JP4875333B2 - Inspection device - Google Patents

Description

The present invention is to sail liquid metal in the inspected facility by propulsion thruster relates to an inspection equipment to inspect the inspection portion of the inspected features the inspection means.

  FIG. 18 is a cross-sectional view showing a configuration of a conventional propelling device for an in-core inspection apparatus. A propelling device 201 shown in the figure has a DC motor 204 disposed in a cylindrical body 202 via a support member 203, and a propeller 206 connected to the rotating shaft of the DC motor 204 via a gear 205. It is made.

As a conventional inspection apparatus that includes the same propulsion device as the propulsion device 201 and navigates through sodium in the reactor vessel, there are those described in Patent Documents 1 and 2 below.
Japanese Utility Model Publication No. 7-8197 Japanese Patent Laid-Open No. 2000-9878

  However, the propulsion device 201 composed of the DC motor 204 and the propeller 206 as described above is useful for underwater use, but when applied to an inspection device that navigates in a liquid metal such as liquid sodium, The eddy current is induced in the liquid metal around the inspection device due to the magnetic flux leakage from the DC motor 204 during the navigation of the inspection device, so that the rotational speed of the DC motor 204 is decreased. For this reason, in order to propel at high speed, it is necessary to increase the size of the propeller 206, and accordingly, the entire inspection apparatus is also increased in size.

  Further, when the propelling device 201 composed of the DC motor 204 and the propeller 206 is applied to an inspection device for liquid metal, there is a problem of maintainability. That is, the liquid metal that has entered a very narrow gap in the rotating unit such as the gear 205 is solidified when the inspection apparatus is pulled out of the liquid metal, thereby inhibiting the rotation of the rotating unit. For this reason, it is necessary to remove liquid metal or solidified metal from the gap between the rotating parts, but this operation is very difficult.

Accordingly, the present invention has been made in view of the above circumstances, there is provided an inspection apparatus for navigating a liquid metal in such liquid sodium, and with high output in a small, and, it is an object to provide an inspection equipment with excellent maintainability .

The inspection apparatus of the present invention that solves the above-mentioned problems is the inspection apparatus that navigates in the liquid metal in the inspection target facility by the propulsion force of the propulsion unit, and inspects the inspected part in the inspection target facility by the inspection means .
The propulsion device is an AC induction magnetic field type electromagnetic pump,
It is equipped with center of gravity adjustment means for adjusting the center of gravity position of the inspection device,
The center-of-gravity adjusting means includes a screw shaft disposed along each of three propulsion directions orthogonal to each other, a weight having a cylindrical shape through which these screw shafts are inserted, and a screw formed on the outer peripheral surface. A mounting rod; one or a plurality of weights detachably mounted on an outer peripheral surface of the weight mounting rod; a first nut fixed to one end of the weight mounting rod; and the weight mounting rod And a weight holding plate fixed to the other end side of the weight mounting rod and a second nut for holding the weight. .

According to the inspection device of the present invention, since the propulsion device is an AC induction magnetic field type electromagnetic pump, even if the inspection device is navigated in a liquid metal such as liquid sodium, the propulsion device is composed of a motor and a propeller. It is possible to realize a small-sized and high-power inspection apparatus for liquid metal that does not decrease in force. In addition, the propulsion unit composed of an AC induction magnetic field type electromagnetic pump does not have a rotating part (a part that operates mechanically) like the propulsion unit composed of a motor and a propeller. Since liquid metal is easily discharged from the vessel (electromagnetic pump), it is very easy to maintain .

Further, according to the inspection apparatus of the present invention, since the center of gravity adjustment means for adjusting the position of the center of gravity of the inspection apparatus is provided, even if the position of the center of gravity of the inspection apparatus deviates from a predetermined position when the inspection apparatus is manufactured, The shift of the center of gravity position can be corrected by the center of gravity adjustment mechanism. In particular, in the inspection apparatus of the present invention, the center-of-gravity adjusting means has a screw shaft disposed along each of three propulsion directions orthogonal to each other, a cylindrical shape through which these screw shafts are inserted, and a screw on the outer peripheral surface. A weight mounting rod having one or more weights, one or a plurality of weights detachably mounted on the outer peripheral surface of the weight mounting rod, and a first nut fixed to one end of the weight mounting rod A center of gravity adjusting mechanism including a weight holding plate that is screwed to the outer peripheral surface of the weight mounting rod and fixed to the other end of the weight mounting rod, and a second nut that holds the weight. Therefore, the center of gravity can be easily adjusted by simply selecting the number of weights to be attached to the weight attachment rod by the operator and turning the first nut with a tool.

  Embodiments of the present invention will be described below in detail with reference to the drawings.

  FIG. 1 is a diagram showing the overall system configuration of an in-furnace inspection apparatus according to an embodiment of the present invention. 2, 3 and 4 are views showing an in-reactor inspection apparatus and its carrying-in apparatus according to an embodiment of the present invention together with a reactor vessel to which these are applied, and FIG. FIG. 3 and FIG. 4 show the state before the apparatus is carried into the liquid sodium in the reactor vessel, and the in-furnace inspection device is carried into the liquid sodium in the reactor vessel and travels through the liquid sodium. It shows how they are doing. FIG. 4 is a side view of the carry-in device, and in FIG. 4, illustration of the in-furnace structure is omitted. FIG. 3 shows a state in which the in-core inspection device inspects the structure below the core, and FIG. 4 shows that the in-core inspection device inspects the structure above the core. It shows how it is.

  FIG. 5 is a perspective view showing the appearance of the in-furnace inspection apparatus, FIG. 6 is a side view showing the in-furnace inspection apparatus in a partially broken view, and FIG. 7 is a partially broken view of the in-furnace inspection apparatus. FIG. 8 is a front view showing a partially broken view of the in-furnace inspection apparatus (a view in the direction C of FIG. 7), and FIG. 9 is an in-furnace inspection. FIG. 10 is a longitudinal sectional view of a propulsion device (AC induction magnetic type electromagnetic pump) installed in the in-furnace inspection apparatus, FIG. FIG. 11A is a cross-sectional view taken along line EE in FIG. 10, FIG. 11B is a view taken in the direction of the arrow L in FIG. 10, and FIG. In FIG. 12, a cylindrical body (outer cylinder) is a perspective view represented by a one-dot chain line. FIG. 13 is a longitudinal sectional view of another shape of propulsion device (AC induction magnetic field type electromagnetic pump) mounted on the in-furnace inspection apparatus, and FIG. 14 (a) is a sectional view taken along line FF in FIG. FIG. 14B is a partially broken perspective view showing a part of the propulsion device extracted from FIG. 16A is an external view of the posture stabilization mechanism equipped in the in-furnace inspection apparatus, FIG. 16B is a sectional view of the posture stabilization mechanism, and FIG. 16C is an exploded view of the posture stabilization mechanism. It is. FIG. 17A is a diagram showing a state of assembling a part of the center of gravity adjusting mechanism equipped in the in-furnace inspection apparatus, FIG. 17B is a diagram showing a state of assembling the whole center of gravity adjusting mechanism, and FIG. (C) is a figure which fractures | ruptures and shows the said gravity center adjustment mechanism after an assembly.

  First, an overview of the entire system will be described with reference to FIG. As shown in FIG. 1, an in-reactor inspection apparatus system according to the present embodiment includes an in-reactor inspection apparatus (vehicle) 1 for inspecting a reactor vessel in a nuclear reactor of a liquid sodium cooling reactor that is an inspection object facility, and The loading device 17 for loading the in-core inspection device 1 into the reactor vessel, the torque / feeding amount control device 101 for controlling the torque and the feeding amount of the cable winding devices 21A, 21B, and 21C, and the monitor in liquid sodium An imaging device 102 for creating an image of the inspected region (inspection region), a vehicle control device 103 for controlling the in-furnace inspection device 1, an inspection image display 104, a position and orientation display 105, and an operation / input device 106 And have.

