FR3056124B1 - MOBILE DEVICE FOR REMOTELY CONTROLLING THE EXTERNAL SURFACE OF A TUBE - Google Patents

Abstract

The present invention relates to a mobile device for processing by remote control of the outer surface of a tube (1), comprising end-to-end fasteners: a) a pusher subassembly (11a, 12a, 13a) comprising a wheel of advanced (11a1, 12a1, 13a1), and at least first motor or jack (11a2, 12a2, 13a2) adapted to move said advancing wheel bearing against said tube, and a second motor (11a3, 12a3, 13a3) apt actuating said spinning wheel on itself to allow the displacement of said mobile longitudinal translation processing device (XX ') along said tube, and b) a processing subassembly (11b, 12b, 13b) comprising at least a third motor or jack (11b2-11b2 ', 12b2, 13b2-13bx-13by-13bz) adapted to move in rotation and / or in relative translation a treatment tool (11b1, 12b1, 13b1) relative to said tube and / or with respect to said pusher subassembly, and a fourth engine or cylinder (11b3, 12b3, 13b3) suitable for act ionner a clamping element (11d, 12d, 13d-13d1), and c) at least one visual inspection device of the outer surface of said tube to be treated (11c, 12c, 13c) comprising at least one camera (11c1, 12c1 -12c1'-12c1 ", 13c1) integral with said pusher subassembly and / or said processing subassembly and preferably at least one lighting device (11c2, 12c2-12c2'-12c2", 13c2), d) the various engines or cylinder of said pusher subassembly and processing subassembly being remotely operable by remote operation and preferably being electric motors and pneumatic cylinders.

Description

Mobile device for processing by remote control of the outer surface of a tube

The present invention relates to a method of treating the outer face of tubes with teleoperated tools.

Here we mean by remote operation, an operation that can be performed remotely, in particular because of a visual inspection and remote control in real time using an on-board camera.

It is more particularly a set of stainless steel guide tubes of about one inch in diameter, of which about 50 tubes called guide tubes (or "RIC tubes of the Elementary System Internal Instrumentation of the Heart), located under the reactor vessel of a reactor of a nuclear power plant type pressurized water reactor in the so-called vessel shaft of the reactor building. These tubes allow the insertion of probes in the reactor to measure the neutron activity of the heart when the latter is in operation. These probes play an important role in controlling and controlling the reactor power.

Some tubes may have a surface with corroded areas, thus requiring an intervention for the detection and elimination of this corrosion.

More particularly, the operations to be carried out include: - brushing the tubes to remove deposits that can mask underlying corrosion; - non-destructive testing not bleeding areas affected by the presence of corrosion; and - elimination of defects by scouring (machining) of surface.

After locating the corroded areas, the first step in re-aligning the tubes is to brush the outer surface to remove any traces or deposits. Brushing sufficiently strong to remove the oxidation plates, 360 ° around the tube and with identical efficiency on straight or bent tube, being necessary to obtain a perfectly cleaned surface and to be able to continue with the following operations of television inspection and penetrant testing.

Penetrant Testing (PT) is a non-destructive testing method used in industry. This method aims to highlight discontinuities emerging on any piece of metal, in particular to detect the presence of sting. The bleeding operation comprises, in a known manner, the application and the successive cleaning / removal of different products.

More particularly, the following steps are carried out: the part to be tested is then coated with penetrating product, by spraying or by immersion; generally colored or fluorescent petroleum products; the part is washed to remove the penetrating product deposited on the surface, in order to carefully wash the product on the surface without eliminating the product that has penetrated any defects emerging from the part; - the room is dried; if necessary, a developer product, in powder form, in suspension or in solution, is then applied; and finally, the part is examined under natural light in the case of a colored penetrant or under UV (ultraviolet) illumination in the case of a fluorescent penetrant.

The implementation of a remote bleeding operation is complicated because bleeding involves a succession of operations requiring a subjective assessment of the person who does it and not relying on easily quantifiable criteria. The final machining operation of the tubes requires high precision and reliability on the dimensions of the machining performed because the RIC guide tubes are part of the primary circuit of the plant. To date, this type of maintenance is done punctually and manually. For brushing with metal brush and grinder tools equipped with a flapper disc. Regarding the bleeding operation for puncture detection, the conventional technique of colored manual bleeding is used.

However, the intervention time in the vat shaft is limited in time because of the important radiological environment (classified orange with an ambient radioactive dose rate comprised between 5 and 10 mSv / h). Human interventions in the pit can therefore only be punctual and we can not achieve a significant amount of work.

The object of the present invention is therefore to provide improved tools for performing easier and systematic maintenance of the outer faces of the RIC guide tubes in a more secure manner for the personnel while being as accurate and reliable.

More particularly, an object of the present invention is to reduce as much as possible the human intervention time in the vessel well to limit the total dosimetry received.

To do this, the present invention provides a mobile device for remote control treatment of the outer surface of a tube, also hereinafter referred to as "robot", said mobile treatment device comprising a pusher subassembly fixed end-to-end. in the longitudinal direction to a subset of treatment preferably a rigid support structure supporting them, with: a) said pusher subassembly comprising a wheel adapted to be disposed opposite said tube, called advancing wheel, and at least one first motor or jack adapted to move said advancing wheel with respect to said tube so that said wheel can be moved in abutment against said tube, and a second motor adapted to actuate said advancing wheel in rotation on itself along an axis of rotation in a direction perpendicular to the longitudinal axis of said tube to allow the displacement of said mobile processing device in longitudinal translation nal along said tube, and b) said treatment subassembly comprising at least one treatment tool adapted to cooperate with at least one third motor or jack adapted to move in rotation and / or in relative translation said treatment tool relative to to said tube and / or relative to said pusher subassembly, said processing subassembly being adapted to adopt an open position allowing its installation around the tube and a closed position around and / or against said tube allowing the treatment of the tube, the change of said position being obtained at least with the aid of a fourth motor or cylinder capable of actuating a clamping element, and, preferably, a suction device being able to suck up the treatment products deposited on said tube and / or waste of said tube after treatment of said tube, and c) at least one device for visual inspection of the outer surface of said tube to be treated comprising at least one solidary camera e said pusher subassembly and / or said processing subassembly and preferably at least one lighting device for illuminating at least one area of said tube to be treated inspected by said camera, d) the various engines or jack of said pusher subassembly and processing subassembly being remotely operable by remote operation and preferably being electric motors and pneumatic cylinders.

In a first embodiment, the mobile treatment device is a mobile brushing device comprising a brushing subassembly comprising, as said treatment tool, a brushing tool comprising at least one brush capable of being displaced in translation and / or relative rotation relative to the tube, preferably even when the brushing subassembly is not moved in translation and / or rotation relative to said tube.

More particularly, said brushing tool comprises a plurality of rotary brushes adapted to be actuated in rotation on itself along an axis of rotation in directions parallel to the longitudinal axis of said tube by means of a said third motor. to allow brushing of the outer surface of said tube and said brushes are adapted to be arranged regularly around said tube vis-à-vis the circumference of said tube in cross section, preferably at the same level in the longitudinal direction of the said tube, and said brushes are able to be applied in abutment against the outer surface of said tube by means of a said fourth motor or actuator actuating brush supports between a said open position and a said closed position preferably two brush supports each supporting n brushes.

More particularly, said brushing tool is able to be actuated in relative rotation with respect to the pusher subassembly along an axis of rotation corresponding to the longitudinal axis of said tube, preferably with the aid of a control system. gear wheels mounted in gear and operable in rotation by another said third motor, preferably actuatable in alternating rotations in the outward and return direction on an angular sector less than 270 °, preferably at least 360 ° / 4xn, the said tool brushing device comprising 2n rotating brushes adapted to be regularly spaced and arranged circularly around said tube, with preferably n = 2 to 4.

More particularly still, in this first embodiment, said device for visual inspection of said tube to be treated comprises a plurality of cameras downstream of said sub-assembly of brushing, able to be regularly spaced and arranged circularly around said tube to inspect the entire periphery and preferably each said camera being coupled to a lighting device for illuminating at least the area of said tube inspected by said camera.

In a second embodiment, the mobile treatment device is a mobile bleeding device comprising a penetrant subassembly comprising, as said treatment tool, at least a plurality of liquid spray nozzles able to be displaced in translation and / or or relative rotation relative to said tube preferably even when the sub-assembly bleeding is not moved in translation and / or rotation relative to said tube.

More particularly, the said sub-set of bleeding comprises a lower tray adapted to be disposed below the guide tube and collect the products sprayed by said spray nozzles disposed in the underside of a spray boom, said ramp of spraying being adapted to be disposed on said tube and displaced in relative translation with respect to said tank by a said third electric motor for performing the bleeding treatment of a tube section when the penetrant subassembly is not moved in translation with respect to said tube.

More particularly, said lower tray comprises two transverse walls respectively at its two longitudinal ends, said transverse walls comprising U-shaped notches acting as said clamping member of the tube being able to cover the underside of said tube and at least a portion of its two lateral faces of said tube when said bin is actuated in vertical translation by a said fourth jack from a low position corresponding to a said open position to a high position corresponding to a said closed position. A retractable gasket at the top prevents leakage of products out of the tank when rewinding bent tubes.

