JP5412461B2 - Remote surface inspection apparatus, remote surface inspection method, and underwater remote surface inspection method for reactor internal structure - Google Patents

Description

  The present invention relates to a remote surface inspection apparatus, a remote surface inspection method, and a method for underwater remote surface inspection of a reactor internal structure, in which a surface shape of a nuclear reactor internal structure or the like is investigated remotely by a replica agent.

  For example, when a crack occurs in a reactor internal structure of a nuclear power plant, the size and shape of the crack are an important evaluation index for investigating the cause of the crack and predicting its subsequent progress. For this reason, it is desired to easily observe the surface shape of the surface of the reactor internal structure. As a method of observing the surface shape of the surface of the reactor internal structure, it is difficult for the inspector to approach the surface of the specimen after the operation of the reactor, so the surface shape of the reactor internal structure is transferred remotely. It is shown in Patent Document 4 that the observed replica is magnified. As for the method and apparatus for remotely transferring the surface shape of the reactor internal structure, there is a method and apparatus for forming a sealed space by the specimen surface and the replica collection device and injecting the replica agent into the sealed space. Patent Document 1 to Patent Document 4 show.

  Patent Documents 1 to 4 all relate to a method and apparatus for remotely transferring the surface shape of a structure by forming a sealed space by a specimen surface and a replica collection device, and applying a replica agent in the sealed space. It has the characteristics to inject.

JP-A-7-325184 JP 2002-71537 A JP 2003-262695 A JP 2010-96563 A

However, for complex curved surfaces such as welds at the bottom of the reactor, it may be difficult to form a sealed space with the specimen surface and the replica collection device, and a replica collection method that does not require the formation of a sealed space is desired. It is rare.
The present invention has been made in view of the above-mentioned problems, and its purpose is to exist in a place where a person cannot approach directly, and in particular to a structure having a complicated curved surface shape, without easily forming a sealed space. It is an object to provide a remote surface inspection apparatus or a remote surface inspection method that can transfer the surface shape of the surface of the reactor to a replica and observe the surface shape or an underwater remote surface inspection method of a reactor internal structure.

In order to achieve the above object, the present invention has at least the following features.
In a remote surface inspection apparatus that supplies a replica agent to the surface of the subject, and remotely transfers and investigates the surface shape of the subject, a gap forming member that forms a gap with the surface of the subject; and An apparatus transfer means for remotely supplying a replica agent to a gap formed by the gap forming member and the subject, and an apparatus transfer means for transferring the gap forming member and the replica agent supply means to the vicinity of the surface of the subject. This is the first feature.

  Further, the present invention provides a remote surface inspection method in which a replica agent is supplied to the surface of a subject, and the surface shape of the subject is transferred and investigated by remote operation, and the facing member having a surface facing the subject is A subject is remotely faced to form a gap with the surface of the subject, and then the replica agent is supplied into the gap, and the replica agent is held in the gap for a predetermined time. The second feature is that the surface shape of the subject is cured and transferred to the replica agent.

  Further, the present invention provides the gap forming member having a facing member having a surface facing the subject, and the facing surface at a position where the replica agent can be held by the surface tension of the replica agent in the gap. The third feature is to have a separating member.

In addition, the present invention is characterized in that the facing surface has a shape similar to the uneven shape of the subject.
Furthermore, a fifth feature is that the replica agent is a two-component curing type.
Further, the present invention is characterized in that a replica agent supply port for supplying the replica agent to the gap is provided on the facing surface. Further, the present invention provides a replica agent for a subject in water. In the remote surface inspection method for an in-reactor structure in which the surface shape of the subject is transferred and observed by remote operation, the remote surface inspection device according to any one of the first or third to sixth features is provided. The gap forming member is guided to the subject by remote operation from the water and fixed in a state where a gap is formed between the surface and the surface of the subject, and the replica agent is supplied into the gap, Holding the replica agent for a predetermined time to transfer the surface shape of the subject to the replica agent, and then collecting the replica agent having transferred the surface shape of the subject together with the remote surface inspection device, Recovered A seventh feature is that the surface shape of the subject transferred to the replica agent is observed.

  According to the present invention, the surface shape of a region existing in a place where a person cannot approach directly, particularly a complicated curved surface shape, can be easily transferred to a replica without forming a sealed space. A remote surface inspection device or a remote surface inspection method that can be observed or an underwater remote surface inspection method for a reactor internal structure can be provided.