  The imaging apparatus 102 includes an ultrasonic pulser 111, an ultrasonic oscillator switch 112, a laser oscillator 113, an optical switch 114, a laser interferometer (fiber Fabry-Perot) 115, a light receiver 116, a control device 117, and an image processing device 118. Has been. The vehicle control device 103 is equipped with an ultrasonic pulsar 121, an ultrasonic oscillator switch 122, an ultrasonic signal converter 123, an ultrasonic signal processor 124, a sensor signal processor 125, and a propulsion device controller 126.

  The carry-in device 17 includes cable winding devices 21A, 21B, and 21C, and an inspection device introduction pipe 19 having a telescopic structure. A plurality of ultrasonic oscillators 131 made of piezoelectric elements are attached to the lower end of the inspection apparatus introduction tube 19. The ultrasonic oscillator 131 is connected to the ultrasonic oscillator switch 122 via an electric cable 134. The electric cable 134 is wound or unwound (drawn) by the cable winding device 21C for the introduction tube ultrasonic oscillator. The cable winding device 21C includes a rotating drum 21C-1 for winding and rewinding the electric cable 134 and an electric motor (not shown) that rotationally drives the rotating drum 21C-1.

  The in-furnace inspection apparatus 1 includes a plurality of propulsion devices 41 (AC induction magnetic type electromagnetic pump: details will be described later), an ultrasonic device (area monitor) 43, a plurality of ultrasonic receivers 132, a posture stabilization mechanism 46, and various sensors. 133 etc. are equipped. As the sensors 133, an attitude sensor for measuring the attitude of the in-furnace inspection apparatus 1, a temperature sensor for measuring the temperature of the liquid sodium 12, a pressure sensor for measuring the pressure (depth) of the liquid sodium 12, An acceleration sensor or the like for measuring the acceleration of the in-furnace inspection apparatus 1 is provided. The ultrasonic device 43 includes a plurality of ultrasonic oscillators that are piezoelectric elements and a large number of diaphragms that are ultrasonic reception elements arranged in a two-dimensional matrix.

  A cable 27 is connected to the in-furnace inspection apparatus 1. The cable 27 includes a high-strength cable 27 </ b> A for suspending the in-furnace inspection apparatus 1, an optical fiber cable 27 </ b> B that connects the ultrasonic device 43 and the optical switch 114, and the ultrasonic device 43 and the ultrasonic oscillator switch 112. An electric cable 27C for connecting the ultrasonic receiver 132 and the ultrasonic signal converter 123, an electric cable 27E for connecting the sensors 133 and the sensor signal processor 125, and a propeller 41 and an electric cable 27F that connects the propulsion unit control device 126 are bundled and wound or unwound (feeded out) by the cable winding device 21A for the in-furnace inspection device. The cable winding device 21A includes a rotating drum 21A-1 for winding and rewinding the cable 27, and an electric motor (not shown) that rotationally drives the rotating drum 21A-1.

  Further, a high-strength cable 135 for expanding and contracting the inspection device introduction tube 19 is connected to the lower end portion of the inspection device introduction tube 19. The cable 135 is wound or unwound (drawn) by the cable winding device 21B for extending and retracting the introduction pipe. The cable winding device 21B includes a rotating drum 21B-1 for winding and unwinding the cable 135, and an electric motor (not shown) that rotationally drives the rotating drum 21B-1. Details of the carry-in device 17 and the in-furnace inspection device 1 will be described later.

  In the imaging apparatus 102, when the in-core inspection apparatus 1 inspects the part to be inspected in the liquid sodium in the reactor vessel by the ultrasonic apparatus 43, the pulse voltage output from the ultrasonic pulser 111 is used as the ultrasonic oscillator switch 112. And it applies to each ultrasonic transmitter of the ultrasonic device 43 sequentially through the electric cable 27C and emits ultrasonic waves. Further, the laser light output from the laser oscillator 113 is irradiated to each diaphragm of the ultrasonic device 43 via the optical switch 114 and the optical fiber cable 27B, and the reflected light of the laser light from each diaphragm is applied to the optical fiber cable 27B. The light is received by the light receiver 116 via the optical switch 114 and converted into an electrical signal. At this time, if the diaphragm vibrates due to the reflected wave (reflected echo) of the ultrasonic wave from the part to be inspected, the phase of the reflected light is shifted and the laser beam interferes. Therefore, the intensity of the reflected light received by the light receiver 116 is increased. Change. The laser interferometer 115 enhances the measurement accuracy by amplifying the intensity of the interference light at this time. That is, the ultrasonic device 43 is not of a type that receives an ultrasonic reflected wave (reflection echo) by a piezoelectric element, but of a type that receives a diaphragm and laser light.

  The image processing device 118 processes the electrical signal input from the light receiver 116 to create an image (inspection image) of the inspected part and output it to the inspection image display 104. The inspection image display 104 displays the inspection image input from the image processing device 118. In the control device 117, the operation timing of the ultrasonic pulsar 111, the ultrasonic oscillator switch 112, the laser oscillator 113, the optical switch 114, and the image processing device 118 (oscillation of ultrasonic waves, irradiation of laser light and reception of reflected light, and image processing). Timing).

  On the other hand, in the vehicle control device 103, when the in-core inspection device 1 navigates in the liquid sodium in the reactor vessel, the pulse voltage output from the ultrasonic pulsar 121 is transmitted via the ultrasonic oscillator switch 122 and the electric cable 134. An ultrasonic wave is emitted by being applied to the ultrasonic oscillator 131. The ultrasonic receiver 132 receives the ultrasonic wave and sends the received signal to the ultrasonic signal converter 123 via the electric cable 27D. The ultrasonic signal converter 123 converts the ultrasonic reception signal input from the ultrasonic receiver 132 into a predetermined electric signal and outputs it to the ultrasonic signal processor 124. The ultrasonic signal processor 124 processes the electrical signal input from the ultrasonic signal converter 123 to obtain the position and orientation of the in-furnace inspection apparatus 1 and outputs it to the position and orientation indicator 105. The position / orientation indicator 105 displays the position and orientation of the in-furnace inspection apparatus 1 obtained by the ultrasonic signal processor 124.

  The sensor signal processor 125 processes the measurement signal sent from the sensors 133 via the electric cable 27E and outputs it to the ultrasonic signal processor 124 and the image processing device 118. From the sensor signal processor 125, the temperature measurement signal of the temperature sensor as temperature information for obtaining the sound speed and the acceleration measurement signal of the acceleration sensor as acceleration information for blur correction are sent to the image processing device 124. In the propulsion unit control device 126, the amount of electric power and the phase of current supplied to the propulsion unit 41 (induction coil of an AC induction magnetic field type electromagnetic pump) via the electric cable 27F based on the operation / operation of the input device 106 by an operator. By controlling the above, the magnitude and direction of the propulsive force of the propelling device 41 are controlled.

  Next, the carry-in device 17 and the in-furnace inspection device 1 will be described in detail with reference to FIGS.

  2, 3 and 4 show a case where the in-reactor inspection apparatus 1 is applied to the inspection of the internal structure of the reactor vessel 2 of the fast breeder reactor (sodium-cooled reactor using liquid sodium as a coolant). Yes. As shown in FIGS. 2, 3, and 4, the nuclear reactor vessel 2 is installed in the building 3 while being supported by the floor 4 of the building 3, and a guard vessel 5 is provided outside the nuclear reactor vessel 2. Is provided. The reactor vessel 2 is provided with a core tank 6 in which a large number of fuel assemblies are accommodated. The core vessel 6 is supported on the wall surface of the reactor vessel 2 via a core support structure 7. A control rod drive device 8 is provided above the reactor core 6. The control rod driving device 8 is supported by the lid 9 of the reactor vessel 2.