More particularly still, in this second mode of said visual inspection device of said tube to be treated comprises a plurality of cameras arranged (i) some downstream of said subassembly of bleeding able to be regularly spaced and arranged circularly around said tube for inspecting the entire periphery before and / or after bleed treatment and (ii) some in the vicinity of said spray nozzles for inspecting the spray jet and / or the tube during the bleeding treatment, preferably each said camera being coupled to a lighting device for illuminating at least the area of said tube inspected by said camera comprising UV illumination capable of revealing a fluorescent penetrant product adapted to be sprayed by the bleeding tool.

In a third embodiment, the mobile processing device is a mobile machining device comprising a machining subassembly comprising a said machining tool comprising at least one cutter adapted to be moved in rotation on itself by a said first motor, the said cutter being able to be displaced in relative translation and / or in relative rotation with respect to the tube by at least said third motor, preferably even when the machining subassembly is not moved in translation and / or rotation with respect to said tube.

More particularly, said machining subassembly comprises: a said cutter adapted to be displaced in relative translation in 3 directions orthogonal to the tube comprising the longitudinal direction of said tube, with at least three said third engines or jacks supported respectively by three relative translation modules, when the machining subassembly is not displaced in translation relative to said tube, and in the longitudinal direction of said tube, said first relative translation module supporting and being able to move said strawberry in relative translation in the longitudinal direction of said tube relative to said machining subassembly when it is immobilized in relative translation in the longitudinal direction of said tube relative to said pusher subassembly, and - a second said module of relative translation in a first direction perpendicular to the longitudinal direction, said first a relative translational module according to the longitudinal direction being mounted on said second relative translation module so that said cutter is able to be displaced in relative translation in the longitudinal direction by displacement in relative translation in the longitudinal direction of said first translation module; relative to said second relative translation module; and a third said relative translation module in a second direction perpendicular to the longitudinal direction, said second relative translation module being mounted on said third relative translation module so that said cutter is able to be displaced in relative translation according to the said first direction perpendicular displacement in relative translation according to said first perpendicular direction of said second relative translation module relative to said third relative translation module; a fourth clamping module comprising a said clamping element, able to adopt a said open position for laying the said machining subassembly around the tube and a said closed position around and / or against the said tube allowing the immobilizing said machining subassembly with respect to said pusher subassembly, said third relative translation module being mounted on said fourth clamping module so that said cutter is able to be displaced in relative translation along said second perpendicular direction by displacement in relative translation according to said second perpendicular direction of said third relative translation module relative to said fourth clamping module.

When said clamping element is in the closed position, the assembly is immobilized relative to the tube and it is possible to move the mill according to the 3 directions, namely: said longitudinal direction and said first and second perpendicular directions.

More particularly still, said first, second and third relative translational modules each comprise a said third electric motor adapted to actuate in rotation the toothed wheels mounted in gear of a ball screw mechanism capable of transforming a rotational movement into translational movement to achieve a said relative translation.

More particularly still, said machining subassembly is able to be actuated in relative rotation with respect to the pusher subassembly along an axis of rotation corresponding to the longitudinal axis of said tube by a fourth said third motor, preferably by means of a gears gear system rotatably actuable and rotatable, preferably still operable in alternating rotations in both directions back and forth over an angular sector (alpha) of less than 300 °, preferably at least 180 °.

The present invention also provides a method of treating the outer surface of a tube by remote operation comprising the implementation of at least one mobile device for treating the outer surface of a tube according to the invention, said method comprising the steps in which: el) said mobile processing device is manually installed on said tube, and a said first motor or jack of said pusher subassembly is actuated, and e2) the state of the external surface of the tube is visually inspected by means of said cameras, using at least one said inspection camera, by moving relative longitudinal translation and / or relative rotation relative to said tube by actuating said second motor or cylinder pusher subassembly and / or at least one said third engine or jack of the processing subassembly, and e3) when a zone of the outer surface of said tube is detected by said camera as to be treated, it is the said clamping element is actuated by actuating the said fourth motor or jack of the said processing subassembly, then the said treatment of the outer surface of the tube is carried out by actuating the said processing tool and moving with the aid of at least one said third motor, said processing tool in rotation and / or translation relative to said tube and / or relative to said pusher subassembly, and e4) the quality of said treatment is verified with at least one said inspection camera, preferably by repeating step e1), and e5) to said steps e1 to e4) the various so-called motors and jacks of said pusher subassembly and processing subassembly are operated remotely by TV surgery.

More particularly, one uses successively: - a said mobile brushing device comprising a brushing subassembly comprising a said brushing tool comprising at least one brush which is displaced in translation and / or in relative rotation with respect to the tube, in step e3) of the brushing treatment, and - a mobile bleeding device comprising a penetrant subassembly comprising as a said bleeding tool comprising a plurality of liquid spray nozzles, which nozzles are displaced in translation and / or in relative rotation relative to said tube, in step e3) of the bleeding treatment, and - a said mobile machining device comprising a machining subassembly comprising a said machining tool comprising at least one mill which is displaced in rotation on itself and in relative translation and / or in relative rotation relative to the tube, preferably the machining subassembly is not moved in translation and / or rotation with respect to said tube, in step e3) of the machining process.

More particularly, for the implementation of said mobile brushing device, in step e3), to carry out the brushing of the outer surface of said tube, said brushing tool comprising a plurality of 2n rotating brushes arranged regularly spaced and circularly around said tube opposite the circumference of said tube in cross section, preferably at the same level in the longitudinal direction of said tube, said brushes are pressed against the outer surface of said tube by actuating brush supports preferably two brush supports each supporting n brushes, from a said open position to a said closed position, with the aid of a said second motor or jack, and the said brushes are actuated in rotation on it; even along an axis of rotation in directions parallel to the longitudinal axis of said tube using a first electric motor and said brushing tool e it is actuated in relative rotation relative to the pusher subassembly along an axis of rotation corresponding to the longitudinal axis of said tube by another said third motor, preferably said brushing tool is actuated in alternating rotations in the back and forth directions on a angular sector (alpha), preferably at least 360 ° / 4xn, with preferably n = 2 to 4.

More particularly, for the implementation of said mobile bleeding device, in step e3), for performing the bleed treatment of a tube section, preferably when the penetrant subassembly is not moved in translation with respect to said tube, the penetrant subassembly comprises at least a plurality of liquid spray nozzles arranged under the face of a spray boom disposed on said tube, and a lower tray disposed below the tube, displaces said nozzles in relative translation with respect to said tray by an electric motor, and the products sprayed by said spray nozzles are collected in said tank.

More particularly, said lower tray comprises two transverse walls respectively at its two longitudinal ends, said transverse walls comprising U-shaped notches acting as said clamping member of the tube, and covering the underside of said tube and at least a portion of its two lateral faces of said tube in said U-shaped notches, by actuating said tray in vertical translation from a low position corresponding to a said open position to a high position corresponding to a said closed position.

More particularly, for the implementation of said mobile machining device, in step e3), the said mill is moved in rotation on itself and in relative translation and in relative rotation with respect to the tube, the sub-part machining assembly not being moved in translation and / or rotation relative to said tube.

More particularly, for the implementation of said mobile machining device, in step e3), said milling cutter is rotated on itself and in relative translation in 3 orthogonal directions relative to the tube comprising the said longitudinal direction of said tube, with at least three so-called third motors or jacks supported respectively by three relative translation modules, when the machining subassembly is not displaced in translation and in rotation with respect to said tube, - a said first said relative translational module in the longitudinal direction of said tube, supporting and moving said mill in relative translation in the longitudinal direction of said tube with respect to said machining subassembly, and - a said second said relative translational module according to a first direction perpendicular to the longitudinal direction, supporting said first relative translation module and moving said cooler e in relative translation first perpendicular direction, and - a said third said relative translation module in a second direction perpendicular to the longitudinal direction, supporting said second relative translation module and moving said strawberry in relative translation according to said second perpendicular direction, a fourth clamping module supporting said third relative translational module and comprising a said clamping element actuated in said closed position around and against said tube thus immobilizing said subassembly of machining with respect to said pusher subassembly and said tube, when said cutter is moved in said relative translation, and - said machining subassembly is actuated step by step in relative rotation with respect to the pusher subassembly along an axis of rotation corresponding to the longitudinal axis of said tube, when said cutter is not displaced in said relative translation.

More particularly, the following successive steps are carried out: e3.1) said cutter is moved to a position remote from the tube by actuating in relative translation said third relative translation module, and is positioned in translation in the longitudinal direction of the tube, said subassembly of machining using said pusher subassembly, at the region of the tube to be machined, e3.2) is positioned in relative rotation in the longitudinal direction (XX ') of the tube, said sub machining assembly with respect to said pusher subassembly, so that said cutter is in line with the zone of the tube to be machined, e3.3) said rotary cutter is actuated on itself and said strawberry is applied against said tube, and e3.4) is actuated in relative translation said third relative translation module, and concomitantly, it moves said strawberry in relative translation in the longitudinal direction of the tube by moving in translation relative in the longitudinal direction said first relative translation module; and at the end of travel, said milling cutter is moved away from the tube by actuating in relative translation said third relative translational module, then e3.5) the said milling cutter is shifted laterally in relative translation along the said first transverse perpendicular direction by displacement in translation relative to said first perpendicular direction of said second relative translational module; then, preferably, said milling cutter is moved in relative translation in the longitudinal direction of the tube in the opposite direction by displacing in relative translation in the longitudinal direction said first relative translational module to the end of the stroke, then e3.6) preferably, repeats steps e3.3) to e3.5) at least once, then e.37) angularly shifts said sub-machining assembly relative to the pusher subassembly, said cutter being moved to a position remote from the tube by actuating in relative translation, said third relative translation module (13z) and then e3.8), the steps e3.3) to e3.7) are repeated.

