JP5508972B2 - In-reactor piping work apparatus and in-reactor piping work method - Google Patents

Description

  The present invention relates to an in-reactor piping work apparatus and method for performing various operations such as inspection and repair of in-reactor piping such as core spray piping when the operation of the reactor is stopped.

  As shown in FIG. 12, the core spray pipe 3 is installed between the reactor pressure vessel 1 and the shroud 2 and is connected to the header 5 via a cooling water nozzle 4 disposed through the reactor pressure vessel 1. At the same time, it is connected to the shroud 2 through a pipe 6 and an elbow 7. In the core spray pipe 3, welding is performed to connect the pipe 6, the elbow 7, and the like.

  Here, the inspection and inspection work of the weld line of the core spray pipe 3 performed by opening the upper part of the reactor pressure vessel 1 when the reactor operation is stopped will be described as an example. The inspection and inspection work of the weld line of the core spray pipe 3 in the reactor water is required to be performed in parallel during the fuel change in order to shorten the work period and cost, and the work time, inspection range, and Cost advantage is required.

  The following has been proposed as a method for remotely and automatically performing inspections, inspections and preventive maintenance of reactor piping in the reactor water.

(1) Method of moving and positioning the inspection / repair device directly from the fuel changer (2) Method of positioning the inspection / repair device from the fuel changer to the in-furnace equipment (3) Method of using a swimming vehicle to position the inspection / repair device As a method related to 1), for example, in the methods described in Patent Document 1 and Patent Document 2, an operation pole is added from the fuel exchanger installed in the upper part of the furnace, and the inspection and repair device is moved directly to the core spray pipe. Positioning is possible, and a predetermined weld line is inspected. Further, in the method described in Patent Document 3, the inspection apparatus is moved directly to the core spray line by the hanging frame from the refueling machine installed in the upper part of the furnace so that it can be positioned, and a predetermined weld line is inspected. doing. Furthermore, in the method described in Patent Document 4, the inspection device is moved from the hoist of the fuel exchanger to the core spray pipe directly by the wire rope so as to be positioned, and a predetermined weld line is inspected.

  As a method related to the above (2), in the method described in Patent Document 5, for example, the inspection / repair device is suspended from the fuel exchanger installed in the upper part of the furnace, and the core spray pipe is not positioned directly on the core spray pipe. It is possible to position in the in-furnace structure in the vicinity.

JP 2001-116878 A US Pat. No. 5,568,527 JP 2007-256262 A JP 2002-148385 A JP 2005-345295 A

  Conventionally, inspection and inspection of weld lines for core spray piping, which is the piping of the main structure in a nuclear reactor, is carried out by workers operating the inspection and inspection equipment from above the fuel exchanger and work carriage. Since the workers proceeded with direct confirmation and monitoring of the operation status, the work time varied and the situation was prone to delay.

  Furthermore, in order to shorten the work period and cost, it is required to inspect and inspect the core spray piping in parallel during the fuel change, and the work time is short, the inspection range is wide, and the cost is low. This is necessary for work systems that perform inspections and inspections.

  As a technique for remotely / automatically inspecting and inspecting such core spray piping, for example, in the techniques described in Patent Document 1 to Patent Document 4, operation poles and wire ropes are used for movement and positioning of the inspection repair device. Yes. However, as in Patent Document 1 to Patent Document 4, in the method using an operation pole or a wire rope from a fuel exchanger or work carriage at the upper part of the furnace, the fuel exchanger or work carriage always stands by directly above the apparatus even during inspection and inspection. It is essential to do this, and it is considered unsuitable for parallel work during refueling.

  For example, in the technique described in Patent Document 5, a guide mechanism using an upper lattice plate or the like that is an in-furnace structure is used for positioning the inspection / repair device. However, the method using the guide mechanism as in Patent Document 5 has the effect of positioning the inspection probe welding line remotely and automatically by the inspection / repair device, but each time the inspection / repair device moves to the inspection / repair site, A work cart is necessary, and it is considered unsuitable for parallel work during refueling.

  The present invention has been made in order to solve the above-described problems, and when performing operations such as inspection and repair of the reactor core piping such as the core spray piping while the reactor is shut down, a short time is required without much labor. In addition, an object is to enable a wide range of work without using an operation pole or a wire rope during the work.

