JP4546746B2 - Inspection device, inspection device input device, and inspection method - Google Patents

Description

  The present invention relates to an inspection apparatus for inspecting an underwater structure, for example, an in-reactor structure of a nuclear reactor, an input apparatus for introducing the inspection apparatus to the vicinity of an inspection position, and an inspection method using the inspection apparatus.

In the conventional furnace bottom inspection, after removing the fuel assemblies and control rod guide tubes loaded in the reactor from the furnace, the underwater camera is suspended from the fuel exchanger carriage to the furnace bottom, and the state of the furnace bottom is visually inspected. And so on. Moreover, the invention disclosed in Patent Document 1 is known as a conventional technique related to the furnace bottom inspection apparatus. According to the present invention, an underwater vehicle is configured by providing a propulsion mechanism and a posture control means on a pressure-resistant casing equipped with a camera for visual observation and an illuminating device, and the underwater vehicle is swimmed in water by remote control while being stored in the container. In the in-container inspection apparatus adapted to perform a visual inspection, it comprises a storage container for storing an underwater vehicle, and a moving means for moving and installing the storage container in the vicinity of a target inspection site in the container. The distance of the underwater vehicle to approach the target inspection site is shortened, the cable is not caught or entangled, or the collision with the obstacle is prevented, and the approach time to the narrow part can be shortened. .
Japanese Patent Laid-Open No. 7-218681

  In the prior art, in order to visually confirm the state of the bottom of the reactor remotely, after opening the reactor pressure vessel cover after shutting down the reactor, the reactor upper mechanism, fuel assembly and control rod guide in the reactor pressure vessel It was necessary to remove the in-furnace structures such as tubes from the inside of the furnace, and the work time required to remove this equipment was extending the periodical inspection period. Further, in the inspection by the underwater vehicle disclosed in Patent Document 1, the problem of the inspection time for removing all the control rod guide tubes (hereinafter abbreviated as CR guide tubes) is avoided to some extent, and A general visual check of the bottom of the furnace is possible.

  However, control rod drive mechanism (hereinafter abbreviated as CRD), which requires inspection at the bottom of the furnace, removes the soft clad deposited on the surface of the inspection part before carrying out detailed inspection of the surface of the welded part such as a stub or CRD housing. Is not specifically considered. Further, with the shape of the underwater vehicle and the arrangement of the camera for visual confirmation disclosed in Patent Document 1, detailed visual inspection over the entire CRD stub weld is difficult.

  In addition, in the conventional furnace bottom inspection using an underwater vehicle, the underwater vehicle is stored in a storage container, and the storage container is moved to the vicinity of the target inspection site in the container so that the underwater vehicle until the target inspection site is approached. It is intended to shorten the mileage and prevent cables from getting caught or tangled, but moving between CRD stubs and CDR housings that are to be inspected at the bottom of the furnace. The point of avoiding interference such as cable entanglement between the cable pulled by the underwater vehicle and the inspection object was not considered.

  Accordingly, an object of the present invention is to enable inspection with a minimum amount of work when inspecting an inspection object existing in water, and to avoid interference of cables during inspection by remote operation. is there.

In order to achieve the object, the first means is an inspection apparatus for remotely inspecting an inspection object existing in water, wherein surfaces opposite to the inspection object surface of the inspection object are formed on both sides of the main body, A body part having an outer surface shape matched to the curvature of the curved surface of the surface to be inspected on both sides, first to third propulsion means for moving the body part in water in two horizontal directions and in a vertical direction; An inspection unit attached to the main body and having desired inspection means and / or processing means; a control device for controlling the first to third propulsion means and controlling movement of the main body in water; The control device includes a first propulsion unit that moves the main body in the longitudinal direction and a second propulsion unit that moves the main body out of the first and second propulsion units that move in the two horizontal directions. Each direction perpendicular to the longitudinal direction Move, drive the second propulsion means, hold the body portion in a state of pressing the body portion against the side surface of the inspection object, and press the body portion against the side surface of the inspection object In this state, the first propulsion means is driven to cause the main body portion to turn along the outer surface shape of the inspection target portion .