Alternatively, the following variants of steps e3.4) and e.3.5) are carried out: e3.4) said third relative translation module (13z) is actuated in relative translation, and said strawberry is displaced in relative translation according to the first direction perpendicular to the longitudinal direction of the tube by moving in relative translation said second relative translation module; and at the end of the stroke, said cutter is moved away from the tube by actuating in relative translation said third relative translation module, then e3.5) said relative milling cutter is moved in said longitudinal direction by displacement in relative translation of said first relative translation module; then preferably it moves said mill in relative translation in the first transverse perpendicular direction in opposite direction by moving in relative translation said second relative translation module to the end of travel.

More particularly, for the visual inspection of a tube before and after treatment, a plurality of cameras and preferably lighting devices, arranged regularly spaced and circularly arranged in a ring on a support are used so as to be able to visualize the the entire circumference of the tube at a given position of the treatment device in the longitudinal direction of the tube, without rotating said cameras around said tube.

More particularly, stainless steel guide tubes located under the reactor vessel of a nuclear power plant are treated in the so-called "reactor vessel" reactor well, said tubes allowing the insertion of probes into the reactor to measure the neutron activity of the heart when the heart is in operation.

The devices or robots are positioned on the tubes by an operator without any help or external handling means, they are therefore designed not to be too cumbersome and too heavy because the installation must be able to be carried out simply and quickly.

The size of the robots is as small as possible to take into account the space between the tubes. In practice, for RIC tubes, to ensure the largest possible tube coverage, the maximum width of the robots is 150mm and the maximum height is of the order of 600mm.

The robots are positioned on the tube one after the other and they are controlled from outside the pit. The entire control station being installed in the annular space of the reactor building (BR).

The motors and cylinders preferably operate with electricity and compressed air.

The robots are placed on the tube via rollers on one side, on the other side, a wheel mounted on a pneumatic cylinder bears on the tube. It is this wheel that can move the machine forward or backward on the tube.

A vacuum cleaner positioned outside the shaft allows the recovery of brushing waste and machining and liquid effluents bleeding. Other features and advantages of the present invention will emerge more clearly on reading the following description, given in an illustrative and nonlimiting manner, with reference to the appended drawings in which: FIG. 1 represents a set of guide tubes 1 in the reactor vessel's well space below reactor vessel 2 of a nuclear reactor; - Figures 2A and 2B show a mobile brushing device 11 according to the invention shown on one side with cover (Figure 2A) and on the other side without cover (Figure 2B); - Figure 2C is a schematic view of the mobile brushing device 11 on the side of the pusher 11a; FIG. 2D shows a part 11b 'of the brush subassembly 11, with connecting elements in relative rotation with respect to a second part 11b "which caps the pusher 11a which is integral therewith; FIG. 2E is a view showing elements of the pusher 11a and a clamping element 11d capable of actuating the change of position of the brushing tool of FIG. 2D; FIGS. 2F and 2G show the sets of brushes whose axes of rotation Χ1ΧΓ are arranged spaced apart regularly crosswise with respect to the longitudinal axis XX 'of the brushing robot 11; FIG. 2G represents the detail of the mechanisms for moving the brushes 11b in rotation on itself; FIGS. 3A and 3B show views of a bleeding robot 12 according to the invention - FIGS 3C and 3D represent parts of the bleeding subassembly 12b of the bleed robot 12; FIGS. 4A and 4B are views of a machining robot 13 ; FIGS. 4C and 4C 'are views showing the junction between the pusher subassembly 13a and the machining subassembly 13b of the machining robot 13 with connection and relative rotation mechanisms in 13b; - Figure 4D shows the detail of the interior of the pusher subassembly 13a of the machining robot; FIG. 4E shows the detail of a clamping module 13c of the machining sub-assembly of the machining robot; FIG. 4F shows the mounting of a relative translation block 13y along the axis YY 'with respect to the clamping module 13d of the machining subassembly of the machining robot; FIG. 4G shows the mounting of a second block 13z of relative translation along the axis ZZ 'mounted on the block 13y of the machining subassembly of the machining robot; - Figures 4H and 4H 'show the mounting of a third block 13x of relative translation along the axis XX' mounted on the block 13z of the machining sub-assembly of the machining robot; - Figure 41 shows the mounting of the cutter 13bl able to rotate in relative rotation along the axis YY 'relative to the milling support 13bl'; FIG. 4J shows the detail of a camera and lighting device 13c mounted on the clamping module 13d.

In Figure 1, there is shown a set of about fifty tubes 1 to be treated by the maintenance method according to the invention.

These tubes 1 are known under the name "RIC tube (elementary system internal instrumentation of the heart)". These tubes are located under the tank 2 of the reactor of a nuclear power plant of pressurized water reactor type in the so-called "reactor vessel's well pit" .These tubes, also called guide tubes, allow the insertion of probes. at different heights in the reactor to measure the neutron activity of the heart when the heart is in operation. These probes play an important role in controlling and controlling the reactor power. These probes are attached to the end of smaller diameter tubes guided by said guide tubes into which they are inserted.

The guide tubes 1 are supported by a horizontal support frame 3 disposed in height below the tank and a vertical support frame 4 resting on the floor 5 of the tank well disposed laterally with respect to said tank 2, close to the wall of the hall wells.

The guide tubes 1 extend from the vertical frame 4 to the horizontal frame 3 over a length of about 1 to 6 m. A first tube portion 1 extends horizontally from the vertical frame 4 extended by a second curved portion with a radius of curvature of 3 meters rising upward towards the horizontal frame 3. In the upper part of the zone Curved guide tubes 1 below the horizontal frame 3, the tubes have a maximum inclination of about 60 degrees. It is this part of the tubes between the vertical frame 4 and the horizontal frame 3 which will be treated by the maintenance method according to the present invention. In this zone, the lateral spacing distance between the adjacent tubes is about 80 mm and the vertical spacing distance between the adjacent tubes is about 400 mm.

These guide tubes have a diameter of 1 inch (about 25.4 mm) and a thickness of about 7 mm.

The expressions used here "upstream" and "downstream" refer to a direction of movement according to which the pusher subassembly pushes the processing subset (direct translation) and not the opposite case where the pusher subassembly pulls the subset treatment (inverse translation). A) Description of a brushing robot 11.

FIGS. 2A to 2G show a mobile brushing device according to the invention or a brushing robot 11. This mobile brushing device 11 comprises upstream a pusher subassembly 11a able to cooperate with a tube 1 so as to move in relative translation along the longitudinal direction XX 'of the tube 1 while pushing a brush subassembly 11b which is integral therewith, said brushing assembly being also mounted on the guide tube 1.

The pusher subassembly 11a, diagrammatically shown in FIG. 2C, comprises an advance wheel 11a disposed below the guide tube 1 capable of being actuated in vertical translation along the direction ZZ ', perpendicular to the axis of the tube 1 and the robot. 11, by a cylinder lla2. Thus, the advance wheel liai is based on the underside of the guide tube 1 whose upper face abuts on rollers llb5. In this support position against the tube, when the advance wheel liai is actuated in rotation by an electric motor lla3, the pusher can move in relative translation along the guide tube 1.

The various elements of the pusher 11a are mounted on a common rigid support structure 110 and also supports elements of the pusher subassembly 11b, in particular an upper plate 11b "supporting on the underside the rollers 11b5 resting on the upper face of the tube 1 when the advance wheel plates the guide tube against said rollers llb5.

FIGS. 2D and 2E show a portion of the brushing tool 11b 'of the brushing subassembly 11b capable of being actuated in relative translation along an axis of rotation in the direction XX' by a rotation mechanism comprising a pinion 11b6 mounted in gear with a rack in the form of a toothed or toothed portion 11b7 (open on a portion 11b7 'of the circumference of the wheel), relative to a fixed portion 11b "which cap and is integral with the subassembly The brushing tool 11b 'comprises four rotary brushes 11b arranged at the same level along the axis XX' of the brushing tool 11b 'with their axes of rotation Χ1ΧΊ parallel to the axis XX' of the brush. brushing tool 11b 'and the guide tube 1 and arranged in a cross, that is to say at 90 ° from each other.The size of the brushes is such that a rotation of an angle a of approximately 45 ° to 50 ° of the brushing tool with respect to the axis XX ', makes it possible to move the brushes 11bl rotating so as to brush the unbrushed intermediate portions when the brushing tool is in initial position before rotation of the angle a. The brushing tool could comprise a larger number of brushes so as to brush the entire periphery of the guide tube without rotation of the brushing tool 11b ', in particular for example 8 rotary brushes 11b1. But this would have required to implement a motor 11b2 'rotation of the rotating brushes llbl along their axis Χ1ΧΓ of greater power and greater bulk, which is sought to avoid according to the present invention, insofar as the treatment device according to the invention must be able to position itself in a reduced space between two adjacent parallel tubes.