In order to achieve the above object, an in-reactor piping work device according to the present invention is placed on a cylindrical structure placed in a reactor pressure vessel with its axis vertical when the operation of the reactor is stopped. A horizontal traveling mechanism that travels horizontally along the cylindrical structure in the circumferential direction of the cylindrical structure; a mast attached to the horizontal traveling mechanism and capable of moving up and down and positioning in the vertical direction; A circumferential movement mechanism attached to the mast and movable along the circumferential direction of the in- furnace piping, and attached to the circumferential movement mechanism to approach or contact the outer circumferential surface of the in-furnace piping. And a probe to be performed.

Further, the reactor piping work device according to the present invention is placed on a cylindrical structure arranged in a reactor pressure vessel with the axis vertical when the reactor is stopped, and the cylindrical structure A horizontal traveling mechanism that travels horizontally in the circumferential direction of the cylindrical structure along the object, a mast that is attached to the horizontal traveling mechanism and that can be moved up and down and is positioned in the vertical direction, and is attached to the mast. , along the circumferential direction of the furnace pipe, and having a a feeding mechanism capable feeding a working medium for performing work close to or in contact with the outer peripheral surface of the furnace pipes.

  In the reactor piping work method according to the present invention, a cylindrical structure arranged with its axis vertical, and a reactor pipe arranged between the cylindrical structure and the reactor pressure vessel are the reactor pressure. An in-reactor piping operation method in which a probe is brought close to or in contact with the outer peripheral surface of the in-reactor piping when the operation of the reactor disposed in the vessel is stopped, and the upper part of the reactor pressure vessel is opened In a state where the reactor pressure vessel is filled with water, a traveling mechanism including a horizontal movement stage to which a mast is attached is transported from above the reactor pressure vessel and mounted on the upper end of the cylindrical structure. A transport placement step, and after the transport placement step, a horizontal movement stage, to which the mast is attached, is disposed horizontally along the upper end of the cylindrical structure in the circumferential direction of the cylindrical structure. By traveling After the horizontal running step, after the horizontal running step, a horizontal position adjusting step of operating the horizontal moving stage to move the mast horizontally with respect to the furnace pipe, and after the horizontal position adjusting step, the furnace A vertical position adjustment step for raising and lowering the mast attached to the horizontal movement stage toward the outer peripheral surface of the inner pipe, and after the vertical position adjustment step, the mast is attached to the mast and extends in the circumferential direction of the furnace pipe. And a working means moving step for moving the working means provided in the circumferential movement mechanism movable along the outer circumference of the in-furnace piping to move in the circumferential direction.

  Further, in the reactor piping work method according to the present invention, a cylindrical structure arranged with its axis vertical, and a reactor pipe arranged between the cylindrical structure and the reactor pressure vessel are the atomic unit. An in-reactor piping operation method for performing an operation by bringing a probe close to or in contact with the outer peripheral surface of the in-reactor piping when the operation of the reactor disposed in the reactor pressure vessel is stopped, In a state where the reactor pressure vessel is filled with water, the upper end of the cylindrical structure is transported from above the reactor pressure vessel by a traveling mechanism including a horizontal moving stage to which a mast is attached. A horizontal mounting stage to which the mast is attached horizontally in the circumferential direction of the cylindrical structure along the upper end of the cylindrical structure after the transfer mounting step; Traveling by the travel mechanism After the horizontal running step, after the horizontal running step, the horizontal moving stage is operated to move the mast horizontally with respect to the furnace pipe, and after the horizontal position adjusting step, A vertical position adjusting step for raising and lowering the mast attached to the horizontal movement stage toward the outer peripheral surface of the furnace pipe, and a circumferential direction of the furnace pipe attached to the mast after the vertical position adjusting step And a working means moving step for moving the working means provided in the feeding mechanism capable of being fed along the outer circumference of the furnace pipe in the circumferential direction by approaching or contacting the outer peripheral surface of the in-furnace piping.

  According to the present invention, when performing work such as inspection and repair of reactor piping such as core spray piping while the reactor is stopped, operation poles and wire ropes can be used in a short time without much labor. A wide range of work can be done without using the above.