  The second means includes a base that sits on the upper end of the CDR housing, a base that supports the inspection device according to the first means, and a base that is positioned below the inspection device and a top guard that is positioned above the inspection device. An inspection device input device from a supporting member to be connected and a fixing member that fixes the inspection device between the base and the top guard and can release the setting of the connection state of the support member by an external operation. The inspection apparatus is suspended from the outside of the furnace to the CDR housing in the furnace while the inspection apparatus is sandwiched between the base and the top guard by the input apparatus, and the inspection apparatus is input into the furnace. It is characterized by that.

  The third means positions the outer surface formed in the curved shape of the inspection apparatus according to the first means so as to face the surface of the inspection object, drives the first to third propulsion means, and performs the inspection. In a state of being pressed against the surface of the object, the object is moved along the surface of the object to be inspected, and a predetermined inspection is performed by the inspection unit.

  According to a fourth means, in the third means, the inspection is performed on a half circumference of the CRD stub in the reactor pressure vessel or the CRD housing on the side where the main body portion exists, arranged in the right and left of the traveling direction of the main body portion. The inspection is performed by sequentially moving to the next CRD stub or CRD housing.

  ADVANTAGE OF THE INVENTION According to this invention, when inspecting the test object which exists in water, it can test | inspect with minimum work and can avoid the interference of the cable at the time of the test | inspection by remote operation.

Hereinafter, an inspection apparatus according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a cross-sectional view showing an overall configuration of a reactor pressure vessel using an inspection apparatus according to the present embodiment. In this figure, the inspection device inspects the bottom of the reactor pressure vessel 40 in a state in which the reactor water is contained, so that it can be remotely placed underwater from the fuel handling machine traversing carriage 55 of the fuel handling machine traveling carriage 50 which is the ground part. It is to be input. In FIG. 1, a core shroud 90 is installed at the bottom of a reactor pressure vessel 40, an upper lattice plate 60 is provided at the upper part of the core shroud 90, and a core support plate 70 is arranged at the lower part. As shown in FIGS. 2 and 3, the reactor bottom portion 41 of the reactor pressure vessel 40 is provided with a CRD housing 81 and a CRD stub 82 for fixing the CRD housing 81 to the pressure vessel 40 in a lattice shape, and a CR guide tube 83 is provided thereon. Is installed. Reference numeral 95 denotes a shroud support.

  The inspection apparatus according to the present embodiment includes an underwater vehicle 1 shown in FIG. 4, a ground control device (not shown), and a cable 15 therebetween, and a main body 1 a of the underwater vehicle 1 includes a left and right moving thruster 11, a forward and backward movement. And a vertical movement motor 110, a forward / backward movement motor 120, and a vertical movement motor 130. An inspection unit 10 is provided in the main body of the underwater vehicle 1. The inspection unit 10 is equipped with an illuminated inspection camera 101 and a brush 102 so that the furnace bottom 41 can be inspected and the soft clad before the inspection can be removed. The brush 102 is rotationally driven by a brush motor 103.

  The inspection unit 10 is set so as to be horizontally movable in the horizontal direction with respect to the traveling direction of the underwater vehicle 1 via the underwater vehicle 1 main body and the linear guide 104, and can be positioned by the horizontal motor 105. . The inspection unit 10 further includes a vertical motor 106, which can be positioned in the vertical direction. The underwater vehicle 1 body is provided with a front camera 14 with illumination, and the surrounding situation can be monitored.

  The thrusters 11, 12, and 13, the inspection unit moving motors 105 and 06, the illumination, and the cameras 14 and 101 of the underwater vehicle 1 can all be remotely operated by an operator from a control device on the ground using a control panel and a joystick. It is configured as follows. Further, the camera image obtained by the underwater vehicle 1 is sent to the ground part via the cable 15 and can be monitored by a ground operator with a monitor.