The rotating brushes 11b1 are mounted on two half-shells or jaws 11d1 and 11d2 connected to each other by a hinge system 11d3 for actuating them in relative rotation along an axis X2X'2 parallel to the axis XX 'and disposed of one side of it. Each jaw forming half-shells lldl and lld2 supports two rotating brushes llbl.

The diametrically opposite side of the axis X2X2 'of the hinge device 11d3 between the two jaws forming half-shells 11d1 and 11d2, comprises a void space 11d4 by which in the open position by relative rotation of distance of the two shells 11dl and lld2, the brushing tool 11b 'can be applied against the guide tube 1. Then, by closing by relative rotation of approaching the two shells 11d1 and 11d2 towards each other, the four rotary brushes 11d1 are arranged in bearing against the outer surface of the guide tube 1. The brushing tool 11b 'is supported by and between two transverse end plates llp1 and llp2 integral with the common support structure 110. These plates llp1 and llp2 comprise on one edge on the opposite side to the axis X2X2 'of the hinge 11d3, empty forms in U adapted to allow the introduction of the guide tube 1 in the brushing tool in the open position of the brushing tool.

FIG. 2E shows a part of the mechanism for actuating the change of position between the opening and closing position of the brushing tool, comprising a lower cradle 11d capable of being actuated in vertical translation according to FIG. ZZ axis 'perpendicular to the axis XX' with a jack llb3. The cradle 11 comprises curved U-shaped recesses adapted to receive the lower face of the half-shell or the lower jaw 11dl and close it to the upper half shell lld2 which is retained by an upper cradle lld ' inverted form adapted to receive the upper face of the upper jaw in the form of half-shell lld2.

As represented in FIG. 2G, each jaw in the form of a half-shell 11d1 and 11d2 supports a motor 11b2 'capable of operating in rotation a set of gears and gears 11b8 and 11b9, able to operate in rotation along the axes Χ1ΧΊ the two rotating brushes llbl.

In addition, as indicated above, the brushing tool 11b 'is adapted to be driven in relative rotation along the axis XX' of the device relative to the fixed part 11b "of the brushing subassembly coming to cap the pusher The fixed part 11b "supports a motor 11b2 capable of actuating the pinion gear system 11b6 and the toothed gear portion 11b7, connecting the fixed portion 11b" to the brushing tool 11b '.

To carry out a brushing operation, once the mobile brushing device is applied to the guide tube and the brushing tool 11b 'is in the closed position, the four rotary brushes 11b1 are rotated on itself. Preferably at the same time, rotations are alternately rotated alternately along an axis a of 45 ° to 50 °, the brushing tool 11b 'with respect to the fixed part 11b' of the brushing subassembly 11b. complete brushing of the entire periphery of the guide tube as shown in Figure 2H '.

Bearing rollers 1le3 at both longitudinal ends of the half-shell-shaped brush supports 11d1 and 11d2 permit rotation in internal grooves or grooves of the side walls at the ends of the cradles 11d and 11d '.

A handle 111 facilitates the handling of the mobile brushing device 11 for its pause on the guide tube 1, it being understood that the remainder of the operations of control of translation and rotation, closing or opening of the brushing tool 11b ' are operated remotely to allow the maintenance personnel to reside outside the most radioactive zone, in the building reactor pit, at the minimum time.

Downstream of the brushing subassembly 11b and downstream of the brushes 11bl, there is a visual inspection module 11c here comprising six cameras 11c1 coupled to six lighting devices including diodes 11c2, arranged at the same level in the direction longitudinally XX 'and circularly and regularly spaced around the guide tube 1. The visual inspection device 11c thus forms a ring of six cameras which observe in an angular sector of the tube so as to observe the entire circumference of the tube, said visual inspection crown being secured to the plate IIb2 downstream of the brushing tool 11b '.

When the brushing device 11 is moved in relative translation, the visual inspection device 11c makes it possible to display the entire surface of the tube with a high definition. At this stage, the brushing device can move in translation along the tube at a greater speed of 5 to 10 mm / sec.

On the other hand, as soon as an area requiring brushing (presence of deposition or corrosion) is detected, the translation speed is reduced and the rotary brushes 11b 'and the alternating rotation of the brushing tool 11b' are actuated to operate the brushing. . Once the brushing is done, the device is moved in reverse translation before moving it to inspect the quality of the brushing. Finally, it is possible to move the mobile brushing device 11 in translation along the guide tube in practice at a speed of approximately 0.5 mm / sec during the brushing.

As shown in FIG. 2A, the toothed wheel portion 11b7 of the relative rotation mechanism of the brushing tool 11b 'with respect to the fixed portion 11b "of the brushing subassembly 11b comprises a U-shaped open portion. 11b7 'allowing the subassembly of brushing llb can be applied against the guide tube 1. That is why the rotation of the brushing tool llb' can not be performed continuously 360 ° but in alternating rotation d to come and go from an angle more or less a.

The various motors lla3, llb2 and llb2 'are electric motors and the different cylinders lla2 and llb3 are pneumatic cylinders so as to avoid hydraulic leaks. The implementation of pneumatic cylinders also makes it possible to use the compressed air network available within the nuclear power plant. On the other hand, the mobile brushing device comprises a safety clamping device 11f which holds the mobile brushing device 11 on the guide tube 1 in the event of a malfunction of the pneumatic cylinders 11a and 11b3 in the clamping and closing position on the guide tube 1. More precisely, in the event of a loss of pressure at the compressed air supply of the pneumatic cylinders, the roll-shaped safety device 11f is released automatically and is pressed against the guide tube 1 on the underside of the latter for securing the mobile brushing device with the guide tube 1. This safety device 11f is disposed here downstream of the visual inspection ring 11c.

FIG. 2E shows electrical connection boxes 11k1 and pneumatic connection boxes 11k2 without the electrical connections and the pneumatic connections supplying the various pneumatic cylinders and electric motors.

FIG. 2H shows, before brushing, the traces of deposition and corrosion on the outer surface of the guide tube 1. In FIG. 2H, it can be seen, after brushing, that the deposits of FIG. 2H have disappeared, but observe that the surface of the tube is altered with traces of corrosion requiring a bleeding treatment as described below. On the other hand, the mobile brushing device comprises a safety clamping device 11f which holds the mobile brushing device 11 on the guide tube 1 in the event of a malfunction of the pneumatic cylinders 11a and 11b3 in the clamping and closing position on the guide tube 1, so that in case of loss of pressure at the air supply of the pneumatic cylinders, the safety device 11f shaped arches is released and is pressed against the guide tube 1 at the underside of the latter for securing the mobile brushing device with the guide tube 1. This safety device 11f is disposed downstream of the visual inspection ring 11c.

The brushing subassembly 11b comprises a suction device 11b4 disposed below said rotary brushes 11b1 so that the waste can be sucked onto the surface of the tube 1 resulting from the brushing.

Before brushing, there are traces of deposition and corrosion on the outer surface of the guide tube 1. After brushing, the deposits are gone and if we observe that the surface of the tube is damaged with traces of corrosion. The bleeding treatment is carried out as described below.

In dimensional terms, the mobile brushing device 11 has a length L1 = 535 mm, a width 11 = 110 mm and a height H1 = 360 mm. B) Description of a bleeding robot 12.

In FIGS. 3A to 3D, there is shown a mobile bleeding device according to the present invention or ressuagel2 robot comprising a pusher subassembly 12a upstream of a penetrant subassembly 12b equipped downstream of a piston ring. visual inspection 12c.

The pusher subassembly 12a is similar to the slider subassembly 11a of the brushing robot described above. It comprises an advance wheel 12al adapted to be disposed below the guide tube 1 when the device is applied to said tube. The advance wheel 12al cooperates with a cylinder 12a2 adapted to move the advance wheel 12al in vertical translation until it bears against the underside of the guide tube 1 (not shown in Figures 3A to 3D). The upper face of the guide tube 1 then bears against rollers or rollers 12a5 on the underside of an upper fixed part 12b "of the penetrant subassembly 12b that covers the lower body subassembly 12a. 12al also cooperates with an electric motor 12a3 able to actuate it in rotation about itself along an axis in the direction YY 'to enable the foot-held robot to move in longitudinal translation XX' along the guide tube 1.

The pusher subassembly 12a, the penetrant subassembly 12b and the various elements constituting them are mounted on the same support structure 120. The portion 12b 'of the bleeding tool of the penetrant subassembly 12b is mounted on and between two vertical vertical flat plates 12pl and 12p2 disposed along the transverse plane YZ. The portion 12b "of the penetrant subassembly 12b, disposed above the pusher subassembly 12a is secured to the upstream face of the plate 12p2, supports the motor 12b2.

A clamping element 12d described below can be actuated in translation in the upper closed position on the guide tube 10 under the effect of the actuation of a pneumatic cylinder 12b3 and conversely operated in the low position released relative to the tube. when the clamping element 12d described hereinafter is in the open position.