It is a figure explaining the 1st Example of the apparatus which transfers the surface shape of the structure which exists in the place where a person cannot approach directly with a two-component curing type replica agent. It is a figure explaining the Example of the method of transcribe | transferring the surface shape of the structure which exists in the place where a person cannot approach directly. It is a figure explaining the Example of the member which forms a clearance gap between the curved object surface. It is a figure explaining the Example of the underwater remote investigation method which investigates the nuclear reactor internal structure surface shape. It is a figure explaining the procedure of the Example of the underwater remote investigation method which investigates the nuclear reactor internal structure surface shape.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Example 1
First, a remote surface inspection device 2 that investigates the structure surface shape, which is a feature of the present embodiment, will be described with reference to FIG. FIG. 1 shows an embodiment of a remote surface inspection apparatus for transferring and investigating a surface shape of a structure existing in a place where a person cannot approach directly with a two-component curing type replica agent. In this embodiment, the main body portion of the remote surface inspection device 2 for investigating the surface shape of the structure attached to the tip of the operation pole 1 is guided to the structure (subject 3) by remote operation, This is an example of a remote surface inspection device that forms a gap 4 between them and transfers the surface shape of the subject 3 to the replica agent 5 for investigation.

  The remote surface inspection device 2 that investigates the surface shape of the structure includes at least a gap forming member 6 that forms a gap with the surface of the subject 3, and a gap 4 that is formed by the gap forming member 6 and the subject 3. A replica agent supply means 7 for supplying the two-component curing type replica agent 5 by remote operation, and a device transfer means 8 for transferring the gap forming member 6 and the replica agent supply means 7 to the surface of the subject 3 are provided. .

  The gap forming member 6 that forms a gap between the subject surface and the subject surface is at least a facing member 9 having a surface facing the subject surface, and a gap 4 formed by the facing member 9 and the subject 3 in a two-component curing type. A replica agent supply port 10 for supplying the replica agent 5 and a height dimension equal to or smaller than the maximum dimension of the gap 4 that can hold the replica agent 5 in the gap by the surface tension of the replica agent 5 to be used, that is, And a protrusion 11 that is a separation member that defines a separation distance from the subject. The replica agent supply port 10 is connected to a replica agent cartridge 13 of the two-component curing type replica agent 5 by a replica agent supply pipe 12.

  The replica agent supply means 7 includes at least the replica agent cartridge 13 and a hydraulic cylinder 14. By supplying water from a hand pump or the like connected to the hydraulic cylinder 14 via a pressure hose 15, the hydraulic cylinder 14 can be extended and the replica agent 5 can be supplied from the replica agent cartridge 13 to the gap 4.

  As the device transfer means 8, the operation pole 1 is used in this embodiment. As another method, there is a method in which the base 27 of the remote surface inspection device 2 is slid on the rail provided in the structure and moved to the subject 3.

  Next, the surface transfer method of the structure surface shape in the first embodiment will be described with reference to FIGS. FIG. 2 shows an example of a method for transferring the surface shape of a structure existing in a place where a person cannot approach directly using the remote surface inspection apparatus 2 of FIG. 1, and is an example of a construction procedure.

  In replica transfer of the surface shape of the subject 3, first, the gap forming member 6 and the replica agent supply means 7 are transferred to the replica transfer position of the surface shape of the subject 3 using the device transfer means 8 (Step 1). At this time, it is desirable to operate the operation pole 1 while checking the surrounding interference object and the target position with a CCD camera or the like (not shown). A gap 4 is formed between the subject 3 and the facing member 9 by bringing the protrusion 11 of the gap forming member 6 into contact with the surface of the subject 3 (Step 2). Subsequently, for example, the state of the gap 4 is maintained by fixing the operation pole 1 as the device transfer means 8 so that the gantry 16 is pressed in the direction of the subject 3 (Step 3). Subsequently, the hydraulic cylinder 14 of the replica agent supply means 7 is extended to supply the two-component curing type replica agent 5 into the gap 4 (Step 4). At this time, the supplied replica agent 5 is held in the gap 4 by its own surface tension. After the time until the replica agent 5 is cured (Step 5), the fixing by the apparatus transfer means 8 is released, and the replica agent 5 to which the surface shape of the subject 3 is transferred is recovered (Step 6).

