenseite einer vertikalen Wand (5), die den begrenzten Raum (1) eingrenzt, wobei die Mittel zum Halten und Fahren zumindest zwei Räder (12, 13) umfassen, die unabhängig voneinander motorisiert sind, und Elemente (21) aus einem Permanentmagneten umfassen,
    dadurch gekennzeichnet, dass sich die Vorrichtung (2) entlang einer Längsachse erstreckt und folgendes umfasst:
    - einen zentralen Korpus (11), die Räder (12, 13) und deren Antriebssysteme (14, 15) umfassend,
    - einen hinteren Abschnitt (16), den Steckanschluss zur Stromversorgung und Steuerung umfassend, und
    - einen vorderen Abschnitt (10), das Antriebs- und Führungssystem der Lanze (3) umfassend, wobei der vordere Abschnitt (10) motorisiert und um eine Querachse schwenkbar auf dem Korpus (11) der Vorrichtung (2) montiert ist, die parallel zu den Drehachsen der Räder (12, 13) der Vorrichtung (2) verläuft, wobei der vordere Abschnitt (10) ebenfalls motorisiert und um die Längsachse der Vorrichtung (2) schwenkbar auf dem Korpus (11) montiert ist.
  2. Vorrichtung (2) nach Anspruch 1, dadurch gekennzeichnet, dass sich zumindest zwei der motorisierten Räder (12, 13) um Drehachsen drehen, die in etwa parallel und zueinander versetzt verlaufen.
  3. Vorrichtung (2) nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass sie ebenfalls zumindest ein Stützteil (22) ergänzend zu den motorisierten Rädern (12, 13) enthält.
  4. Vorrichtung (2) nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass das Antriebssystem der Lanze (3) ein mit Zapfen (38) bestücktes Antriebsrad (37) enthält, das durch einen Motor (35) angetrieben wird, der dazu bestimmt ist, von der Steuervorrichtung gespeist und gesteuert zu werden, wobei die Zapfen (38) dazu bestimmt sind, in die Löcher einzugreifen, die in der Lanze (3) ausgeführt sind, die eine abgeflachte Form aufweist, wobei Rollen vorgesehen sind, um für die Führung stromabwärts zur Lanze zu sorgen.
  5. Vorrichtung (2) nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass der hintere Abschnitt (16) der Vorrichtung (2) um eine Querachse schwenkbar auf dem Korpus (11) der Vorrichtung (2) montiert ist, die in etwa parallel zu den Drehachsen der Räder (12, 13) des Schlittens verläuft.
  6. Vorrichtung (2) nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Kontrollmittel zumindest eine Kamera (23, 27) zum Positionieren und zumindest ein Beleuchtungssystem (24, 28) umfassen, das zumindest einer Kamera (23, 27) zum Positionieren zugeordnet ist.
  7. Vorrichtung (2) nach Anspruch 6, dadurch gekennzeichnet, dass zumindest eine Kamera (23) an einer Seite der Vorrichtung (2) positioniert ist, und dazu bestimmt ist, nach unten gedreht zu werden, um die Höhe der Vorrichtung (2) zu bestimmen.
  8. Vorrichtung (2) nach Anspruch 6 oder 7, dadurch gekennzeichnet, dass zumindest eine Kamera (27) an der Vorderseite des Korpus (11) der Vorrichtung (2) positioniert ist, um die Orientierung des Antriebs- und Führungssystems der flexiblen Lanze (3) zu kontrollieren.
  9. Vorrichtung (2) nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass der vordere Abschnitt (10) der Vorrichtung mit einer Kamera (39) zur Kontrolle ausgerüstet ist, die in die Richtung des Ausgangs der Lanze (3) gedreht ist.
  10. Einheit zur Inspektion eines begrenzten Raumes (1) mit erschwertem Zugang (4), dadurch gekennzeichnet, dass sie eine Vorrichtung (2) nach einem der Ansprüche 1 bis 9 und eine flexible Lanze (3) im rechteckigen Querschnitt umfasst, die an ihrem freien Ende eine Inspektionskamera umfasst, bei der die Blickrichtung des optischen Sensors in etwa 45° nach unten gerichtet ist, wenn die Lanze waagrecht steht.
  11. Einheit zur Inspektion eines begrenzten Raumes (1) mit erschwertem Zugang (4), dadurch gekennzeichnet, dass sie eine Vorrichtung (2) nach einem der Ansprüche 1 bis 9 und eine flexible Hochdruckreinigungslanze (3) mit einem rechteckigen Querschnitt umfasst, wobei die Lanze mehrere Zufuhrkanäle für unter Druck stehende Flüssigkeit umfasst, und ein stromabwärts befindliches Ende, das mit mehreren Ausgangsöffnungen versehen ist, die im Verhältnis zur Mitte der Lanze (3) symmetrisch angeordnet sind.
EP11728333.3A 2010-06-03 2011-05-31 Vorrichtung zur führung einer flexiblen lanzette Active EP2577158B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SI201130797A SI2577158T1 (sl) 2010-06-03 2011-05-31 Naprava za vodenje prožne cevi

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1054360A FR2961003B1 (fr) 2010-06-03 2010-06-03 Dispositif de guidage pour lance flexible
PCT/FR2011/051241 WO2011151591A2 (fr) 2010-06-03 2011-05-31 Dispositif de guidage pour lance flexible

Publications (2)

Publication Number Publication Date
EP2577158A2 EP2577158A2 (de) 2013-04-10
EP2577158B1 true EP2577158B1 (de) 2016-02-10

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EP11728333.3A Active EP2577158B1 (de) 2010-06-03 2011-05-31 Vorrichtung zur führung einer flexiblen lanzette

Country Status (6)

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EP (1) EP2577158B1 (de)
CN (1) CN103261788B (de)
ES (1) ES2569714T3 (de)
FR (1) FR2961003B1 (de)
SI (1) SI2577158T1 (de)
WO (1) WO2011151591A2 (de)

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EP3172736B1 (de) * 2014-07-23 2019-12-18 Westinghouse Electric Company Llc Verfahren und vorrichtung zur manipulation einer ausrüstung im innern eines dampfgenerators
FR3025931A1 (fr) * 2014-09-16 2016-03-18 Sra Savac Dispositif de guidage pour lance flexible
FR3030863B1 (fr) * 2014-12-19 2019-06-14 Endel Sra Procede et dispositif d’inspection d'un generateur de vapeur
CN108405427A (zh) * 2018-03-15 2018-08-17 苏州热工研究院有限公司 一种蒸汽发生器第一和第二支撑板间清洗设备及清洗方法
KR102241008B1 (ko) * 2019-08-13 2021-04-16 두산중공업 주식회사 증기발생기 내부의 이물질을 검사 및 제거하는 장치, 및 이를 위한 시스템
FR3103880B1 (fr) 2019-12-03 2021-11-26 Endel Sra Procédé de numérotation des tubes d’un alignement de tubes

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Also Published As

Publication number Publication date
ES2569714T3 (es) 2016-05-12
FR2961003A1 (fr) 2011-12-09
CN103261788A (zh) 2013-08-21
WO2011151591A2 (fr) 2011-12-08
WO2011151591A3 (fr) 2013-08-15
SI2577158T1 (sl) 2016-06-30
CN103261788B (zh) 2015-07-08
EP2577158A2 (de) 2013-04-10
FR2961003B1 (fr) 2015-10-30

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