  A sodium supply pipe 11 is connected to the side of the reactor vessel 2. Then, liquid sodium 12 is stored in the reactor vessel 6. An inert gas such as argon gas is sealed in the space above the liquid surface 12 a of the liquid sodium 12. During operation of the nuclear reactor, liquid sodium is introduced to the lower side of the core tank 6 through the sodium supply pipe 11, heated by the heat of the fission reaction in the fuel assembly in the core tank 6, and then above the core tank 6. It is transferred to a heat exchanger (not shown) out of the reactor vessel 6 through a sodium discharge pipe (not shown) provided.

  Further, the reactor vessel 2 can be provided with an equipment carry-in pipe 14 in the equipment carry-in path into the reactor vessel 2 at the time of inspection, and when the equipment carry-in pipe 14 is installed in FIG. Shows the state. As shown in FIG. 3, when introducing the in-furnace inspection apparatus 1 to the lower part of the core tank 6, the equipment carry-in pipe 14 is extended by the extension pipes 14a and 14b to reach the upper part of the core tank 6, and shown in FIG. Thus, when introducing the in-reactor inspection apparatus 1 to the upper part of the reactor core 6, it is set to a length that reaches the lid 9 of the reactor vessel 2 without extending the equipment carry-in piping 14. A gate valve 15 is attached to the upper end of the equipment carry-in pipe 14, and the gate valve 15 is supported on the floor 13 above the reactor. If there is a space for installing the gate valve 15 on the lid 9 of the reactor vessel 2, the gate valve 15 is installed on the lid 9 in the case of FIG. The equipment carry-in pipe 14 may be extended to the upper part, and in the case of FIG. 4, the equipment carry-in pipe 14 is not used and the gate valve 15 is simply installed on the lid 9.

  FIG. 2 shows a state in which the carry-in device (master unit) 17 and the in-furnace inspection device 1 carried by the overhead traveling crane 16 are placed beside the gate valve 15 on the floor 13. Fig. 5 shows a state where the carry-in device 17 and the in-furnace inspection device 1 are transported by the overhead traveling crane 16 and installed on the gate valve 15. FIG. 4 also shows a state where the carry-in device 17 and the in-furnace inspection device 1 are transported by the overhead traveling crane 16 and installed on the gate valve 15. At this time, as shown in FIG. 4, the image processing apparatus 102 and the vehicle control apparatus 103 are also installed in the vicinity of the carry-in apparatus 17. Of course, when the gate valve 15 is installed on the lid 9 of the reactor vessel 2, the carry-in device 17 and the in-reactor inspection device 1 are installed on the gate valve 15. Although not shown, the operation / input device 106, the inspection image display 104 and the position / orientation display 105 are also installed in the vicinity of the carry-in device 17.

  As shown in FIGS. 2, 3 and 4, the carry-in device 17 includes an inspection device introduction pipe 19 provided in the case 18, cable winding devices 21 </ b> B and 21 </ b> C provided in the upper portion of the case 18, and a case 18 is provided with a cable winding device 21A provided at the lower part in 18. A gate valve 29 is attached to the lower end of the case 18. Gate valve 29 is coupled to gate valve 15.

  The inspection apparatus introduction pipe 19 has a telescopic structure in which a plurality (four in the illustrated example) of cylindrical bodies 23a, 23b, 23c, and 23d having different outer diameters are telescopically stretched, and the plurality of cylindrical bodies 23a. , 23b, 23c, and 23d, the outermost cylindrical body 23d has a base end (upper end) provided with a locking portion 24 that is a hook-like protrusion projecting from the outer periphery of the upper end. And the bell-shaped accommodating part 25 which accommodates the in-furnace inspection apparatus 1 is provided in the front-end | tip part (lower end part) of the innermost cylindrical body 23a among these cylindrical bodies 23a, 23b, 23c, and 23d. It is the composition which was made.

  One end of the cable 135 is connected to the innermost cylindrical body 23a (may be connected to the accommodating portion 25), and extends upward through the plurality of cylindrical bodies 23a, 23b, 23c, and 23d to the cable winding device 21B. ing. The cable 27 is connected to the in-furnace inspection apparatus 1, extends upward through the plurality of cylindrical bodies 23 a, 23 b, 23 c, and 23 d and is wound around a pulley 28 provided at the upper end portion in the case 18. The direction is inverted downward and extends to the cable winding device 21A. Further, the cable 134 is connected to an ultrasonic oscillator 131 that is attached so that one end is embedded in the tip of the housing portion 25, and passes through the plurality of cylindrical bodies 23 a, 23 b, 23 c, and 23 d, and is wound upward. It extends to the take-out device 21C.

  When the in-reactor inspection apparatus 1 is carried into the reactor vessel 2 by the carry-in device 17, first, the carry-in device 17 is installed on the gate valve 15 of the equipment carry-in pipe 14 as described above, and the gate valve of the carry-in device 17. 29 is coupled to the gate valve 15 of the equipment carry-in pipe 14. The reason why the gate valves 15 and 29 are provided is to prevent air from entering the reactor vessel 2 when the in-reactor inspection apparatus 1 is carried in. Then, after opening the gate valve 15 and the gate valve 29, the cable 135 is unwound (rewinded) by the cable winding device 21B. At this time, the cable 27 is unwound (rewinded) by the cable winder 21A and the cable 134 is unwound (rewinded) by the cable winder 21C.

  As a result, the in-furnace inspection apparatus 1 together with the inspection apparatus introduction pipe 19 descends in the equipment carry-in pipe 14 downward. Thereafter, when the locking portion 24 of the cylindrical body 23d is locked to the locking portion 30 and the lowering of the locking portion 24 is restricted, the downward movement of the cylindrical body 23d stops at the locking portion 30 and the other cylinders The bodies 23c, 23b, and 23a are successively extended downward. When the extension pipe 14a is used as shown in FIG. 3, the flange portion at the upper end of the extension pipe 14a becomes the locking part 30, and when the extension pipe is not used as shown in FIG. A peripheral portion of the hole 9 a of the lid 9 serves as a locking portion 30. In FIG. 3, the in-core inspection device 1 together with the accommodating portion 25 provided at the lower end of the cylindrical body 23 a passes through the hole 7 a formed in the core support structure 7, and the lower side of the core support structure 7 (core It is introduced (carried in) to the vicinity of the lower end of the tank 6. In FIG. 4, the cylindrical bodies 23 b and 23 c are expanded and the cylindrical body 23 a is not expanded, and the in-furnace inspection apparatus 1 is introduced (loaded in) to the upper portion of the reactor core 6 together with the accommodating portion 25.

  Thus, the in-reactor inspection apparatus 1 is carried into the reactor vessel 2, that is, into the liquid sodium 12. Then, the cable 27 is further fed out by the cable winding device 21 </ b> A, and the in-reactor inspection device 1 starts to navigate through the liquid sodium 12 from the accommodating portion 25, and inspects each inspected portion in the reactor vessel 2. Start. 3 and 4 show the situation at this time. The locking portion for locking the locking portion 24 of the inspection apparatus introducing tube 19 is the locking portion 30 (the flange portion of the extension tube 14a or the hole 9a of the lid 9 of the reactor vessel 2). Not only in the peripheral part) but also in an appropriate position of the equipment carry-in path into the reactor vessel 1.

  As shown in FIG. 5, the in-reactor inspection apparatus 1 has a barrel-shaped appearance (housing 44), and the liquid in the reactor vessel 2 is driven by a propelling device 41 (41A, 41B, 41C, 41D, 41E, 41F). Navigating through the sodium 12, the inspected part 42 in the reactor vessel 2 is inspected by the ultrasonic device 43 as inspection means.