  As shown in FIG. 5, the underwater vehicle 1 has a curved surface shape in which the main body 1a matches a cylindrical inspection object when viewed from above, and the surface of the main body 1a facing the inspection object is concave. The curved surface portion 1b. Then, the curved surface portion 1b faces the inspection object, and the left and right movement thruster 11 is driven to drive the CRD housing 81 (the state of the two-dot chain line on the upper side of FIG. 5) or the CRD stub 82 (FIG. 5). The posture can be maintained in a state of being pressed against the lower solid line state, and in this state, the forward / backward thruster 12 can turn along the inspection target surface. At this time, the ball casters 16 provided on the left and right curved surface portions 1b of the underwater vehicle 1 reduce the friction between the underwater vehicle 1 and the surface to be inspected, and can easily turn along the curved surface of the CRD housing 81 or the CRD stub 82. In addition, the water flow caused by the rotation of the left and right moving thruster 11 is obtained without bringing the curved surface portion 1b of the underwater vehicle 1 into close contact with the surface to be inspected. This is because, when the curved surface portion 1b of the underwater vehicle 1 is in close contact with the inspection target surface of the CRD housing 81 or the CRD stub 82, negative pressure is generated between both surfaces, and the underwater vehicle 1 cannot move from the inspection target surface. Such a state can be prevented by providing a gap between the two.

  Since the CRD housing 81 and the CRD stub 82 are arranged on the bottom of the spherical surface of the furnace bottom 41 as shown in FIG. 2, the inspection unit 10 is adapted to the turning operation along the outer peripheral surface of the CRD housing 81 or the CRD stub 82. By moving up and down, the position can be aligned with the inspection target part. FIG. 6 shows a case where the joint between the CRD stub 82 of the reactor bottom 41 and the reactor pressure vessel 40 is being inspected. As shown in FIG. 6, since the reactor pressure vessel 40 is inclined at the outer periphery of the reactor bottom 41, the underwater vehicle 1 is swung along the surface of the CRD housing 81 on the right side (outside the reactor). In (furnace inside), it turns along the surface of the CRD stub 82. Accordingly, the inspection unit 10 attached to the lower part of the underwater vehicle 1 absorbs a level difference caused by the difference in diameter between the CRD housing 81 and the CRD stub 82 by moving in the horizontal direction in the lower part of the underwater vehicle 1. In either case, the inspection camera 101 and the brush 102 can be brought close to the region to be inspected. Further, by driving the vertical motor 106 with the underwater vehicle 1 stopped at the same position, the inspection unit 10 can be moved in the vertical direction to be close to the site to be inspected. As shown in FIG. 6, the side surface of the underwater vehicle 1 moves along the surface of the CRD housing 81 or the CRD stub, and the inspection unit 10 is provided below the underwater vehicle 1. It is necessary to maintain a posture like 6. Therefore, the positions of the center of gravity and the center of buoyancy are set in advance so that the buoyancy of the underwater vehicle 1 is above the center of gravity, and the width direction (FIG. 4) and the thickness direction (FIG. 6) are set so that the underwater posture is stabilized. The buoyancy center and the center of gravity are located on the central axis X.

  When the reactor is inspected, the underwater vehicle 1 is charged into the reactor bottom 41 using the charging device 3 shown in FIG. The charging device 3 is suspended by a hoisting cable 32 from a hoist 31 provided on a fuel handling machine traveling carriage 55 on a fuel handling machine traveling carriage 50 installed on the operation floor 51 with the underwater vehicle 1 mounted thereon. Then, it passes through the upper lattice plate 60 and the core support plate 70 and is seated on the CRD housing 81. FIG. 8 shows details of the charging device 3. The charging device 3 has a structure in which a base 33 and a top guide 34 are connected by a stand 35. The stand 35 has a fixed bar 36 having a shape that matches the bottom of the body of the underwater vehicle 1, and a movable bar 37 that can be driven up and down by a hydraulic cylinder 38 at the top of the stand 35, so that the underwater vehicle 1 can be sandwiched and fixed. It is like that. The underwater vehicle 1 is released from the throwing device 3 by raising the movable bar 37 after the throwing device 3 is seated on the CRD housing 81, and after performing a series of inspections by driving its own thruster and swimming in the bottom of the furnace. Then, it returns to the charging device 3 again. Thereby, the inspection can be performed without removing the CR guide tube 83 other than the place where the loading device 3 is seated. It is desirable to install underwater lighting, a monitoring underwater camera and the like in the charging device 3 as an aid for monitoring and inspection work of the underwater vehicle 1. Further, a mechanism for assisting the feeding and winding of the cable 15 connecting the underwater vehicle 1 and the ground control device may be provided.