1 is a side view showing a state where a first embodiment of an in-reactor piping work device according to the present invention is installed in a reactor. FIG. 2 is an enlarged partial cross-sectional elevation view showing the in-reactor piping work device of FIG. 1. It is the partial cross section side view seen from the arrow III direction of FIG. It is an enlarged plan view which shows the inspection repair part of FIG. It is an enlarged front view which shows the inspection repair part of FIG. It is a fragmentary sectional front view which shows the inspection repair part in 2nd Embodiment of the piping work apparatus in a reactor which concerns on this invention. It is a side view which shows the inspection repair part of FIG. It is a fragmentary sectional front view which expands and shows the sensor of the inspection repair part of FIG. It is a side view which expands and shows the sensor of the inspection repair part of FIG. It is a fragmentary sectional front view which expands and shows the use condition of the sensor in the inspection repair part of FIG. It is a side view which shows the state which installed 3rd Embodiment of the piping work apparatus in a reactor which concerns on this invention in the nuclear reactor. It is a schematic perspective view which shows reactor internal piping, such as a core spray piping, in a nuclear reactor.

  Embodiments of an in-reactor piping work device according to the present invention will be described below with reference to the drawings.

(First embodiment)
FIG. 1 is a side view showing a state in which a first embodiment of an in-reactor piping work device according to the present invention is installed in a reactor. FIG. 2 is an enlarged partial cross-sectional elevation view showing the in-reactor piping work device of FIG. 3 is a partial cross-sectional side view seen from the direction of arrow III in FIG. FIG. 4 is an enlarged plan view showing the inspection / repair portion of FIG. FIG. 5 is an enlarged front view showing the inspection / repair portion of FIG.

  The in-reactor piping work apparatus 11 shown here will be described by taking as an example a case where it is used for inspection and inspection work of the weld line of the core spray piping 3 when the operation of the boiling water reactor is stopped. Further, in the following embodiments, the configuration of the reactor internal piping such as the core spray piping is the same as the configuration shown in FIG.

  In FIG. 1, a shroud 2 that is a cylindrical structure is installed in a reactor pressure vessel 1, and a core spray pipe including a pipe 6 and an elbow 7 between the reactor pressure vessel 1 and the shroud 2. 3 is connected. The core spray pipe 3 penetrates the shroud 2 and is connected to the core spray purger 10a and the core spray purger 10b.

  The in-reactor piping work device 11 is installed on the upper ring 8 of the shroud 2 using a crane or a conveying means (not shown). At this time, the nuclear reactor is stopped, and the upper cover (not shown) of the reactor pressure vessel 1 and the shroud head, the steam separator, the steam dryer, etc. (not shown) installed above the shroud 2 (not shown). ) Is removed, and the reactor pressure vessel 1 is filled with water.

  The in-reactor piping work device 11 has a left / right moving stage 12 that can move horizontally in the left / right direction (circumferential direction of the shroud 2), and can be moved horizontally back and forth (in the radial direction of the shroud 2) toward the reactor pressure vessel 1 side. A forward / backward moving stage 13 is arranged. An elevating mechanism 16 that moves the entire mast 14 in the vertical direction is mounted above the front / rear moving stage 13. As shown in FIG. 3, the mast 14 is attached to an elevating mechanism 16 via a mast holding part 15, and an inspection repairing part 17 as a circumferential movement mechanism for inspecting and repairing the in-furnace piping is connected to the upper part and the lower part, respectively. ing.

  In the in-reactor piping work device 11, two wheels 18a and 18b are arranged on the left and right as shown in FIG. A drive motor 20 with a rotation sensor is connected to the wheel 18a via a pulley, a timing belt and a gear 19 (not shown). When the rotation sensor-equipped drive motor 20 is driven to rotate, the gear 19 rotates to rotate a timing belt and a pulley (not shown), whereby the wheel 18a and the wheel 18b rotate and move.

  Further, in the in-reactor piping work device 11, auxiliary wheels 21a, auxiliary wheels 21b, and measuring wheels 21c are arranged. The auxiliary wheel 21a and the auxiliary wheel 21b use a structure installed on the upper ring 8 to stabilize the apparatus posture during traveling. On the measurement wheel 21c, a rotation sensor (not shown) is mounted. The movement distance of the in-reactor piping work device 11 during travel can be measured by the sensor.