According to the first embodiment described above, the replica agent is transferred to the surface shape of the structure remotely without providing the gap 4 between the facing member 9 and the subject 3 and forming a difficult-to-form sealed space. A remote surface inspection apparatus and a remote surface inspection method capable of obtaining a replicated replica can be provided.
(Example 2)
Next, a more specific configuration of the gap forming member 6 that forms a gap with the surface of the subject constituting the remote surface inspection apparatus 2 that investigates the surface shape of the structure of the present invention will be described with reference to FIG. To do. FIG. 3 shows an example of the gap forming member 6 that forms the gap 4 between the curved surface of the surface of the subject 3 and a replica of the curved shape of the surface of the specimen 3 represented by the reactor bottom weld 23 is obtained. It is a figure which shows a case.

  The gap forming member 6 includes at least a facing member 9 having a surface facing the subject, and a replica agent supply port 12 capable of supplying the two-component curing type replica agent 5 to the gap 4 formed by the facing member 9 and the subject 3. And a protrusion 11 that is a separation member that defines a distance between the facing member 9 and the subject 3, that is, a distance between the facing member 9 and the subject. The height dimension (separation distance) of the gap 4 formed between the facing member 9 and the subject 3 is used in advance in an environment equivalent to the replica collection position (temperature, pressure, air or water). The maximum gap height dimension that the replica agent 5 can hold in the gap is confirmed by the surface tension of the replica agent 5, and the height of the protrusion 11 is set so as to be equal to or less than the maximum gap height dimension. Specifically, when the replica agent 5 cannot be held in the gap with the set gap height dimension, the height of the protrusion 11 is lowered until the replica agent 5 can be held in the gap. The shape of the facing member 9 is preferably a shape similar to the uneven shape of the subject 3. For example, when the subject 3 as shown in FIG. 3 has a curved surface shape, the shape of the facing member 9 is a curved surface similar to the shape of the subject 3.

  According to the second embodiment described above, the protrusion 11 having a height for holding the replica agent 5 with its surface tension is provided in the gap 4 formed between the facing member 9 and the subject 3. Thus, a replica in which the surface shape of the subject 3 provided remotely on the surface of the structure is transferred without forming a sealed space that is difficult to form in the case of a curved surface shape typified by the reactor bottom weld 23. Remote surface inspection device and remote surface inspection method can be provided.

Further, according to Example 2 described above, even when the uneven shape of the subject surface is different, the surface shape of the facing member 9 is similar to the surface shape of the subject 3, and the gap 4 is caused by the surface tension of the replica agent 5. As long as the replica agent 5 can be held inside, a replica obtained by transferring the surface shape of the subject 3 using the same facing member 9 can be obtained.
(Example 3)
A third embodiment in which the remote surface inspection apparatus 2 of the present invention is used in a remote inspection method for investigating the surface shape of a reactor internal structure will be described with reference to FIGS. FIG. 4 shows an example of a remote survey method for investigating the surface shape of the reactor internal structure, and FIG. 5 shows an example of the survey procedure.

  In the method of observing the surface shape of the structure inside the nuclear reactor, first, the remote surface inspection device 2 for investigating the surface shape of the structure is guided to the subject 3 by remote operation from the water, and between the surface of the subject 3 It fixes in the state which formed the clearance gap 4 in (Step1-Step3). The operation pole 1 can be used for remote control from the water, but a manipulator (not shown) can also be used. Note that it is desirable that the manipulator to be used can control the coordinate position of the tip. Further, the guidance to the subject 3 is performed while photographing the surrounding interference object and the target position with the CCD camera 16 and confirming the image on the television monitor 17 (Step 1). A gap 4 is formed between the surface of the subject 3 and the facing member 9 by the protrusion 11 contacting the subject 3 (Step 2). In this state, the remote surface inspection device 2 for investigating the surface shape of the structure by the hydraulic cylinder 18 is pressed against the surface of the subject 3 and fixed (Step 3). The hydraulic cylinder 18 is driven by supplying water to the hydraulic cylinder 18 by a hand pump 20 connected to the pressure hose 19. The hydraulic cylinder 18 is provided on a support pedestal 26 that is in contact with a support 25 that is a reactor internal structure. As a specific example of the column 25, a shroud support leg, a control rod drive mechanism housing, or the like can be adopted.

  Thereafter, the replica agent 5 is supplied into the gap 4 formed between the surface of the subject 3 (Step 4). The replica agent 5 is supplied by the replica agent supply means 7. Specifically, the hydraulic cylinder 14 is driven by supplying water to the hydraulic cylinder 14 by a hand pump 21 connected to the pressure hose 15, and the replica agent is supplied from the replica agent cartridge 13 through the replica agent supply pipe 12. The replica agent 5 is supplied into the gap 4 from the supply port 10. At this time, the supplied replica agent 5 is held in the gap 4 by its own surface tension.