  In the in-furnace inspection apparatus 1, AC induction magnetic field type electromagnetic pumps are used as the thrusters 41 </ b> A to 41 </ b> F. The inspected part 42 is, for example, a welded part such as the reactor vessel 2 or the core support structure 7, and the inspected part 42 is obtained by obtaining an inspection image of the inspected part 42 using the ultrasonic device 43 or the like. It is inspected whether a crack or the like has occurred in the portion 42. A plurality of positioning rods 47 project from the in-furnace inspection apparatus 1, and when the ultrasonic inspection device 43 inspects the inspected portion 42, the tip of the positioning rod 47 contacts the inspected portion 42 and ultrasonic waves are detected. The distance between the device 43 and the inspected part 42 is defined. That is, the in-furnace inspection apparatus 1 (ultrasonic apparatus 43) is positioned with respect to the inspected part 42 by the positioning rod 47. In the in-reactor inspection apparatus 1, the ultrasonic apparatus 43 may inspect (search) whether parts such as bolts have come off and have fallen to the bottom of the reactor vessel 2 or the like.

  In addition, a flexible bellows is provided on the swimming portion of the cable 27 connected to the in-furnace inspection apparatus 1 (the portion that comes out of the housing portion 25 and swims in the liquid sodium 12) so as to cover the swimming portion. A float 136A made of a cylindrical body is provided. The float 136 (the bellows-like cylinder) is made flexible by being formed into a bellows shape using metal or resin. Since the float 136 is a bellows-like cylindrical body and has flexibility, the float 136 not only applies buoyancy to the cable 27 to prevent the load of the cable 27 from being applied to the in-furnace inspection apparatus 1 but also the inside of the furnace. Even if the navigation direction of the inspection apparatus 1 changes, the inspection apparatus 1 can easily bend (bend) in the navigation direction following this, so that it does not interfere with the navigation of the in-core inspection apparatus 1. The float 136A also serves to prevent the cable 27 from touching the hot liquid sodium 12 directly. Note that a bellows-like cable cover 136B thinner than the float 136A is connected to the rear end of the float 136A, and the cable 27 also directly touches the liquid sodium 12 by covering the cable 27 with this cable cover 136B. Is preventing. In addition, a large number of ultrasonic receivers 132 are provided on the outer peripheral surface (the casing 44) of the in-furnace inspection apparatus 1.

  More detailed description will be made based on FIGS. 6 to 9. As shown in these drawings, the above-described propulsion devices 41 </ b> A to 41 </ b> F, the ultrasonic device 43, and the ultrasonic receiver 132 (FIG. 5) and the positioning rod 47, a center of gravity adjusting mechanism 45A, 45B, 45C, 45D, 45E, 45F as a center of gravity adjusting means, a posture stabilizing mechanism 46 as a posture stabilizing means, and the like are also attached.

  The casing 44 has a barrel shape (substantially cylindrical) as an outer shell of the in-furnace inspection apparatus 1 and is formed of a metal material such as stainless steel. The housing 44 is filled with an inert gas such as nitrogen gas or argon gas in its internal space, and also functions as a float in the liquid sodium 12 for providing buoyancy to the in-furnace inspection apparatus 1. The shape of the housing 44 is preferably a barrel shape as shown in the figure, but is not necessarily limited to this, and may be a spherical shape, for example.

  Two propellers (electromagnetic pumps) 41A to 41F are arranged in parallel along each of three propulsion directions orthogonal to each other. Specifically, in FIG. 6, the longitudinal direction of the in-furnace inspection apparatus 1 (left-right direction in FIG. 6) is the X-axis direction, and the width direction of the in-furnace inspection apparatus 1 perpendicular to the X-axis direction (up-down direction in FIG. 6). Is the Z-axis direction, the width direction of the in-furnace inspection apparatus 1 orthogonal to the Y-axis direction, the X-axis direction, and the Y-axis direction (the direction orthogonal to the paper surface of FIG. 6). The first propulsion direction is the X-axis direction, the second propulsion direction is the Y-axis direction, and the third propulsion direction is the Z-axis direction.

  The two propulsion devices (electromagnetic pumps) 41A and 41B are arranged so as to be parallel to each other on the upper and lower sides of the housing 44 along the X-axis direction (first propulsion direction) as shown in FIG. The two propulsion devices (electromagnetic pumps) 41C and 41D are parallel to the front and rear side portions of the housing 44 along the Z-axis direction (third propulsion direction) as shown in FIG. The two propulsion units (electromagnetic pumps) 41E and 41F are arranged on the upper and lower sides of the housing 44 along the Y-axis direction (second propulsion direction) as shown in FIG. It arrange | positions so that it may become parallel.

  The configuration of the propulsion devices (electromagnetic pumps) 41A to 41F will be described later (see FIGS. 10 to 15). Although it is most desirable to equip the six propulsion devices (electromagnetic pumps) 41A to 41F as described above, the number of electromagnetic pumps is not necessarily limited to this, for example, X, Y, and Z axis directions It is possible to set the number appropriately, for example, one unit along each of the above.

  An ultrasonic device 43 as an inspection means is attached to the front end portion of the housing 44. Note that the inspection unit is not necessarily limited to the ultrasonic device 43, and another inspection unit may be provided instead of the ultrasonic device 43. The positioning rod 47 protrudes from the front end portion of the housing 44 where the ultrasonic device 43 is installed, and the distal end portion is positioned ahead of the ultrasonic device 43, so that the distal end portion is covered as described above. By contacting the inspection unit 42, the distance between the ultrasonic device 43 and the inspected unit 42 is kept constant. The number of positioning rods 47 is not necessarily limited to four as in the illustrated example, and may be an appropriate number.

  The posture stabilization mechanism 46 is disposed at the center of the in-furnace inspection apparatus 1 (housing 44). For example, the propulsion devices (electromagnetic pumps) 41A to 41F are stopped and the in-furnace inspection apparatus 1 floats in the liquid sodium 12. When the in-furnace inspection apparatus 1 navigates in the liquid sodium 12, the posture of the in-furnace inspection apparatus 1 is stabilized. That is, when the in-furnace inspection apparatus 1 floats in the liquid sodium 12, the in-furnace inspection apparatus 1 may sway forever (for example, continue to rotate slowly), and the attitude of the in-furnace inspection apparatus 1 may not be stable forever. is there. In such an unstable state, the inspection of the inspected part 42 by the inspection means such as the ultrasonic device 43 cannot be performed accurately. For this reason, the attitude of the in-furnace inspection apparatus 1 is stabilized by the attitude stabilization mechanism 46. The configuration of the posture stabilization mechanism 46 will be described later (see FIG. 16).

  Each of the center-of-gravity adjustment mechanisms 45A to 45F is disposed along each of three propulsion directions (X, Y, and Z axis directions) orthogonal to each other. That is, the center-of-gravity adjustment mechanisms 45A to 45F are positioned outside the electromagnetic pumps 41A to 41F, and two units are arranged in series along the electromagnetic pumps 41A, 41B, 41C, 41D, 41E, and 41F. . The configuration of the gravity center adjusting mechanisms 45A to 45F will be described later (see FIG. 17).

  As shown in FIGS. 6 and 7, sensors 133 such as a posture sensor 52 are provided at the rear part of the in-furnace inspection apparatus 1 (housing 44). The attitude sensor 52 is for detecting the attitude of the in-furnace inspection apparatus 1, that is, how much the in-furnace inspection apparatus 1 is tilted (rotated) around each of the X, Y, and Z axes.

  A cable 27 </ b> A is connected to the rear end of the housing 44. The cable 27 </ b> A is connected to the housing 44 by connecting the hook 27 </ b> A- 1 provided at the tip of the cable 27 </ b> A to a hook 54 that is rotatably attached to a cable connection portion 53 protruding from the rear end of the housing 44. It is. Other optical fiber cables 27B and electrical cables 27C to 27F are connected to the ultrasonic device 43, the propulsion devices 41A to 41F, the sensors 133, and the ultrasonic receiver 132, respectively, as described above.