  The in-reactor piping work device 11 is provided with a left / right moving stage 12 that can move horizontally in the left / right direction. A drive motor 23 with a rotation sensor is connected to the ball screw 22 to the left / right moving stage 12. By rotating the nut to be rotated, the linear guide 24a and the linear guide 24b can move in the horizontal direction.

  A front / rear moving stage 13 that can move horizontally back and forth is provided on the left / right moving stage 12, and a drive motor 26 with a rotation sensor is connected to the ball screw 25, and a nut (not shown) of the ball screw 25 is connected to the front / rear moving stage 13. Can be moved in the front-rear and horizontal directions by the linear guide 27a and the linear guide 27b.

  As shown in FIG. 3, a distance sensor 50 a and a distance sensor 50 b for measuring the distance to the bracket 9 and the pipe 6 are attached to the traveling portion of the in-reactor piping work device 11. The position of the reactor piping work device 11 is controlled based on the measurement result of the sensor 50b.

  An elevating mechanism 16 is installed on the upper part of the back-and-forth moving stage 13. The elevating mechanism 16 includes a ball screw 28, a ball screw nut 29 coupled to the ball screw 28, and a linear guide for guiding the vertical movement of the ball screw nut 29. 30 and a drive motor 31 with a rotation sensor. A pulley 32a is fixed to the end of the ball screw 28, a pulley 32b is fixed to the output shaft of the drive motor 31 with a rotation sensor, and a timing belt 33 is wound between the pulley 32a and the pulley 32b. Yes. By rotating the drive motor 31 with a rotation sensor, the ball screw 28 is rotated to drive the ball screw nut 29, and the linear guide 30 raises or lowers.

  The ball screw nut 29 is provided with a mast holding portion 15 for gripping the mast 14, and the mast 14 can be moved up and down by moving the ball screw nut 29 in the vertical direction. On the upper part of the elevating mechanism 16, a monitoring camera 34 a for monitoring the position of the raised inspection / repair unit 17 and the pipe 6 and monitoring the state thereof is arranged.

  Here, as a method for horizontally moving the mast 14 in the circumferential direction (left and right direction) of the shroud 2, the left and right moving stage 12 is driven by a method by rotating the wheels 18a and 18b, and the linear guide 24a and linear guide 24b. There are two methods. The former is for large movements and the latter is for precise control of small movements.

  An inspection repair portion 17a and an inspection repair portion 17b are detachably installed above and below the mast 14, respectively. In the following description, an inspection / repair portion installed above the mast 14 is denoted by reference numeral 17a, and an inspection / repair portion disposed below the mast 14 is denoted by reference numeral 17b. Since these inspection repair parts 17a and inspection repair parts 17b have the same configuration and operation, they will be described as the inspection repair part 17 when collectively described.

  The reason why the inspection / repair parts 17a and 17b are installed above and below the mast 14 as described above is that the upper part of the core spray pipe 3 is inspected or repaired by the inspection / repair part 17a installed at the upper side, while the inspection is installed at the lower side. This is because the repair portion 17b inspects or repairs the lower portion of the core spray pipe 3. On the mast 14, a monitoring camera 34b for monitoring the state and position of the inspection / repair unit 17 and a monitoring camera 34c are arranged at predetermined positions. Further, as shown in FIG. 3, the mast 14 is provided with an equal inclination according to the mounting inclination angle of the pipe 6 of the core spray pipe 3 so that the inspection / repair portion 17 can always approach the inspection / repair site.

  The drive motors 20, 23, 26 with rotation sensors, the monitoring cameras 34a, 34b, 34c, the distance sensors 50a, 50b, and the cables (not shown) of the rotation sensors are connected to a composite cable 36 via a cable relay box 35. The composite cable 36 is connected to a control device installed on the operation floor (not shown) so that it can be remotely controlled from the operation floor.