  In the underwater vehicle 1 configured as described above, a three-direction accelerometer is mounted on the underwater vehicle 1, and those measurement results are taken into the ground-side computer 400 via the cable 15. The computer 400 can know the three-dimensional position of the underwater vehicle 1 at each time point by integrating the measurement result twice. When this time-series three-dimensional position is stored in the storage device of the computer 400 and can be displayed as a two-dimensional movement locus on the display device of the computer 400, the operator 410 can insert the underwater vehicle 1 while watching the display of the computer 400. The driving device 3 can be operated along the two-dimensional movement trajectory that has been input from 3 and moved. By providing the function of storing the time-series three-dimensional position in the storage device in this way, the movement trajectory becomes clear, so that it is possible to identify the part where the inspection of the furnace bottom has been completed, and the efficiency of the inspection work Improvements can be made.

  Further, in the case where not only the accelerometer in the translation direction but also an angular velocity meter around three axes is mounted, the posture information can be handled in accordance with the time-series position of the underwater vehicle 1 by performing the same procedure as described above.

  When the furnace bottom 41 is inspected using the underwater vehicle 1, the surface of a certain CRD housing 81 or CRD stub 32 is inspected 360 degrees, and the adjacent CRD housing 71 or CRD stub 82 is similarly inspected 360 degrees. If this method is repeated, there is a high possibility that the cable 15 pulled by the underwater vehicle may interfere with or become entangled with the in-furnace structure. Therefore, instead of inspecting all 360 degrees as described above, if the method of moving forward while inspecting only the half circumference on the side where the underwater vehicle 1 exists as shown in FIG. Can avoid interference and entanglement of the cable.

  If the illuminated inspection camera 11 provided in the underwater vehicle 1 includes a tilt mechanism, the inspection range can be further expanded. Moreover, if the front camera 14 with illumination uses a wide-angle camera or a fish-eye lens, or if a pan / tilt mechanism is provided, the range that can be monitored from the position of the underwater vehicle 1 is widened, so that convenience is further improved.

  As described above, when the inspection is performed by moving it with the thruster for back and forth while positioning on the inspection target surface existing on the left and right, the furnace bottom portion is removed without removing the CR guide tube 83 other than the portion where the underwater vehicle 1 is introduced. 41 inspections are possible. Further, the inspection unit 10 is mechanically slid in the horizontal direction and the vertical direction, so that the underwater vehicle 1 is moved along the cylindrical inspection target surface while the inspection unit 10 is three-dimensionally complicated. It can follow the shape and can easily remove the soft clad before inspection.

  Further, by measuring the position of the underwater vehicle 1 and displaying it on the display screen of the computer 400, it is possible to clarify the location where the inspection is performed, and to help prevent the cable 15 of the underwater vehicle 1 from being tangled. . In addition, if only the half circumference of the CRD stub 82 or the CRD housing 81 located only on the left side or only the right side of the traveling direction is inspected, the CRD stub 82 or the CRD housing 81 is sequentially moved to the adjacent CRD stub 82 and inspected. Since the cable 15 only reciprocates in the same adjacent space in the A direction and the B direction, it is effective in preventing the cable 15 from being tangled.

  As described above, according to the present embodiment, the soft clad removal and the detailed visual inspection are simultaneously performed on the furnace bottom portion in which the conventional apparatus cannot perform the detailed visual inspection without removing all the CR guide tubes. can do. At that time, it is possible to minimize interference such as tangling of the cable.

It is sectional drawing which shows the whole structure of the reactor pressure vessel which uses the inspection apparatus which concerns on embodiment of this invention. It is an expanded sectional view (side view) of the furnace bottom part of the reactor pressure vessel which uses the inspection apparatus which concerns on embodiment of this invention. It is an expanded sectional view (plan view) of the furnace bottom part of the reactor pressure vessel which uses the inspection device concerning the embodiment of the present invention. It is a figure showing composition of an underwater vehicle concerning an embodiment of the present invention. It is explanatory drawing (plan view) which shows a state when the underwater vehicle which concerns on embodiment of this invention carries out turning movement along the surface to be examined. It is explanatory drawing (side view) which shows a state when the underwater vehicle which concerns on embodiment of this invention test | inspects a CRD housing and a CRD stub. It is explanatory drawing (side view) which shows the use condition of the charging device which throws in the underwater vehicle which concerns on embodiment of this invention into a furnace bottom part. It is a figure (side view) which shows the structure of the charging device which throws the underwater vehicle which concerns on embodiment of this invention into a furnace bottom part. It is explanatory drawing of the test | inspection procedure by the underwater vehicle which concerns on embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Underwater vehicle 1a Main body part 1b Curved surface part 3 Throwing apparatus 10 Inspection unit 11 Thruster for left-right movement 12 Thruster for forward / backward movement 13 Thruster for vertical movement 14 Illuminated front camera 15 Cable 16 Ball caster 33 Base 34 Top guard 35 Stand 36 Fixed bar 37 Movable Bar 40 Reactor Pressure Vessel 41 Reactor Bottom 81 CRD Housing 82 CRD Stub 83 CR Guide Tube 101 Illuminated Inspection Camera 102 Brush 104 Linear Guide 105 Horizontal Motor 106 Vertical Motor 110 Left / Right Motor 120 Forward / Reverse Motor 130 Motor for moving up and down 400 Computer