  Here, the configuration of the propulsion devices (electromagnetic pumps) 41A to 41F, the posture stabilization mechanism 46, and the gravity center adjustment mechanisms 45A to 45F will be described based on FIGS.

  10 to 12 show the configuration of a propelling device (electromagnetic pump) 41A. The other propulsion devices (electromagnetic pumps) 41B to 41F have the same configuration as this electromagnetic pump 41A.

  As shown in FIGS. 10 to 12, the propulsion device 41 </ b> A that is an AC induction magnetic type electromagnetic pump has a plurality (9 in the illustrated example) arranged along the flow direction of liquid sodium (arrow G and H directions). An annular induction coil 61, a plurality of coil supports 62 that support the induction coils 61, a cylindrical body (housing) 63 that accommodates the induction coils 61 and the coil support 62, and an inner side of the cylindrical body 63 And a flow path 65 of liquid sodium is provided between the outer peripheral surface 64a of the core 64 and the inner peripheral surface 63a of the cylindrical body 63. That is, the flow passage 65 has a cylindrical shape.

  More specifically, the cylindrical body 63 has a double tube structure having an outer cylinder 63A and an inner cylinder 63B, and the induction coil 61 and the coil support 62 are accommodated in the space between the outer cylinder 63A and the inner cylinder 63B. is doing. The cylindrical body 63 (outer cylinder 63A, inner cylinder 63B) is formed of a nonmagnetic material such as stainless steel. The coil support 62 is a plate-like member extending along the flow direction, and supports each induction coil 61 so as to surround three surfaces (outer peripheral surface and both side surfaces) of each induction coil 61. A plurality of coil supports 62 (eight in the illustrated example) are provided at intervals in the circumferential direction of the induction coil 61 and are radially formed.

  These coil supports 62 are made of a magnetic metal material, and also function as a magnetic flux path (magnetic path) generated by the induction coil 61. The core 64 is inserted along the flow direction inside the inner cylinder 63B of the cylindrical body 63, and is supported by the inner cylinder 63B via support pins 66 at a plurality of locations in the flow direction. As described above, the gap between the outer peripheral surface 64a of the core 64 and the inner peripheral surface 63a of the inner cylinder 63B serves as a flow path 65 for liquid sodium.

  The core 64 has a cylindrical shape with a main body portion 64A extending in the flow direction, and both end portions 64B in the flow direction are conical surfaces 64B-1. The core 64 is made of a magnetic metal material and functions as a path (magnetic path) for the magnetic flux. Further, at both ends 63C of the cylindrical body 63 in the flow direction, the inner peripheral surface 63a of the inner cylinder 63B is a tapered surface 63a-1 inclined toward the outer peripheral side of the cylindrical body 63, and these tapered surfaces 63a-1 are provided. And the both ends of the flow direction of the flow passage 65 have a shape that expands in the radial direction by the conical surfaces 64B-1 of the both ends 64B of the core 64. By making the both ends of the flow path 65 into such a shape, the flow of liquid sodium into the flow path 65 becomes smooth.

  In the electromagnetic pump 41A, when a three-phase alternating current is supplied to each induction coil 61 from the propeller control device 126 (see FIG. 1), the liquid sodium flows through the flow path 65 in the direction indicated by the arrow G (or the direction indicated by the arrow H) by Lorentz force. As a reaction force, a propulsive force in the arrow H direction (or arrow G direction) with respect to the in-furnace inspection apparatus 1 is obtained. The direction of this propulsive force is switched by adjusting the phase of the three-phase alternating current by the propeller control device 126.

  Further, the electromagnetic pumps 41A to 41F may be configured as shown in FIGS. 13 to 15 show the configuration of the electromagnetic pump 41A, the other electromagnetic pumps 41B to 41F have the same configuration as the electromagnetic pump 41A.

  As shown in FIGS. 13 to 15, the propulsion device 41 </ b> A, which is an AC induction magnetic type electromagnetic pump, has a plurality (nine in the illustrated example) arranged along the flow direction (arrow G, H direction) of liquid sodium. An annular induction coil 71, a plurality of coil supports 72 that support the induction coils 71, a cylindrical body 73 that accommodates the induction coils 71 and the coil support 72, and a periphery of the cylindrical body 73. And a liquid sodium flow passage 75 between the inner peripheral surface 74a of the core 74 and the outer peripheral surface 73a of the cylindrical body 73 (gap). That is, the flow passage 75 has a cylindrical shape.

  Specifically, the cylindrical body 73 is formed of a nonmagnetic material such as stainless steel. The coil support 72 is a plate-like member extending along the flow direction, and supports each induction coil 71 so as to surround three surfaces (inner peripheral surface and both side surfaces) of each induction coil 71. A plurality of coil supports 72 (eight in the illustrated example) are provided at intervals in the circumferential direction of the induction coil 71 and are radial. These coil supports 72 are made of a magnetic metal material, and function as a magnetic flux path (magnetic path) generated by the induction coil 71. The core 74 is supported by the cylindrical body 73 via support pins 76 at a plurality of locations in the flow direction.

  The core 74 is made of a magnetic metal material and functions as a path (magnetic path) for the magnetic flux. Further, at both end portions 74A of the core 74 in the flow direction, the inner peripheral surface 74a is a tapered surface 74a-1 inclined toward the outer peripheral side. On the other hand, at both end portions 73A of the cylindrical body 73 in the flow direction, the outer peripheral surface 73a is a tapered surface 73a-1 inclined toward the inner peripheral side. And the both ends of the said flow direction of the flow path 75 become the shape which spread in the radial direction by these taper surfaces 73a-1 and 74a-1. By making both ends of the flow passage 75 have such a shape, the flow of liquid sodium into the flow passage 75 becomes smooth.

  Even in the electromagnetic pump 41A, when a three-phase alternating current is supplied to each induction coil 71 from the propeller control device 126, the liquid sodium flows through the flow path 75 in the direction of the arrow G (or the direction of the arrow H) by Lorentz force. As a reaction force, a propulsive force in the direction of arrow H (or the direction of arrow G) with respect to the in-furnace inspection apparatus 1 is obtained. The direction of this propulsive force is also switched by adjusting the phase of the three-phase alternating current by the propeller control device 126.

  As shown in FIG. 16, the posture stabilization mechanism 46 includes a non-magnetic spherical shell 81 disposed and fixed at the center of the in-furnace inspection apparatus 1 (housing 44), and a magnetic material accommodated in the spherical shell 81. A predetermined interval around each axis passing along the center P of the spherical shell 81 along each of the three propulsion directions (X-axis direction, Y-axis direction, Z-axis direction) and the iron ball 82 which is a body sphere (see FIG. It has a plurality of (six in the illustrated example) magnets 83 attached to the spherical shell 81 at intervals of 90 degrees in the illustrated example.

  Each axis along each of the three propulsion directions (X-axis direction, Y-axis direction, Z-axis direction) and passing through the center P of the spherical shell 81 is the first propulsion direction (X-axis direction). A first axis that is parallel and passes through the center P (x axis: the left and right axis in FIG. 16B) and a second axis that is parallel to the second propulsion direction (Y axis direction) and passes through the center P. A third axis (z axis: FIG. 16B) parallel to the axis (y axis: vertical axis in FIG. 16B) and the third propulsion direction (Z axis direction) and passing through the center P Axis in a direction perpendicular to the paper surface). The magnets 83 are attached at intervals of 90 degrees around the x axis, are attached at intervals of 90 degrees around the y axis, and are attached at intervals of 90 degrees around the z axis. A part of the magnets 83 are common around the x-axis and the y-axis, the y-axis and the z-axis, and the z-axis and the x-axis. A total of six magnets 83 are provided. ing.