  Next, after the time until the replica agent 5 is cured (Step 5), the remote surface inspection device 2 for investigating the surface shape of the structure by the hydraulic cylinder 18 is released (Step 6), and the surface of the subject 3 is removed. The replica agent 5 to which the shape is transferred is collected together with the remote surface inspection device 2 that investigates the surface shape of the structure (Step 7). By observing the surface shape of the specimen 3 transferred to the recovered replica agent 5 with an optical microscope or the like, the surface shape of the reactor internal structure is observed in detail (Step 8).

  According to the third embodiment described above, it is possible to obtain a replica in which the surface shape of the reactor internal structure in the water intermediate environment is transferred remotely without forming a sealed space that is difficult to form. It is possible to provide a remote surface inspection apparatus and a remote surface inspection method for observing the surface shape of the internal structure in detail.

  As described above, according to the present invention, the requirement for collecting a replica of the surface shape of the subject is from the formation of a sealed space including the subject surface to the formation of a gap with the subject surface. Be changed. As a result, the tolerance for the three-dimensional shape of the subject and the dimensional error of the replica collection device is greatly increased, so that the application range of the replica collection device can be greatly expanded.

  INDUSTRIAL APPLICABILITY The present invention can be applied to the investigation of the surface state of a structure part in which it is difficult to form a sealed space for creating a replica in a temperature, pressure, air or underwater environment that cannot be approached directly by humans. In particular, it can be applied by underwater remote operation, and is optimal for investigations into nuclear reactor nuclear reactor structures.

1: Operation pole 2: Remote surface inspection device 3: Subject 4: Gap 5: Replica agent 6: Gap forming member 7: Replica agent supply means 8: Device transfer means 9: Facing member 10: Replica agent supply port 11: Projection Material 12: Replica agent supply pipe 13: Replica agent cartridge 14, 18: Hydraulic cylinder 15, 19: Pressure hose 16: CCD camera 17: Television monitor 20, 21: Hand pump 23: Reactor bottom weld 25: Strut 26 : Support base 27: Mounting base

Claims (6)

In a remote surface inspection device that supplies a replica agent to the surface of a subject and transcribes and investigates the surface shape of the subject by remote control.
Wherein the gap forming member forming a gap between the object surface, and the replica agent supply means for supplying remotely replica agent into the gap formed by the subject and the gap forming member, the gap forming member a device transfer means for transferring to the vicinity of the surface of the subject to the replica agent supply means and,
The gap forming member includes a facing member having a surface facing the subject, and a spacing member that separates the facing surface at a position where the replica agent in the gap can be held by a surface tension of the replica agent. A remote surface inspection device characterized by comprising: The remote surface inspection apparatus according to claim 1 , wherein a replica agent supply port for supplying the replica agent to the gap is provided on the facing surface. Said facing surfaces, said claim 1 or, characterized in that it has a shape similar to the subject of the irregularities is remote surface inspection apparatus according to 2. The remote surface inspection apparatus according to claim 1 or 2 , wherein the replica agent is a two-component curing type. In a remote surface inspection method in which a replica agent is supplied to the surface of an object, and the surface shape of the object is transferred and investigated by remote operation.
A facing member having a surface facing the subject is remotely faced to the subject to form a gap with the surface of the subject, and then the replica agent is supplied into the gap, and the replica agent the surface shape of the subject by curing the replica agent is maintained for a predetermined time in the gap is transferred to the replica agent,
The gap is formed by separating the facing surfaces at a position where the replica agent in the gap can be held by the surface tension of the replica agent . In a remote underwater surface inspection method for a reactor internal structure in which a replica agent is supplied to a subject underwater in a reactor internal structure, and the surface shape of the specimen is transferred and observed remotely.
Fixing claims 1 in a state that a gap is formed between the fourth aspect of any of the remote surface inspection apparatus wherein the gap forming member induces to the subject remotely from the water to the subject surface of the and, wherein said replica agent is supplied to the gap, it is transferred to the replica agent the gap within a predetermined time held to the surface shape of the subject by curing the replica agent to the replica agent, then the remote wherein together with the surface inspection apparatus by collecting the replica agent transferring the object surface shape, the recovered the transferred to the replica agent, characterized in that to observe the subject surface shape nuclear reactor internal structure Underwater remote surface inspection method.

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