Upstream of the pusher device 12a is a safety device 12f comprising a U-shaped curved shape adapted to fit a part of the circumference of the guide tube 11. The safety element 12f is automatically engaged in the closed position against the tube 1 when the pneumatic clamping cylinder 12b3 is deficient. The bleeding tool 12b comprises a ramp 12b 'adapted to be displaced in longitudinal translation in the axial direction XX' of the guide tube 1 when the bleed device 12 is placed on the tube 1. The ramp 12b 'comprises on the underside four parallel rows, in the longitudinal direction XX ', of two nozzles 12bl able to spray the upper face of the guide tube. Said nozzles 12bl are disposed on the flat lower face in the plane YZ of the ramp 12b ', the latter being disposed above the guide tube 1. The ramp 12b' is able to be displaced in longitudinal translation in the direction XX 'along two longitudinal worm 12el and 12e2 supporting said ramp 12b'. Said worm 12el and 12e2 are actuated in rotation on itself by a motor 12b2 supported by and between the plates 12pl and 12p2. The rotation on itself of the two screws 12el and 12e2 causes the displacement in longitudinal translation of the ramp 12b '. The worm 12el and 12e2 provide the connection between the two end plates 12pl and 12p2 of the bleeding tool, the two plates 12pl. The plates 12p2 comprising U-shaped, 12ul and 12u2, adapted to laterally cover the guide tube for fitting the bleeding device on the guide tube. The worm 12el and 12e2 do not ensure the recovery of the weight of the spray boom 12b ', this recovery being supported by an upper guide rail 12h, sliding in slides 12g on the upper face of the ramp sprinkling 12b '. The bleeding tool also comprises a lower tray 12d mounted between and against the end plates 12pl and 12p2 below the U-shaped portions 12ul and 12u2. The primary function of this tray 12d is to recover the products sprayed by the spray boom 12b ', the tank being arranged vis-à-vis the underside of the guide tube 1. The tray 12d is secured to the sub-tank. Pusher assembly 12a as the portion 12b "of the penetrant subassembly and is not displaced in relative translation relative to the pusher subassembly 12a, but the tray 12d performs a second clamping function in the closed position of the bleeding tool 12b ', in that these two transverse walls 12d1 at each longitudinal end of the tray 12d comprise a U-shaped notch 12d2, adapted to fit and cover the lower face and the lateral faces of the guide tube 1 by translational displacement vertical by actuation of the pneumatic cylinder 12b3.

The ramp 12b 'supports a camera 12c'l and a lighting device 12c'2 able to visually inspect the sprayed products from the spray nozzles 12bl. The cameras 12c'l and the lighting device 12c'2 are therefore arranged laterally to the guide tube below the lower face of the ramp 12b '.

In FIGS. 3A and 3B, the tray 12d is shown in the open position by translation downwards, in the closed position by translation upwards, the transverse end walls 12d1 extend opposite the empty parts of the two U, 12ul and 12u2, plates 12pl and 12p2 to operate the clamping of the guide tube 1.

The mobile bleeding device 12 comprises, mounted on the downstream side of the plate 12p2 at the longitudinal end of the bleeding tool 12b, a visual inspection ring 12c similar to the visual inspection ring 11c of the brushing robot. comprising six 12cl cameras coupled to the six lighting devices 12c2 and further comprising UV illumination for the interpretation of the bleed of the fluorescent penetrant product as described hereinafter. The six cameras 12c1 and the six lighting devices 12c2 are therefore arranged regularly spaced and circularly around the guide tube 1 to be able to inspect the entire periphery of the front guide tube and / or after treatment of the bleed without rotating.

The upstream face of the plate 12p2 comprises an additional camera 12cl "and an additional lighting device 12c2", able to inspect the displacement in longitudinal translation of the ramp 12b 'and the sprinkling of the products on the guide tube.

The upper guide rail 12h supports a flap 12i adapted to come to cap and sweep the upper face of the guide tube 1, the flap 12i being disposed upstream of the spray boom 12b 'so as to cause the cleaning of the upper face of the guide tube during the translation of the ramp 12b ', after sprinkling of products thereon and their removal to the lower tray 12d. The lower tray 12d cooperates with a suction device 12b4 to evacuate the contents of the tray to a fluid management chassis described below.

The bleeding robot 12 comprises two handles respectively at each longitudinal end 121a and 121b for ease of handling. The support structure 120 of the bleeding robot also supports a connection box 12c4 especially for all the connections of the different cameras and lights.

Each of the four rows of two nozzles 12bl is dedicated to the spraying of the four different products described hereinafter, namely: a first spray with a first row of nozzles of an organic solvent such as the solvent N120 for the degreasing of the surface of the tube; a second row of nozzles for spraying a fluorescent penetrating product of the HM3A type; a third row of nozzles for rinsing the penetrating product with water; a fourth row of nozzles for compressed air spraying for drying the guide tube.

These sprays of N120 and HM3A products are successively alternating with a drying step by air spraying or with a waiting time of 30 minutes to let the penetrating product HM3A act before rinsing with water. The following ramp passages are thus carried out: 1) Aspersion of N120 2) Drying by air spraying

3) Aspersion of HM3A 4) Wait 30 minutes

5) Sprinkling of water to remove excess HM3A penetrant 6) Drying by air spraying Sprinkling of liquid products is done without pressure so that the product flows over the entire surface of the tube, covering even the lower surface by capillarity.

When bleeding a section of tubes corresponding to the length of the tray 12d is performed, it does not move in translation the pusher subassembly and the whole bleeding robot. Only the ramp 12b 'is displaced in relative translation relative to the bleeding robot 12, itself fixed. In order to produce the bleed treatment paste, the bleeding device is immobilized in translational rotation and only the nozzles 12b1 are displaced in translational rotation with respect to the tube and bleeding device, this in particular to prevent the rollers 12b5 and 12al do not pass over the bleed products in case of translation of the device as a whole along the tube X.

During the inspection phase of the tube before and after the bleeding treatment, the tray 12d is in the lower position to allow the various cameras to thoroughly inspect the entire surface of the tube. And the tray 12d is clamped in the upper position when performing the bleeding operations by sprinkling said products. The cameras 12cl and 12cl "allow to monitor the application of the products.After the completion of the phase 6), the tray 12d is in low position, the camera 12cl 'make it possible to check that there are no more drops on the tube in the underside and we translate the complete robot to inspect the area that has been raised with the crown of 6 cameras 12cl.

As indicated above, since the penetrating product is a fluorescent product, UV illumination consisting of 365 nm diodes makes it possible to visually inspect the fluorescent products at 365 nm. To avoid glare from the cameras by the UV diodes, a UV filter is installed in front of each camera.

A fluid management frame is remotely located and connected to the bleed robot 12. The fluid management frame has three tanks respectively for the water, for the degreasing solvent and for the penetrating product. For the solvent and the penetrating product, the injection is performed by inch syringes. For water, the injection is performed by a pump comprising an electrical box.

The dimensions of the bleeding tool 12 are as follows: L 2 = 490 mm, 12 = 120 mm and H 2 = 475 mm. C) Description of a machining device 13.

In FIGS. 4A to 4J, the mobile machining device 13 according to the invention has been described.

The machining device comprises a pusher subassembly 13a connected to a machining subassembly 13b. The pusher subassembly 13a comprises two transverse plates 13p1 and 13p2 forming transverse walls at these two ends in the longitudinal direction XX '. The plates 13p1 and 13p2 are recessed in the middle part by a U-shaped, 13ul and 13u2, so as to receive the tube 1 inside 13ul and 13u2. A longitudinal bottom wall 13p3, connecting the two plates 13p1 and 13p2, supports an advance wheel 13al capable of being actuated in rotation on itself along an axis Υ1ΥΊ perpendicular to the axis XX 'of the device and the guide tube when it is inserted into the device 13. The actuation in rotation on itself of the advance wheel 13al is achieved by means of an electric motor 13a2 also supported by the walls 13p1 and 13p3.

Unlike the pusher subassembly of the brushing and bleeding robots, the advance wheel 13al of the pusher subassembly 13a is placed in abutment on the upper face of the tube 1, when a roller 13al 'is actuated in displacement against the face lower part of the guide tube 1 which clamps the guide tube against the upper feed roller 13a 1.The actuating movement of the roller 13al 'is effected by the actuation of a pneumatic cylinder 13a3.

The pusher subassembly 13a also comprises a manual safety device 13fa which can be manually adapted so that the assembly does not fall off the tube so as to block the opening at the side edge of a U-shaped, 13ul or 13u2 pusher subassembly 13a.

The machining subassembly 13b is connected to the pusher subassembly 13a by cylindrical studs of resilient flexible material (for example rubber) 13g arranged in the longitudinal direction XX ', between a transverse end plate 13p3 of the subassembly machining and a toothed wheel portion 13e2 which cooperates with a gear 13el mounted gear, said pinion 13el being secured to the transverse end plate 13p2 of the pusher subassembly. The relative rotation mechanism of the pusher subassembly 13a with respect to the machining subassembly 13b by means of the geared pinion and gearwheel systems 13el and 13e2 allows relative rotation of the two subassemblies. relative to each other on an angular sector less than 360 °, for example about 270 °. Indeed, the toothed wheel 13e2 comprises an open portion forming a U between the rack ends 13e3, so as to allow the insertion of the guide tube inside the machining tool. As a result, the pinion 13el can traverse the circumference of the gear portion 13e2 between these two ends 13e3 over an angular sector of about 270 ° only. In practice, the two subsets are actuated in relative rotation along an axis of rotation in the longitudinal direction XX 'of the mobile machining device 13 and the guide tube 1 in position in the mobile machining device 13 on a sector angular about 180 ° as will be explained below.