  More specifically, a plurality of protrusions 84 are formed on the outer peripheral surface of the spherical shell 81, and the magnet 83 is fitted into the recess 84 a of the protrusion 84. The magnet 83 is a permanent magnet such as an Sm—Co rare earth magnet. However, the present invention is not limited to this, and an electromagnet may be used as the magnet 83. The attracting force (magnetic force) of the magnet 83 is such that the spherical shell 81 together with the in-furnace inspection apparatus 1 starts from the state in which the iron ball 82 is attracted by the magnet 83 located at the lower end as shown in FIG. When rotating around the z-axis as indicated by arrow I, before the magnet 83 adjacent to the magnet 83 adsorbing the iron ball 82 at 90 ° intervals around the z-axis reaches the lower end, the iron ball 82. Is an attractive force (magnetic force) to the extent that the iron ball 83 is separated from the magnet 83 that has been adsorbed. As a specific example, when the spherical shell 81 is rotated about 30 degrees around the z-axis from the state shown in FIG. 16B, the iron ball 82 is separated from the magnet 83 that has attracted the iron ball 82. Adsorption force (magnetic force).

  The spherical shell 81 is formed by coupling a first hemispherical shell 81A made of a nonmagnetic material such as stainless steel and a second hemispherical shell 81B. An annular groove 81A-2 is formed in the peripheral flange portion 81A-1 of the first hemispherical shell 81A, and an annular protrusion 81B-2 is formed in the peripheral flange portion 81B-1 of the second hemispherical shell 81B. Is formed. And the spherical shell 81 is comprised by couple | bonding flange part 81A-1 and flange part 81B-1 with the volt | bolt 85 etc. so that protrusion 81B-2 may be fitted to groove | channel 81A-2. An oil injection port 86 is formed in the spherical shell 81 (first hemispherical shell 81A), and the oil injected from the oil injection port 86 is filled in the spherical shell 81. After oil filling, the oil inlet 86 is closed. In order to prevent leakage of the oil filled in the spherical shell 81, the spherical shell 81 has a structure in which the groove 81A-2 and the projection 81B-2 are fitted as described above.

  Oil is filled in the spherical shell 81, for example, from the state of FIG. 16B, the magnet in which the spherical shell 81 is rotated around the z axis together with the in-furnace inspection apparatus 1 and attracts the iron ball 82. This is to solve the problem that when moving away from 83, it rolls (sways) around the z axis forever and is not attracted to the adjacent magnet 83. That is, by applying resistance to the iron ball 82 that rolls in the spherical shell 81 with oil, the rolling of the iron ball 82 is quickly converged and quickly adsorbed to the adjacent magnet 83. It is.

  For example, when the iron ball 82 is attracted to the magnet 83 positioned at either lower end and the attitude of the in-furnace inspection apparatus 1 is stable, the magnitude and direction of the propulsion force of the propulsion devices 41A and 41B are controlled, and the furnace When the internal inspection device 1 is rotated 90 degrees around the z axis from the posture, the spherical shell 81 (magnet 83) is also rotated around the z axis along with this rotation, and the iron ball 82 is separated from the magnet 83. At the same time, the magnet 83 is attracted to another magnet 83 adjacent to the magnet 83 at an interval of 90 degrees around the z axis. As a result, the position of the center of gravity of the in-furnace inspection apparatus 1 is changed by the iron ball 82, and the attitude of the in-furnace inspection apparatus 1 is stabilized in a state of being rotated 90 degrees around the z axis. Moreover, at this time, the iron ball 82 receives the resistance of the oil and is immediately adsorbed by the adjacent magnet 83, so that the attitude of the in-furnace inspection apparatus 1 is also quickly stabilized in a state of being rotated 90 degrees around the z axis. In addition, the liquid with which the spherical shell 81 is filled is not limited to oil, and may be a liquid having a higher viscosity than water.

  Next, the configuration of the gravity center adjusting mechanism will be described with reference to FIG. Although FIG. 17 shows the configuration of the center of gravity adjustment mechanism 45E, the other center of gravity adjustment mechanisms 45A to 45D, 45F have the same configuration as the center of gravity adjustment mechanism 45E. FIGS. 17A to 17C show an assembly procedure of the center of gravity adjusting mechanism 45E, and the configuration of the center of gravity adjusting mechanism 45E will be described along this assembly procedure.

  First, as shown in FIG. 17A, a weight 147 is attached to a cylindrical weight attaching rod 143. The weight attaching rod 143 has a first nut 144 fixed to one end side and a disk-shaped weight holding plate 145 fixed to the other end side. A screw is formed on the outer peripheral surface of the weight mounting rod 143, and the second nut 146 is screwed together. The weight 147 has a disk shape and a U-shaped recess 147a.

  The weight 147 is detachably attached to the weight attachment rod 143 between the second nut 146 and the weight pressing plate 145. That is, each weight 147 is mounted on the outer peripheral surface so that the concave portion 147 a is fitted into the outer peripheral surface of the weight mounting rod 143. Then, the plurality of weights 147 are held by the second nut 146 and the weight holding plate 145 by turning the second nut 146 as shown by an arrow J with a tool. The state at this time is shown in FIG. The number of weights 147 attached to the weight attachment rod 143 is not limited to a plurality, and may be one, and an operator can arbitrarily select a number suitable for the gravity center adjustment of the in-furnace inspection apparatus 1. .

  On the other hand, as shown in FIG. 17B, a screw shaft 141 is provided inside a cylindrical storage tube 142 fixed to the casing 44 of the in-furnace inspection apparatus 1. One end of the storage tube 142 is open, and the other end is closed by an end surface 142a. One end of the screw shaft 141 extends to one end of the storage tube 142, and the other end is fixed to the end surface 142 a of the storage tube 142. As shown in FIGS. 6 to 9, the screw shafts 141 of the center-of-gravity adjusting mechanisms 45A to 45F are arranged along three propulsion directions (X, Y, and Z axis directions) orthogonal to each other. Yes. That is, the screw shaft 141 of the center-of-gravity adjustment mechanism 45A and the screw shaft 141 of the center-of-gravity adjustment mechanism 45B are parallel to each other on both the upper and lower sides of the housing 44 along the X-axis direction (first propulsion direction) as shown in FIG. The screw shaft 141 of the center-of-gravity adjustment mechanism 45C and the screw shaft 141 of the center-of-gravity adjustment mechanism 45D are arranged on the left and right sides of the housing 44 along the Z-axis direction (third propulsion direction) as shown in FIG. The screw shaft 141 of the center of gravity adjusting mechanism 45E and the screw shaft 141 of the center of gravity adjusting mechanism 45F are arranged so as to be parallel to each other along the Y axis direction (second propulsion direction) as shown in FIG. It is arrange | positioned so that it may become mutually parallel on both sides.

  Then, as shown in FIG. 17B, the weight 147 is inserted into the storage tube 142 and stored together with the weight mounting rod 143 as indicated by the arrow K. Thus, the center-of-gravity adjusting mechanism 45E configured as shown in FIG. 17C is completed. At this time, the screw shaft 141 is inserted into the weight attaching rod 143 and screwed into the first nut 144.

  Therefore, when adjusting the center of gravity of the in-furnace inspection apparatus 1, the worker turns the first nut 144 to one side or the other side using a tool. As a result, the weight attaching rod 143 and the weight 147 together with the first nut 144 move to one or the other along the axial direction of the screw shaft 141, whereby the center of gravity of the in-furnace inspection apparatus 1 is adjusted. The center-of-gravity adjustment operation is performed when an in-furnace inspection apparatus 1 is manufactured by an operator confirming the weight balance (center-of-gravity position) of the front-rear and right-and-left of the in-furnace inspection apparatus 1 so that the center-of-gravity position deviates from a predetermined position. In order to correct the shift of the center of gravity position when it is determined that the center of gravity is determined, it is carried out by manually operating one of the center of gravity adjusting mechanisms 45A to 45F.