  As shown in FIGS. 4 and 5, the inspection / repair portion 17 includes a C-shaped rail mechanism 37 that is formed in a C shape in plan view and has an arc length corresponding to ½ of the outer periphery of the pipe 6, for example, a pipe A C-type probe 38 that moves along the outer peripheral surface of the pipe 6 to inspect or repair the weld line of the pipe 6, and a drive with a rotation sensor for moving the C-type probe 38 in an arc along the C-type rail mechanism 37 A motor 39 and a link mechanism 40 for rotating the drive motor 39 to move the C-type probe 38 in an arc in the C-type rail mechanism 37 are provided.

  Inside the C-type rail mechanism 37, grooves and guides are formed so that the C-type probe 38 can move in an arc. The C-type probe 38 is provided with a gear 42, and the gear 42 is connected to the output shaft of the drive motor 39 via a gear 43, a gear 44, and a gear 45. As shown in FIG. 4, the C-type probe 38 includes a plurality of sensors 41a and sensors 41b. The C-type probe 38 can travel a certain distance on the outer periphery of the pipe 6 by rotating the drive motor 39, and can inspect the weld line of the pipe 6 by the sensors 41a and 41b. The C-type rail mechanism 37 is provided with a measuring instrument (not shown) that measures the rotational distance of the C-type probe 38.

  The sensors 41a and 41b are inspection sensors. Examples of the inspection sensors include a volume inspection ultrasonic flaw detection sensor and an eddy current flaw detection sensor, and a visual inspection camera may be used instead of such a sensor. Good.

  As shown in FIG. 5, the link mechanism 40 is attached to a metal fitting 46 in which the inspection / repair unit 17 is connected to the mast 14 via a drive motor 47 with a rotation sensor, a gear 48, and a gear 49. By rotating and driving the drive motor 47 with the rotation sensor of the link mechanism 40, the C-type rail mechanism 37 can be driven to turn in the vertical and horizontal directions via the gear 48 and the gear 49. Thereby, for example, the inspection / repair unit 17 can approach the weld line of the elbow 7 as shown in FIG. 3, and can inspect or repair the weld line.

  Next, a work method for inspecting and inspecting the weld line of the core spray pipe 3 that is the pipe in the reactor will be described using the in-reactor pipe work apparatus 11 of the present embodiment.

  As shown in FIG. 1, when the reactor operation is stopped, the upper cover and shroud head of the reactor pressure vessel 1 are opened, and the reactor pressure vessel 1 is filled with water. In that state, the in-reactor piping work device 11 is suspended from the operation floor in the reactor containment vessel 1 using a crane (such as an overhead crane or a hoist) and a lifting tool and placed on the upper ring 8.

  Next, the mast 14 is positioned in the horizontal direction by the operations of the left and right moving stage 12 and the back and forth moving stage 13. Thereafter, the mast 14 is moved up and down by the elevating mechanism 16 to adjust the vertical position of the upper and lower inspection repair parts 17 to position the vertical position.

  Thereafter, the drive motor 39 with a rotation sensor is driven to rotate, the C-type probe 38 is moved in an arc in the C-type rail mechanism 37, travels a certain distance on the outer periphery of the pipe 6 of the core spray pipe 3, and the sensor 41a and the sensor 41b. Thus, the weld line of the pipe 6 can be inspected. Here, when inspecting the weld line of the elbow 7, the C-type rail mechanism 37 of the inspection / repair portion 17 is driven to pivot in the vertical direction and the horizontal direction, and is positioned on the weld line of the elbow 7 of the core spray pipe 3.

  In this way, the left and right moving stage 12, the back and forth moving stage 13, and the lifting mechanism 16 are driven and controlled, and the inspection / repair portion 17 connected to the mast 14 is positioned at the welded portion of the pipe 6 and brought close to the sensor 41a and the sensor 41b. The weld line of the pipe 6 can be inspected by bringing it into contact.

  In the present embodiment, the case where inspection and inspection work is performed by the inspection / repair unit 17 has been described. However, the present invention is not limited to this, and preventive maintenance work using, for example, a laser peening head as work means mounted on the inspection / repair unit 17 Repair work using a welding head is also possible.