To compensate for the voids of the forms U, 13ul and 13u2, on one of the pusher sub-assembly sides, there is a block forming a balancing mass 13m joining the two end transverse walls 13p1 and 13p2 on the recessed side.

In Figures 4E to 4H, there is shown the different parts of the machining subassembly. FIG. 4E shows a clamping module 13d integral with the transverse end wall 13p3 connected to the sub-assembly by the cylindrical connecting blocks 13g.

The clamping module 13d comprises transverse plates 13p3 and 13p4, comprising two U-shaped shapes, 13u4 and 13u5, spaced in the longitudinal direction XX 'so as to receive the guide tube with a clamping element 13dl adapted to be actuated on the move between a low opening position and a high opening position by a jack 13b3 disposed between the two transverse plates 13p3 and 13p4, comprising the U-shaped, 13u4 and 13u5.

FIG. 4F shows a relative translational module 13y along the transverse axis YY 'equipped with a relative translation mechanism able to move in relative translation along the axis YY' perpendicular to the axis XX 'with respect to to the module in relative translation along the axis YY 'perpendicular to the axis XX' with respect to the clamping module 13d.

FIG. 4G shows a second relative translational module 13z capable of being actuated in vertical relative translation along the axis ZZ 'relative to the relative translation module 13y on which it is mounted.

FIGS. 4H and 4H 'show a third relative translation module 13x mounted on the second relative translation module 13z, the translation module 13x being able to be displaced in relative translation along the axis XX' with respect to the module of translation 13z and the clamping module 13d.

The various relative translation modules 13x, 13y 13z operate according to similar ball screw mechanisms ensuring the conversion of a rotational movement into a translation movement (helical link).

This ball screw mechanism is shown in FIG. 4H in conjunction with the relative translation module 13x. An electric motor 13bx, integral with the upstream face of the transverse end wall 13b4 of the machining subassembly 13b, is able to actuate in rotation a notched wheel 13x1 which cooperates in gear with a second toothed wheel 13x2, the latter thus being actuated also in rotation. A 13x3 city screw secured to the second toothed wheel 13x2 is itself thus rotated on itself which causes a relative translation in Tax XX 'of a movable assembly 13xm with respect to a fixed assembly 13xf. The fixed assembly 13xf comprises (a) a cube-shaped block 13x4 traversed by and cooperating in helical connection with said ball screw 13x3, and (b) a floor 13x4 'integral with the block 13x4 and surmounted by a rail 13x4 " Said moving assembly 13xm comprises the notched wheels 13x1 and 13x2 mounted on the outer face of the end wall 13p4, the screw 13x3 and a slide 13x5 cooperating with a guide rail 13x4 "of the fixed assembly 13xf, an upper plate link 13j providing the connection between the upper face of the slide 13x5 and the plate 13p4. Said assembly 13xf is thus able to be displaced in relative translation along the axis XX 'under the effect of the ball screw mechanism 13x3 in rotation along the axis of rotation parallel to the axis XX' as represented in FIG. 4H. The fixed assembly 13xf is integral with the fixed assembly 13zf corresponding to the relative translation module 13z described below.

The relative translation module 13x supports a machining cutter 13bl. In FIG. 41, there is shown a cutter 13bl mounted on a support 13bl 'with the aid of a screw 13bl. "Said cutter 13bl is able to be rotated. on itself relative to a transverse axis Y2Y2 'parallel to transverse axis YY' and is thus able to machine the surface of the guide tube 1 when the relative translational module 13z is positioned at the appropriate height relative to the tube 1 to abut against the external surface thereof The rotation actuation of the mill 13bl along its axis Y2Y2 'is achieved by means of a motor 13b2 supported by the relative translational module 13x The cutter is rotated before being brought into contact with the tube.

The displacement in relative translation of the modules 13y and 13z is done according to the same principle. For the module 13y, an electric motor 13by actuates in rotation a notched wheel 13yl which cooperates by gearing and thus actuates in rotation a notched wheel 13y2 which actuates in rotation on itself a ball screw 13y3 arranged in the direction YY '. The moving assembly 13ym of the notched wheels 13yl, 13y2 and ball screw 13y3 integral with a slide 13y5, under the action of the rotation of the ball screw 13y3 is able to move in relative translation along the axis YY ' relative to a fixed assembly 13yf comprising a cubic block (not shown) integral with a fixed guide rail 13y4 'as shown in Figure 4F. Said rail 13y4 'is connected and secured to a cubic block (not shown) traversed by the ball screw 13y3, so that the rotation on itself of the ball screw causes a relative movement of the moving assembly 13ym formed of 13yl, 12y2, 13y3 and 13y5, with respect to the guide rail 13y4 ', the guide rail 13y4' being secured to the floor 13p5 of the clamping module 13d and a connecting piece (not shown) ensuring the solidarity of the slideway 13y5 with the set 13y1, 13y2 and 13y3.

Similarly, in FIG. 4G, various elements of the ball screw mechanism of the relative translational module 13z are shown comprising a notched wheel 13z1 actuated by a motor 13bz and adapted to drive a second toothed wheel 13z2 in gear rotation. it rotates on itself a ball screw 13z3 along an axis parallel to the axis ZZ '. Thus, a movable assembly 13zm comprising the toothed wheels 13zl and 13z2 and the ball screw 13z3, connected to a slide 13z5 is adapted to be driven in relative translation along the axis ZZ 'relative to fixed parts 13zf comprising a cubic block 13z4 crossed by the ball screw 13z3 secured to a guide rail 13z4 'integral fixed parts 13yf of the relative translation module 13y.

As shown in FIG. 4B, the relative translation module 13x is equipped with a suction device 13b4 able to suck machining waste.

FIG. 4J shows a visual inspection device comprising a camera 13c1 and lighting diodes 13c2, mounted on the underside of a plate 13d2 of the clamping module 13d so as to visually inspect the cutter 13bl and the zone of the tube 1 machined by the cutter 13bl. The diodes 13c2 comprise 2 white light diodes and 2 UV light diodes centered at 365nm to see the fluorescent PT product.

The connection elements 13c3 cooperate with an optical and electrical connection cable, not shown.

As explained above, because of the open U-shape 13u3 at the level of the large wheel 13e2, it is not possible to operate a 360 ° turn of the machining tool 13b 'of the subassembly 13b relative to the pusher subassemblies 13a at the gear wheels 1-I3e2.

To overcome this limit of rotation, one proceeds in the following manner to perform a 360 rotation: 1) the pusher subassembly 13a is locked in position on the tube by immobilization of the advance wheel 13al and locking by the roller 13al ', a maximum rotation of at least 180 ° of the machinist subassembly 13b is carried out with respect to the pusher subassembly 13a. In any event, the pinion 13el arrives before one of the ends of the notched portion of the toothed wheel 13e2, namely an end 13e3, and then 2) the machining sub-assembly 13b is locked in translation and in rotation using 13bl clamping finger and unblocking the pusher subassembly 13a at the roller 13al 'which is released relative to the tube with the cylinder 13a2, and 3) is actuated the rotation in the opposite direction of the sub- Pusher assembly 13a relative to the machining sub-assembly 13b of an angular sector at least equal to 180 ° and then 4) again, the pusher sub-assembly 13a is re-locked against the tube to prevent any rotation using of the cylinder 13a2 and the roller 13a 1 'and is unlocked again the machining subassembly 13b, and 5) rotates in the forward direction the machining subassembly 13b with respect to the pusher subassembly 13a of an angle at least 180 °.

Alternatively, it is also possible to make rotations of a smaller angle and proceed in several round trips to go around 360 ° and, with an angle of 120 °, we will proceed to the complete turn by three round trips and, at an angle of 60 °, by four round trips. Here is meant by "back and forth", four successive blocking and unblocking pusher assemblies and subassemblies machiners.

The machining sub-assembly 13b also comprises additional safety locking elements 13fb-13fb 'actuated manually, at the longitudinal lateral edge of the machining tool 13b' opposite the guide tube 1 at the shapes U 13u3 and 13u4 clamping module 13d and resting on the floor 13b5 clamping module 13d, over the 13by translation module. The manual safety device at the machining tool 13b 'comprises a longitudinal block 13fb which is manually locked by means of a screw nut system 13fb'.