  As described above, according to the in-furnace inspection apparatus 1 of the present embodiment, the propulsion devices 41A to 41F are AC induction magnetic field type electromagnetic pumps. However, there is no reduction in propulsive force unlike a propulsion unit composed of a motor and a propeller, and a small and high output inspection device for liquid sodium can be realized. That is, an inspection device suitable for inspection in the reactor vessel 2 of the sodium-cooled reactor can be realized. In addition, the propulsion devices 41A to 41F made of AC induction magnetic field type electromagnetic pumps do not have a rotating part (a part that operates mechanically) like the propulsion device made of a motor and a propeller. Since the liquid sodium is easily discharged from the propulsion units (electromagnetic pumps) 41A to 41F at the same time as the pulling up from 12, the maintenance performance is very excellent. Further, two propellers 41A to 41F of the AC induction magnetic field type electromagnetic pump are arranged in parallel along each of three propulsion directions (X, Y, Z axis directions) orthogonal to each other. Therefore, it is possible to easily navigate the in-core inspection device 1 in the liquid sodium 12 or change the posture of the in-core inspection device 1 by using these propulsion devices 41A to 41F.

  Moreover, according to the in-furnace inspection apparatus 1 of the present embodiment, when the propelling devices 41A to 41F are the AC induction magnetic field type electromagnetic pumps shown in FIGS. 13 to 15, that is, along the flow direction of liquid sodium. A plurality of annular induction coils 71, a plurality of coil supports 72 that support these induction coils 71, a cylinder 73 that accommodates these induction coils 71 and coil supports 72, and this cylinder 73 And a cylindrical core 74 disposed so as to surround the periphery thereof, and a flow path 75 for liquid sodium is formed between the inner peripheral surface 74a of the core 74 and the outer peripheral surface 73a of the cylindrical body 73. In the case of the AC induction magnetic field type electromagnetic pump, the flow path cross-sectional area of the flow path 75 is larger than that of the flow path 65 of the AC induction magnetic field type electromagnetic pump shown in FIGS. The bigger Rukoto can. Therefore, it is possible to further increase the output of the in-furnace inspection apparatus 1 without increasing the size of the in-furnace inspection apparatus 1. Alternatively, further downsizing of the in-furnace inspection apparatus 1 can be achieved without reducing the output of the in-furnace inspection apparatus 1.

  Some electromagnetic pumps are of the direct current type, but it is very difficult to apply them to the in-furnace inspection apparatus 1 navigating in the liquid sodium 12 due to the difficulty of insulating the electrodes. is there. In other words, from this point of view, the AC induction magnetic type electromagnetic pump is very suitable as the propulsion devices 41A to 41F of the in-furnace inspection apparatus 1.

  Moreover, according to the in-furnace inspection apparatus 1 of the present embodiment, the center-of-gravity adjustment mechanisms 45A to 45F for adjusting the position of the center of gravity of the in-furnace inspection apparatus 1 are provided. Even if the position of the center of gravity of the internal inspection device 1 is deviated from a predetermined position, the deviation of the position of the center of gravity can be corrected by the center of gravity adjusting mechanisms 45A to 45F. In particular, in the present embodiment, the center-of-gravity adjustment mechanisms 45A to 45F are provided with screw shafts 141 arranged along three propulsion directions (X, Y, Z axis directions) orthogonal to each other, and these screws. A weight mounting rod 143 having a cylindrical shape through which the shaft 141 is inserted and having a screw formed on the outer peripheral surface thereof, and one or more weights 147 detachably mounted on the outer peripheral surface of the weight mounting rod 143. And a first nut 144 fixed to one end side of the weight mounting rod 143, and a weight presser plate 145 fixed to the other end side of the weight mounting rod 143 by screwing with the outer peripheral surface of the weight mounting rod 143. And a second nut 146 that holds the weight 147 and the operator appropriately selects the number of weights 147 to be attached to the weight attachment rod 143 and turns the first nut 144 with a tool. The center of gravity can be adjusted easily with just this.

  Moreover, according to the in-furnace inspection apparatus 1 of the present embodiment, the in-furnace inspection apparatus 1 is stationary in the liquid sodium 12, for example, because the in-furnace inspection apparatus 1 is provided with the attitude stabilization mechanism 46 for stabilizing the attitude of the in-furnace inspection apparatus 1. Thus, when the inspection portion 42 is inspected by the ultrasonic device 43, the posture stabilization mechanism 46 can stabilize the posture of the in-furnace inspection device 1 and reliably inspect the inspection portion 42. In particular, in this embodiment, the posture stabilizing mechanism 46 includes a spherical shell 81 disposed in the center of the in-furnace inspection apparatus 1 and an iron ball 82 (not limited to an iron ball but a magnetic ball) accommodated in the spherical shell 81. And a predetermined number around each axis (x, y, z axis) passing through the center P of the spherical shell 81 along each of three propulsion directions (X, Y, Z axis directions) orthogonal to each other. And a plurality of magnets 83 (six in the illustrated example) that are attached to the spherical shell 81 at intervals of 90 degrees in the illustrated example. When the spherical shell 81 is rotated together with the inspection apparatus 1 about the axis (x, y, z axis) by the predetermined angle (90 degrees), the iron ball 82 has a lower end before the rotation. Away from the magnet 83 that attracted the iron ball 82 and moved forward of any one of the axes with respect to the magnet 83. By being attracted to adjacent magnets 83 (magnets 83 newly positioned at the lower end by the rotation) at intervals of a predetermined angle (90 degrees), the in-furnace inspection apparatus 1 can move only by the predetermined angle (90 degrees). Stable in a rotated state (posture). Therefore, the posture stabilization mechanism 46 can stably stabilize the posture of the in-furnace inspection apparatus 1 with a simple configuration.

  Further, according to the in-furnace inspection apparatus 1 of the present embodiment, since the oil is filled in the spherical shell 81 of the posture stabilization mechanism 46, for example, the spherical shell 81 together with the in-core inspection apparatus 1 is formed as described above. By rotating the predetermined angle (90 degrees) around any axis, the iron ball 82 moves away from the magnet 83 that attracted the iron ball 82 before the rotation, and the magnet 83 and the When the magnet 83 is attracted to the adjacent magnet 83 at an interval of the predetermined angle (90 degrees) around the axis, a resistance is given to the iron ball 82 that rolls in the spherical shell 81 by the oil. Since the rolling of the sphere 82 can be quickly converged and adsorbed to the adjacent magnet 83 quickly, the posture of the in-furnace inspection apparatus 1 can be quickly stabilized.

  Further, according to the in-furnace inspection apparatus 1 of the present embodiment, the tip portion is positioned before the ultrasonic device 43, and the tip portion abuts on the portion to be inspected 42, so that the ultrasonic device 43 and the subject are inspected. By having the positioning rod 47 that keeps the distance from the portion 42 constant, the distance between the ultrasonic device 43 and the portion to be inspected 42 is held constant by the positioning rod 47, so that the portion to be inspected by the ultrasonic device 43 is 42 inspections can be performed reliably.

Further, according to the transportable input device 17, the cable 134 by and cable take-up device 21C feeding cable 27 also downward by a cable take-up device 21A with feed the cable 135 by the cable winding device 21B downwards even downward When extended, the locking portion 24 of the inspection device introduction tube 19 having a telescopic structure is locked to the locking portion 30 of the inspection device carry-in path, and the inspection device introduction tube 19 extends, whereby the accommodation portion of the inspection device introduction tube 19 is extended. The in-core inspection device 1 accommodated in the reactor 25 is introduced (loaded) into the reactor vessel 2. That is, transportable in input device 17, for introducing the furnace inspection apparatus 1 by using the inspection device inlet pipe 19 of the telescopic structure the reactor vessel 2 (loading), the loading device in a compressed state inspection device inlet pipe 19 Introducing the in-reactor inspection device 1 into the reactor vessel 2 by placing the inspection device 17 above the reactor vessel 2 and extending the inspection device introduction pipe 19 into the reactor vessel 2 from this state. Can do. For this reason, even if the space above the reactor vessel 2 is narrow, the in-reactor inspection device 1 can be easily carried into the reactor vessel 2. That is, it is possible to realize a loading device suitable for loading the in-core inspection device 1 that inspects the inside of the reactor vessel 2.