  According to the in-reactor piping work device according to the present embodiment described above, when performing work such as inspection and inspection of the weld line of the core spray pipe 3 during the fuel change, the overhead crane and the work carriage are inspected during the inspection and inspection. Without use, the in-reactor piping work device 11 and the inspection / repair unit 17 can inspect, inspect, and repair the weld lines existing in the piping 6 and the elbow 7 of the core spray piping 3. In addition, device control and device monitoring can be performed remotely and automatically, reducing manual work and shortening the work time. As a result, the regular inspection process can be shortened and costs can be reduced.

  Furthermore, according to the in-reactor piping work device according to the present embodiment, the means for rotating the C-type rail mechanism 37 in the vertical direction and the horizontal direction is provided, thereby positioning the welding line of the elbow 7 of the core spray piping 3. Therefore, the weld line of the elbow 7 can be inspected.

  In this embodiment, the sensor 41a and the sensor 41b are brought into contact with the pipe 6 mainly for inspection and inspection work of the weld line of the pipe 6. However, the present invention is not limited to this. In some cases, such as when performing inspections, they are simply brought close to each other without contact.

(Second Embodiment)
FIG. 6 is a partial cross-sectional front view showing an inspection / repair portion in the second embodiment of the in-reactor piping work device according to the present invention. FIG. 7 is a side view showing the inspection / repair portion of FIG. FIG. 8 is an enlarged partial cross-sectional front view showing the sensor of the inspection / repair unit in FIG. 6. FIG. 9 is an enlarged side view showing the sensor of the inspection / repair unit shown in FIG. FIG. 10 is an enlarged partial cross-sectional front view showing a use state of the sensor in the inspection / repair portion of FIG. In the present embodiment, the same parts as those in the first embodiment will be described with the same reference numerals. The same applies to other embodiments.

  As shown in FIG. 6 and FIG. 7, the inspection / repair portion 60 as a feeding mechanism is brought into contact with the outer peripheral surface of the pipe 6 at a certain interval by a guide 61 in contact with the outer peripheral surface of the pipe 6. Inside the storage portion 60a of the inspection / repair portion 60, a tape 62 having a certain thickness and width and wound in a spiral shape and having a sensor 66 attached to the tip thereof, and a sensor cable 51 wound in a spiral shape. And are arranged. The sensor 66 is an ultrasonic sensor that inspects the outer surface of the pipe 6, for example.

  A gear 64b is attached to the output shaft of the drive motor 65 with the rotation sensor, and the gear 64a is engaged with the gear 64b. The tape 62 is guided in a feeding direction and a winding direction by a guide roller 63a, a guide roller 63b, and a guide roller 63c. The link mechanism 40 is attached to a metal fitting 46 that connects the mast 14 and the inspection / repair unit 60, and a drive motor 47 is attached to the link mechanism 40 via a gear (not shown).

  Openings 67 are formed in the tape 62 at regular intervals along the length direction so that the tooth tips of the gear 64a enter. The feeding end portion of the tape 62 is held at a predetermined position by the guide roller 63a, the guide roller 63b, and the guide roller 63c, and the gear 64a and the gear 64b are rotated by rotating the drive motor 65 with a rotation sensor. The inspection can be performed by bringing the sensor 66 into contact with the tape 62 along the outer surface of the pipe 6.

  The tape 62 is formed of a material having a certain degree of elasticity, such as a mainspring spring, a helical spring, and a shape memory alloy. Since the tape 62 is wound in a small diameter in the state of being housed in the housing portion 60a of the inspection / repair portion 60, when the tape 62 is drawn out, the elastic force that bends the tip inward with respect to the traveling direction. The sensor 66 can be moved forward so as to follow the outer peripheral surface of the pipe 6. In other words, the tape 62 has a function of urging the sensor 66 in the piping direction.

  In addition, a wire rope (not shown) is laid along the inside of the tape 62 from the tip portion of the tape 62, and the sensor 66 is moved forward so as to follow the outer peripheral surface of the pipe 6 by pulling the wire rope. Can be moved. The sensor 66 can be moved along the outer periphery of the pipe by feeding out the tape 62 even for pipes having different outer diameters, and can be applied to pipes of various outer diameters with a single device.