To carry out a machining treatment of the outer surface of the tube, the procedure is as follows: 1) the pusher sub-assembly 13a is locked in translation and in rotation, and the machining sub-assembly is actuated in relative rotation; 13b with respect to the pusher subassembly 13a so that the cutter 13bl is vertical to the zone of the outer surface of the tube to be machined, and 3) the machining subassembly is blocked or clamped with the clamping finger 13d1 and 4) the translation module 13z is actuated in relative translation to lower the cutter 13bl in contact with the external surface of the tube, and 5) the machining is carried out by operating the rotation of the cutter 13bl on itself, then 6) a relative translation of the cutter 13bl is carried out in the longitudinal direction XX 'of the tube by means of the relative translation module 13x supporting the cutter 13bl, and 7) at the end of the relative translational stroke of the cutter 13bl to the help of the trans module Relative 13x, it releases and raises the cutter 13bl relative to the outer surface of the tube with the relative translation module 13z, and 8) is moved in reverse translation in the direction XX ', the cutter 13bl to the using the relative translation module 13x to return to its initial position in the direction XX ', and 9) the cutter 13bl is moved in the transverse direction YY' of a displacement step of 0.2 mm (width of the groove of machining = 3mm because the cutter is 3mm wide and there is a 1mm overlap between each pass) in the YY direction with the relative translation module 13y and the cutter 13bl is lowered against the outer surface of the tube to the 13z relative translation module help. 10) the cutter 13bl is actuated in rotation and is moved in relative translation in the direction XX 'with the aid of the relative translation module 13x.

In practice, relative machining displacements are made over a length of 10 to 15 mm in the direction XX 'and a width of no displacement of 2 mm in the direction YY'. A flat is thus made on the tube. The dimensions of the flat surface depend on the depth of the machining. In step 6), a variant consists in machining along the axis YY 'with the aid of the relative translation module 13y. This has the advantage of being faster but requires the use of a cutter with a draft angle. In this case, in the following steps, successive offsets are made in the axis XX '.

The dimensions of the machining robot 13 are as follows:

The length of the pusher subassembly is L3a = 250 mm, and

The pusher subassembly length L3b = 250 mm, and

The total length of the machining robot L3 = 550 mm, and

The width and height of the pusher subassembly 13a and the machining subassembly 13b are L3 = 120 mm and H3 = 130 mm.

Machining is performed on a depth in the direction ZZ 'of 0.5 to 1.5 mm.

This is done step by step, because we can not remove 1.5mm of material at once, with: a 1st pass to remove 0.3mm, then a succession of passages to remove 0.2mm each additional passage to the depth of 1.5 mm.

Claims (20)