Claims (12)

In an inspection device that remotely inspects inspection objects existing in water,
A body part having a surface shape opposite to the inspection object surface of the inspection object is formed on both sides of the main body, and both the surfaces on both sides have an outer surface shape that matches the curvature of the curved surface of the inspection object surface;
First to third propulsion means for moving the main body underwater in two horizontal directions and in a vertical direction;
An inspection unit that is attached to the main body and includes desired inspection means and / or processing means;
A control device for controlling the first to third propulsion means and controlling movement of the main body in water;
Equipped with a,
The controller is
Of the first and second propulsion means for moving in the two horizontal directions, the first propulsion means has the main body portion in the longitudinal direction, and the second propulsion means has the main body portion in the direction orthogonal to the longitudinal direction. Move
Driving the second propulsion means to maintain the posture of the main body in a state in which the main body is pressed against the side surface of the inspection object;
An inspection characterized in that the first propulsion means is driven in a state where the main body portion is pressed against a side surface of the inspection object, and the main body portion is swung along the outer surface shape of the inspection object portion. apparatus.   The inspection apparatus according to claim 1, wherein the main body is provided with a protrusion for ensuring a predetermined gap between a surface of the inspection object facing the inspection object surface.   The inspection apparatus according to claim 1, further comprising an illuminating unit and an imaging unit for detecting the position of the main body.   The inspection apparatus according to claim 1, further comprising an illuminating unit and an imaging unit for monitoring a region to be inspected.   The apparatus includes: a first moving unit that moves the inspection unit in a direction perpendicular to the main body; and a second moving unit that moves the inspection unit in a direction parallel to the bottom surface of the main body. The inspection apparatus according to claim 1 or 4.   The inspection apparatus according to claim 1, further comprising detection means for detecting a three-dimensional position of the main body. The detection means is
Means for measuring the three-dimensional position of the main body;
Means for storing a time-series three-dimensional position of the main body;
Means for displaying a two-dimensional movement locus from the three-dimensional locus data stored in the means for storing;
The inspection apparatus according to claim 6, further comprising:   8. The inspection apparatus according to claim 7, further comprising means for remotely operating the underwater vehicle to the movement start position along the two-dimensional movement locus.   The inspection apparatus according to claim 1, wherein the inspection object is a reactor internal structure. A base seated on the upper end of the CDR housing;
A support member that supports the inspection device according to any one of claims 1 to 8, and connects the base located at a lower portion of the inspection device and a top guard located at an upper portion of the inspection device;
Fixing the inspection device between the base and the top guard, and a fixing member capable of releasing the setting of the connection state of the support member by an external operation;
The inspection apparatus is suspended from the outside of the furnace to the CDR housing in the furnace while the inspection apparatus is sandwiched between the base and the top guard, and the inspection apparatus is put into the furnace. Input device. The outer surface formed in the curved shape of the inspection device according to any one of claims 1 to 9 is positioned so as to face the surface of the inspection object,
The first to third propulsion means are driven and moved along the surface of the inspection object while being pressed against the surface of the inspection object, and a predetermined inspection is performed by the inspection unit. Inspection method.   The inspection is performed on the half circumference of the CRD stub or CRD housing in the reactor pressure vessel arranged on the left and right of the main body in the traveling direction, and the movement is sequentially performed to the adjacent CRD stub or CRD housing. The inspection method according to claim 11, wherein the inspection is performed.

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