  As shown in FIGS. 8 and 9, the sensor 66 of the inspection / repair unit 60 includes a probe 68. The probe 68 is connected to the tape 62 via a sensor fixing portion 69, a rotating shaft 70a, and a rotating shaft 70b. The sensor fixing portion 69 is attached to the rotating shaft 70a and the rotating shaft 70b. The sensor 71 is wound around the rotating shaft 70a and the spring 71b is wound around the rotating shaft 70b so as to push the sensor fixing portion 69 inward. ing. The probe 68 in contact with the pipe 6 with the tape 62 can always be measured by being brought into contact with the pipe 6 by the elastic pressing force of the springs 71a and 71b.

  FIG. 10 shows a state where the tape 62 and the sensor 66 are fed out from the inspection / repair unit 60 and the outer peripheral surface of the pipe 6 is inspected. As shown in FIG. 10, a bracket 9 is installed close to the pipe 6. Even if the gap between the pipe 6 and the bracket 9 is as narrow as several millimeters, the tape 62 and the sensor 66 are fed out through the gap by forming the thickness of the tape 62 and the sensor 66 below this embodiment. Can do. Therefore, it becomes possible to inspect the weld line of the pipe 6 in a narrow place.

  Next, an inspection / inspection work method of the weld line of the pipe 6 which is the pipe in the reactor will be described using the inspection / repair unit 60 of the present embodiment.

  Since the process until the positioning of the mast 14 in the horizontal direction and the vertical position is the same as that in the first embodiment, the description thereof is omitted.

  After positioning the mast 14 in the horizontal direction and the vertical position, the drive motor 65 with a rotation sensor is rotationally driven to rotate the gears 64a and 64b, so that the tape 62 is gradually drawn out so as to follow the outer peripheral surface of the pipe 6. It is possible to inspect along the weld line of the pipe 6 by moving the sensor 66.

  In the present embodiment, the case where inspection and inspection work is performed by the inspection / repair unit 60 as in the first embodiment has been described. However, the present invention is not limited to this, and working means mounted on the inspection / repair unit 60 include, for example, a laser. Preventive maintenance work using a peening head and repair work using a welding head are also possible.

  According to the in-reactor piping work device according to the present embodiment described above, the core spray piping 3 is inspected by the in-reactor piping work device in performing inspection, inspection or repair of the weld line of the core spray piping 3 during the fuel exchange. Inspection, inspection, and repair can be performed in a narrow space with welding lines in the pipe 6 and the elbow 7. In addition, inspection, inspection and repair of the pipes 6 having different diameters are possible.

  In the present embodiment, the sensor 66 is brought into contact with the pipe 6 mainly for inspection and inspection work of the weld line of the pipe 6. However, the present invention is not limited to this. In some cases, such as when performing repair work, the pipe 6 may be brought close to the work without being brought into contact therewith.

(Third embodiment)
FIG. 11 is a side view showing a state in which the third embodiment of the in-reactor piping work device according to the present invention is installed in the reactor.

  As shown in FIG. 11, in the present embodiment, an opening (not shown) is provided in the in-reactor piping work device 11, and the opening is gripped by a gripping part (not shown) of the lifting tool 72. The in-furnace piping work device 11 can be lifted. A suspension fitting 73 is attached to the upper end of the suspension 72, and a hoist, a crane, or a swimming underwater vehicle is attached to the suspension fitting 73 so that the in-reactor piping work device 11 can be transported. .

  According to the in-reactor piping work device according to the present embodiment described above, the in-reactor piping work device 11 can be lifted by being gripped by the lifting tool 72, so that the reliability of the transfer work of the in-reactor piping work device 11 is improved. Can be improved, and the working time when moving is shortened. In addition, if an underwater vehicle that moves by swimming is applied, it is possible to install and move the in-reactor piping work device 11 without using a crane, and the core without interfering with other in-reactor work in periodic inspection work. Inspection and inspection work of the spray pipe 3 can be performed.

  In each of the above embodiments, the sensor 41a, the sensor 41b, or the sensor 66 is brought into contact with the pipe 6 mainly for inspection and inspection work of the weld line of the pipe 6. However, when performing a visual inspection, etc. In some cases, the pipe 6 is merely brought close to the pipe 6 without being brought into contact therewith.