CLAIMS L Mobile device for remote control treatment of the outer surface of a tube (1), said mobile processing device (11, 12, 13) comprising a pusher subassembly (11a, 12a, 13a) fixed end longitudinally to a processing subassembly (11b, 12b, 13b), preferably a rigid support structure (110, 120) supporting them, with: a) said pusher subassembly (11a, 12a, 13a) including a wheel adapted to be disposed opposite said tube, called advancing wheel (liai, 12al, 13al), and at least first motor or jack (11a, 12a2, 13a2) adapted to move said feed wheel by ratio to said tube so that said wheel can be moved in abutment against said tube, and a second motor (11a, 12a3, 13a3) adapted to actuate said spinning wheel in itself along an axis of rotation in a direction (YT) perpendicular to longitudinal axis (XX ') of said tube to enable the moving said mobile longitudinal translation processing device (XXO along said tube, and b) said processing subassembly (Ilb, 12b, 13b) comprising at least one processing tool (11bl, 12bl, 13bl) adapted to cooperate with at least one third motor or cylinder (Ilb2-llb2 ', 12b2, 13b2-13bx-13by-13bz) adapted to move in rotation and / or in relative translation said treatment tool with respect to said tube and / or with respect to said pusher subassembly, said processing subassembly being adapted to adopt an open position allowing its installation around the tube and a closed position around and / or against said tube for the treatment of the tube, the change of said position being obtained at least with the aid of a fourth motor or jack (11b3, 12b3, 13b3) able to actuate a clamping element (11d, 12d, 13d-13dl), and, preferably, a suction device (11b4, 12b4, 13b4) being able to suck the treated treatment products s on said tube and / or waste of said tube after treatment of said tube, and c) at least one device for visual inspection of the outer surface of said tube to be treated (11c, 12c, 13c) comprising at least one camera (llcl 12cl-12cl-12cl ", 13cl) integral with said pusher subassembly and / or said processing subassembly and preferably at least one lighting device (11c2, 12c2-12c2-12c2", 13c2) for illumination of at least one zone of said tube to be treated inspected by said camera, d) the various motors or jack of said pusher subassembly and processing subassembly being remotely operable by remote operation and preferably being electric motors and pneumatic cylinders, characterized in that said processing subassembly is chosen from: 1) a brushing subassembly comprising a brushing tool comprising a plurality of brushes (11b1) capable of being displaced in translation and relative rotation by relative to the tube, and 2) a bleeding subassembly (12b) comprising, as said treatment tool, at least a plurality of liquid spray nozzles (12bl) able to be displaced relative to each other in translation and / or rotation relative to each other. to said tube, and 3) a machining subassembly (13b) comprising a said machining tool comprising at least one cutter (13bl) able to be moved in rotation on itself by a said first motor (13b2), said cutter being able to be displaced in relative translation in 3 directions orthogonal to the tube comprising the longitudinal direction of said tube, with at least three so-called third motors or jacks (13bx-13by-13bz) supported respectively by three relative translation modules (13x-13y-13z), when the machining subassembly is not displaced in translation relative to said tube, 2, mobile treatment device according to claim 1 characterized in that said subassembly treatment is a subset of brushing and said brushing tool comprises a plurality of rotary brushes adapted to be rotated each on itself according to an axis of rotation in directions (X1X1Q parallel to the longitudinal axis (XXQ of said tube by means of a said third electric motor (llb2) to allow brushing of the outer surface of said tube and said brushes are adapted to being arranged regularly around said tube opposite the circumference of said tube in cross section, preferably at the same level in the longitudinal direction of said tube, and said brushes are able to be pressed against the outer surface of said tube with the aid of a fourth motor or actuator (11b3) actuating brush supports (11d1, 11d2) between a said open position and a said position for closing, preferably two brush supports each supporting n brushes, 3, mobile treatment device according to claim 2 characterized in that said brushing tool is adapted to be actuated in relative rotation relative to the pusher subassembly (11a) along an axis of rotation corresponding to the longitudinal axis (XX ') of said tube, preferably by means of a gear system (llb6, llb7) mounted in gear and operable in rotation by another said third motor (ilb2Q, preferably operable in alternative rotations in the forward direction and return on an angular sector (a) less than 270 °, preferably at least 360 ° / 4xn, the said brushing tool comprising 2n rotating brushes able to be regularly spaced and arranged circularly around said tube, preferably with = 2 to 4, 4, mobile processing device according to one of claims 1 to 3 characterized in that said visual inspection device (11c) of said tube to be treated comprises a plurality of cameras (llcl) downstream of said sub-assembly brushing (11b ), able to be regularly spaced and arranged in a circular manner around said tube to inspect the entire periphery and each said camera being coupled to a lighting device (lic2) for illuminating at least the area of said tube inspected by the called camera. 5. mobile treatment device according to claim 1 characterized in that said subset of treatment is a sub-set of bleeding (12b) comprising as said treatment tool at least a plurality of liquid spray nozzles (12bl) adapted to be displaced in relative translation with respect to said tube even when the penetrant subassembly is not displaced in translation relative to said tube. 6. mobile treatment device according to claim 5 characterized in that said subassembly bleeding comprises a lower tray (12d) adapted to be disposed below the guide tube and collect the products sprayed by said spray nozzles (12bl ) disposed in the underside of a spray boom (12h), said spray boom (12h) being adapted to be disposed on said tube and displaced in relative translation relative to said tank by a said third electric motor (12b2 ) for performing the bleeding treatment of a tube section when the penetrant subassembly (11b) is not displaced in translation relative to said tube. 7. mobile treatment device according to claim 6 characterized in that said lower tray (12d) comprises two transverse walls (12dl) respectively at its two longitudinal ends, said transverse walls comprising U-shaped notches (12d2) serving as said clamping element of the tube being able to cover the underside of said tube and at least a part of its two lateral faces of said tube when said tray is actuated in vertical translation by a said fourth cylinder (12b3) from a low position corresponding to a said open position towards a high position corresponding to a said closed position. 8. Mobile treatment device according to one of claims 5 to 7 characterized in that said visual inspection device (12c) of said tube to be treated comprises a plurality of cameras arranged (i) some (12cl) downstream of said sub-unit. liquid penetrant assembly adapted to be regularly spaced and disposed in a circular manner around said tube to inspect the entire periphery before and / or after bleeding treatment and (ii) some (12cl'f 12cl ") in the vicinity of said spray nozzles for inspecting the spraying jet and / or the tube during the bleeding treatment, preferably each said camera being coupled to a lighting device (12c2) for illuminating at least the area of said tube inspected by said camera comprising UV illumination capable of revealing a fluorescent penetrant product capable of being sprayed by the bleeding tool. 9. Mobile processing device according to claim 1 characterized in that said processing subassembly is a machining subassembly (13b) comprises: a first said relative translation module (13x) in the longitudinal direction (XX). ') of said tube, said first relative translational module (13x) supporting and being able to move said milling in relative translation in the longitudinal direction (XX') of said tube relative to said machining sub-assembly when said ci is immobilized in relative translation in the longitudinal direction (XX3 of said tube relative to said pusher subassembly (13a), and - a second said relative translation module (13y) in a first direction perpendicular to the longitudinal direction (YYQ said first relative translation module (13x) in the longitudinal direction (XX ') being mounted on said second relative translation module (13y, 13z) so that said strawberry is adapted to be moved in relative translation along the longitudinal direction (XX ') by moving in relative translation along the longitudinal direction (XX') of said first relative translation module (13x) relative to said second relative translation module (13y); and a third said relative translation module (13y) in a second direction perpendicular to the longitudinal direction (ZZf), said second relative translation module (13z) being mounted on said third relative translation module (13y) so that the said cutter is adapted to be displaced in relative translation according to said first perpendicular direction (YY ') by displacement in relative translation according to said first perpendicular direction (YYf) of said second relative translation module (13y) relative to said third translation module relative (13z); a fourth clamping module (13d) comprising a said clamping element (13d1), adapted to adopt a said open position for laying said sub-machining assembly around the tube and a said closing position around and / or against said tube allowing the immobilization of said machining subassembly with respect to said pusher subassembly (13a), said third relative translation module (13z, 13y) being mounted on said fourth clamping module (13d) so that said cutter is adapted to be displaced in relative translation along said second perpendicular direction (ΖΖ ', ΥΥ') by displacement in relative translation along said second perpendicular direction of said third relative translation module (13z, 13y) relative to said fourth clamping module (13d). 10. Mobile processing device according to claim 9 characterized in that said first, second and third relative translational modules (13x, 13y, 13z) each comprise a said third electric motor adapted to actuate in rotation the toothed wheels mounted in gear (13x1-13x2, 13yl-13y2, 13zl ~ 13z2) of a ball screw mechanism (13x3, 13y3, 13z3) adapted to transform a rotational movement into translational movement to achieve a said relative translation. 11. Mobile processing device according to one of claims 9 or 10 characterized in that said machining subassembly (13b) is adapted to be actuated in relative rotation relative to the pusher subassembly (13a) along an axis of rotation corresponding to the longitudinal axis (XXQ of said tube by a fourth said third motor (13b2), preferably by means of a gear system (13el, 13e2) mounted in gear and operable in rotation, of preferably still operable in alternating rotations in both directions back and forth over an angular sector (alpha) of less than 300 °, preferably of at least 180 °. 12. A method of treating the outer surface of a tube by remote operation comprising the implementation of at least one mobile device for treating the outer surface of a tube according to one of claims 1 to 11, said method comprising the steps in which: el) manually installing said mobile processing device (11, 12, 13) on said tube, and actuating a said first motor or cylinder (11a, 12a2, 13a2) of said pusher subassembly (11a, 12a, 13a), and e2) the state of the external surface of the tube is visually inspected by means of said cameras (11c1, 12c1, ISc1 "), using at least one said inspection camera, displacing in relative longitudinal translation and / or in relative rotation with respect to said tube by actuating said second engine or jack (11a, 12a3, 13a3) of the pusher subassembly (11a, 12a, 13a) and / or at least one third engine or jack of the processing subassembly, and e3) when an area of the external surface when said tube is detected by said camera as to be treated, said clamping element (11d, 12d, 13d) is actuated by actuating said fourth motor or jack (11b3, 12b3, 13b3) of said subassembly of treatment, then performs said treatment of the outer surface of the tube by actuating said processing tool (11bl, 12bl, 13bl) and moving with the aid of at least one said third motor (Ilb2-llb2f, 12b2, 13b2 ~ 13bx-13by, 13bz), said tool for processing in rotation and / or relative translation with respect to said tube and / or with respect to said pushing subassembly, and e4) checking the quality of said treatment using at least one said inspection camera, preferably by repeating step e1), and 65) to said steps e1 to e4) the various said engines and jacks of said pusher subassembly and processing subassembly are operated remotely by TV surgery. 13. Treatment method according to claim 12 characterized in that Ton implements successively: - said mobile brushing device (11) comprising a brushing subassembly (11b) comprising a said brushing tool (11bQ comprising at least a brush (11b1) which is displaced in translation and / or in relative rotation with respect to the tube, at step e3) of the brushing treatment, and - a said mobile bleeding device (12) comprising a penetrant subassembly (12b) comprising as a said bleeding tool (12b ') comprising a plurality of liquid spray nozzles (12bl), which nozzles are displaced in translation and / or rotation relative to said tube, in step e3 ) of the bleeding treatment, and - a said mobile machining device (13) comprising a machining subassembly (13b) comprising a said machining tool (13b9 comprising at least one cutter (13bl) which is moved in rotation on itself and in translatio n relative and / or relative rotation relative to the tube, preferably the machining subassembly not being moved in translation and / or rotation relative to said tube, in step e3) of the machining process. 14. Processing method according to claim 13 characterized in that for the implementation of said mobile brushing device (11), in step e3), to carry out the brushing of the outer surface of said tube, said tool brushing comprising a plurality of rotating brushes arranged regularly and spaced apart around said tube with respect to the circumference of said tube in cross section, preferably at the same level in the longitudinal direction of said tube, said brushes are applied in support against the outer surface of said tube by actuating brush holders (11d, 11d2), preferably two brush supports each supporting n brushes, from a said open position to a said closed position, by means of a said second motor or cylinder (11b3), and said brushes are rotated on itself along an axis of rotation in directions (XlXl ') parallel to the longitudinal axis. tudinal (XX ') of said tube with a first electric motor (llb2) and said brushing tool is actuated in relative rotation relative to the pusher subassembly (11a) along an axis of rotation corresponding to I' longitudinal axis (XX ') of said tube by another said third motor (11b2'), preferably said brushing tool is operated in alternating rotations in the outward and return direction over an angular sector (alpha), preferably from minus 360 ° / 4xn, preferably n = 2 to 4. 15. Processing method according to claim 13 characterized in that for the implementation of said mobile bleeding device (12), in step e3), for performing the bleeding treatment of a tube section, preferably when the penetrant subassembly is not displaced in translation with respect to said tube, the bleeding subassembly (12b) comprises at least a plurality of liquid spray nozzles (12bl) arranged in the underside of a spray bar (12h) disposed on said tube, and a lower tray (12d) disposed below the tube, the said nozzles are moved relative translation relative to said tray by an electric motor (12b2), and the sprayed products are collected by said spray nozzles (12bl) in said tank. 16, treatment method according to claim 15 characterized in that said lower tray (12d) comprises two transverse walls (12dl) respectively at its two longitudinal ends, said transverse walls comprising U-shaped notches (12d2) acting as said clamping member of the tube, and covering the lower face of said tube and at least a portion of its two side faces of said tube in said U-shaped notches, by actuating said tray in vertical translation from a low position corresponding to a said opening position to a high position corresponding to a said closed position. 17 treatment process according to claim 13 characterized in that for the implementation of said mobile machining device (13), in step e3), said milling cutter (13bl) is moved in rotation on itself and in relative translation and in relative rotation relative to the tube, the machining subassembly not being displaced in translation and / or in rotation with respect to said tube. 18. Processing method according to claim 17 characterized in that for the implementation of said mobile machining device (13), in step e3), the said milling cutter (13bl) is moved in rotation on itself and in relative translation along 3 directions orthogonal to the tube comprising said longitudinal direction (XXf) of said tube, with at least three said third motors or cylinders (13bx-13by-13bz) supported respectively by three relative translation modules (13x- 13y-13z), when the machining subassembly is not displaced in translation and in rotation with respect to said tube, - a first said relative translational module (13x) in the longitudinal direction (XX ') of said tube, supporting and moving said strawberry in relative translation in the longitudinal direction (XX ') of said tube relative to said machining subassembly, and - a said second said relative translation module (13y) in a first perpendicular direction longitudinal direction (YYQ, supporting the said first relative translation module (13x) and moving said strawberry in relative translation first perpendicular direction, and - a said third said relative translation module (13z) in a second direction perpendicular to the longitudinal direction (ZZQ, supporting said second relative translational module (13y) and moving said mill in relative translation in said second perpendicular direction (ZZ9, - a fourth clamping module (13d) supporting said third relative translational module ( 13z) and comprising a said clamping element (13dl) actuated in said closed position around and against said tube thus immobilizing said machining subassembly (13b) with respect to said pusher subassembly (13a) and said tube, when said mill is displaced in said relative translation, and - said machining subassembly (13b) is actuated step by step in rotation relative to the pusher subassembly (13a) along an axis of rotation corresponding to the longitudinal axis (XX ') of said tube, when said cutter is not displaced in said relative translation, 19. Processing method according to one of claims 12 to 18 characterized in that for the visual inspection of a tube before and after treatment, it implements a plurality of cameras and lighting devices, arranged regularly spaced and clrcularily in a ring on a support so as to be able to view the entire circumference of the tube at a given position of the treatment device in the longitudinal direction of the tube, without rotating said cameras around said tube. 20. The method of treatment according to one of claims 12 to 19 characterized in that stainless steel guide tubes located under the reactor vessel of a nuclear power plant in the so-called vessel pit of the building is treated. reactor, said tubes allow the insertion of probes in the reactor to measure the neutron activity of the heart when the latter is in operation.