Further, according to the transportable input device 17, since the swimming part of the cable 27, the float 136 comprising a bellows-shaped cylindrical body having flexibility so as to cover the swimming part is provided, the float 136 To prevent the load on the cable 27 from being applied to the in-furnace inspection apparatus 1, and the float 136 follows even if the navigation direction of the in-core inspection apparatus 1 changes. Therefore, since it bends (bends) easily in the navigation direction, it does not interfere with the navigation of the in-furnace inspection apparatus 1.

Incidentally, the inspection equipment of the present invention, but is useful when applied to the case of inspecting the reactor vessel, especially in a nuclear reactor of the sodium cooled reactor, it is not necessarily limited to this, other than the reactor It can also be applied to the inspection target equipment. Further, in this case, the present invention is not limited to liquid sodium, and can also be applied to a case where a portion to be inspected in a facility to be inspected is navigated through a liquid metal other than liquid sodium.

The present invention is to sail liquid metal in the inspected facility by propulsion thruster, which relates to the detection査装location you inspect the inspection portion of the inspected features the inspection means, in particular sodium This is useful when inspecting the inside of a reactor vessel of a cooling reactor.

It is a figure which shows the structure of the whole system of the in-furnace inspection apparatus which concerns on the embodiment of this invention. It is a figure which shows the in-core inspection apparatus which concerns on the example of embodiment of this invention, and its carrying-in apparatus with the reactor vessel to which these are applied. It is a figure which shows the in-core inspection apparatus which concerns on the example of embodiment of this invention, and its carrying-in apparatus with the reactor vessel to which these are applied. It is a figure which shows the in-core inspection apparatus which concerns on the example of embodiment of this invention, and its carrying-in apparatus with the reactor vessel to which these are applied. It is a perspective view which shows the external appearance of the said furnace inspection apparatus. It is a side view which shows the said furnace inspection apparatus partially fractured | ruptured. It is another side view (B direction arrow view of FIG. 6) which shows the said furnace inspection apparatus partially fractured | ruptured. It is a front view (C direction arrow view of FIG. 7) which shows the said furnace inspection apparatus partially fractured | ruptured. It is a rear view (D direction arrow view of FIG. 7) which shows the said furnace inspection apparatus partially fractured | ruptured. It is a longitudinal cross-sectional view of the propulsion device (AC induction magnetic field type electromagnetic pump) equipped in the in-furnace inspection device. (A) is the EE arrow directional cross-sectional view of FIG. 10, (b) is the L direction arrow directional view of FIG. It is a perspective view which extracts and shows a part of said propelling device. It is a longitudinal cross-sectional view of the propelling device (AC induction magnetic type electromagnetic pump) of the other shape mounted in the said inspection apparatus in a furnace. (A) is the FF arrow directional cross-sectional view of FIG. 13, (b) is the M direction arrow directional view of FIG. FIG. 3 is a partially broken perspective view showing an extracted part of the propulsion device. (A) is an external view of the posture stabilization mechanism equipped in the in-furnace inspection device, (b) is a sectional view of the posture stabilization mechanism, and (c) is an exploded view of the posture stabilization mechanism. (A) is a figure which shows a mode that a part of gravity center adjustment mechanism with which the said in-furnace inspection apparatus was equipped is assembled, (b) is a figure which shows a mode that the whole said gravity center adjustment mechanism is assembled, (c) is the said after assembly. It is a figure which shows a gravity center adjustment mechanism partly broken. It is sectional drawing which shows the structure of the propelling device for the conventional furnace inspection apparatuses.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 In-core inspection apparatus 2 Reactor vessel 3 Building 4 Floor 5 Guard vessel 6 Core tank 7 Core support structure 7a Hole 8 Control rod drive device 9 Lid 9a Hole 11 Sodium supply pipe 12 Liquid sodium 12a Liquid level 13 Floor 14 Equipment carry-in Pipe 14a, 14b Extension pipe 15 Gate valve 16 Overhead crane 17 Carry-in device 18 Case 19 Inspection device introduction pipe 21A, 21B, 21C Cable winding device 21A-1, 21B-1, 21C-1 Rotating drum 23a, 23b, 23c, 23d Cylindrical body 24 Locking portion 25 Housing portion 27 Cable 27A Cable 27B Optical fiber cable 27C, 27D, 27E, 27F Electric cable 28 Pulley 29 Gate valve 30 Locking portion (periphery of the hole in the lid of the reactor vessel)
41 (41A, 41B, 41C, 41D, 41E, 41F) propulsion device (AC induction magnetic field type electromagnetic pump)
42 Inspected part 43 Ultrasonic device 44 Housing 45A, 45B, 45C, 45D, 45E, 45F Center of gravity adjustment mechanism 46 Posture stabilization mechanism 47 Positioning rod 52 Posture sensor 53 Cable connection part 54 Hook 61 Inductive coil 62 Coil support 63 Cylindrical body ( Body)
63A outer cylinder 63B inner cylinder 63C end 63a inner peripheral surface 63a-1 taper surface 64 core 64A main body 64B end 64B-1 conical surface 64a outer peripheral surface 65 flow path 66 support pin 71 induction coil 72 coil support 73 cylindrical body 73A End 73a Outer peripheral surface 73a-1 Tapered surface 74 Core 74A End portion 74a Inner peripheral surface 74a-1 Tapered surface 75 Flow path 76 Support pin 81 Ball shell 81A First hemispherical shell 81A-1 Flange portion 81A-2 Groove 81B First 2 hemispherical shell 81B-1 flange portion 81B-2 projection 82 iron ball 83 magnet 84 projection 84a recess 85 bolt 86 oil injection port 101 torque / feed amount control device 102 imaging device 103 vehicle control device 104 inspection image display 105 position Direction indicator 106 Operation / input device 11 Ultrasonic Pulser 112 Ultrasonic Oscillator Switch 113 Laser Oscillator 114 Optical Switch 115 Laser Interferometer 116 Light Receiver 117 Controller 118 Image Processing Device 121 Ultrasonic Pulser 122 Ultrasonic Oscillator Switch 123 Ultrasonic Signal Converter 124 Ultrasonic Signal Converter 124 125 Sensor signal processor 126 Propeller controller 131 Ultrasonic oscillator 132 Ultrasonic receiver 133 Sensors 134 Electric cable 135 Cable 136A Float 136B Cable cover 141 Screw shaft 142 Storage pipe 142a End surface 143 Weight mounting rod 144 First nut 145 Weight holding plate 146 Second nut 147 Weight 147a Recess

Claims (1)

In an inspection apparatus for navigating the liquid metal in the inspection target facility by the propulsion force of the propulsion device and inspecting the inspected part in the inspection target facility by the inspection means ,
The propulsion device is an AC induction magnetic field type electromagnetic pump,
It is equipped with center of gravity adjustment means for adjusting the center of gravity position of the inspection device,
The center-of-gravity adjusting means includes a screw shaft disposed along each of three propulsion directions orthogonal to each other, a weight having a cylindrical shape through which these screw shafts are inserted, and a screw formed on the outer peripheral surface. A mounting rod; one or a plurality of weights detachably mounted on an outer peripheral surface of the weight mounting rod; a first nut fixed to one end of the weight mounting rod; and the weight mounting rod And a weight holding plate fixed to the other end side of the weight mounting rod and a second nut for holding the weight. Inspection device.

Images