  For example, the mast holding unit 15 is moved by the horizontal movement stages 12 and 13 and the mast 14 is positioned. However, for example, a mechanism that expands and contracts in the radial direction of the reactor is incorporated in the mast holding unit 15. There may be positioning means for positioning on the horizontal plane of the nuclear reactor.

1 ... Reactor pressure vessel 2 ... Shroud (cylindrical structure)
3 ... Core spray piping (furnace piping)
4 ... Cooling water nozzle 5 ... Header 6 ... Piping (furnace piping)
7 ... Elbow (furnace piping)
8 ... Upper ring 9 ... Brackets 10a, 10b ... Core sparger 11 ... In-reactor piping work device 12 ... Left and right moving stage (horizontal moving stage)
13 ... Previous moving stage (horizontal moving stage)
14 ... Mast 15 ... Mast holder 16 ... Elevating mechanism 17 ... Inspection and repair part (circumferential movement mechanism)
18a, 18b ... Wheel 19 ... Gear 20 ... Drive motor with rotation sensor 21a, 21b ... Auxiliary wheel 22 ... Ball screw 23 ... Drive motor with rotation sensor 24a, 24b ... Linear guide 26 ... Drive motor with rotation sensor 27a, 27b ... Linear guide 28 ... Ball screw 29 ... Ball screw nut 30 ... Linear guide 31 ... Drive motors 32a, 32b with rotation sensors ... Pulley 33 ... Timing belts 34a, 34b, 34c ... Monitoring camera 35 ... Relay box 36 ... Composite cable 37 ... C-type rail mechanism 38 ... C-type probe 39 ... Drive motor 40 with rotation sensor ... Link mechanisms 41a and 41b ... Sensor 42 ... Gear 43 ... Gear 44 ... Gear 45 ... Gear 46 ... Metal fitting 47 ... Drive motors 50a and 50b with rotation sensor ... Distance sensor 51 ... Sensor cable 60 ... Inspection and repair part (feeding mechanism)
61 ... Guide 62 ... Tape 63a, 63b, 63c ... Guide rollers 64a, 64b ... Gear 65 ... Drive motor 66 with rotation sensor ... Sensor 67 ... Opening 68 ... Probe 69 ... Sensor fixing part 70a, 70b ... Rotating shaft 71a , 71b ... Spring 72 ... Suspension tool 73 ... Suspension metal fitting

Claims (13)

When the reactor is shut down, it is placed on a cylindrical structure placed in the reactor pressure vessel with its axis vertical, and the cylindrical structure circles horizontally along the cylindrical structure. A horizontal traveling mechanism that travels in the circumferential direction;
A mast attached to the horizontal traveling mechanism and capable of moving up and down and positioning in a vertical direction;
A circumferential movement mechanism attached to the mast and movable along the circumferential direction of the furnace piping;
A probe that is attached to the circumferential movement mechanism and works by approaching or contacting the outer peripheral surface of the furnace pipe;
An in-reactor piping work device characterized by comprising: The circumferential movement mechanism has a rail guide of a half circumference along at least a part of the circumferential direction of the furnace pipe, and the probe can move in the circumferential direction of the furnace pipe on the rail guide. Built-in,
The in-reactor piping work device according to claim 1. The circumferential movement mechanism is capable of turning in the vertical direction or the horizontal direction, and aligning according to the shape of the furnace pipe,
The in-reactor piping work device according to claim 1 or 2, characterized in that: When the reactor is shut down, it is placed on a cylindrical structure placed in the reactor pressure vessel with its axis vertical, and the cylindrical structure circles horizontally along the cylindrical structure. A horizontal traveling mechanism that travels in the circumferential direction;
A mast attached to the horizontal traveling mechanism and capable of moving up and down and positioning in a vertical direction;
Attached to the mast along the circumferential direction of the furnace pipe, and the furnace pipe capable feeding mechanism feeding the work unit for performing work close to or in contact with the outer peripheral surface of,
An in-reactor piping work device characterized by comprising: The working means includes a tape fed from the feeding mechanism, a working head attached to the tip of the tape, and a wire connected to the working head and laid along a side surface of the piping inside the furnace, The work head is configured to be urged in the furnace piping direction by pulling the wire by the feeding mechanism,
The in-reactor piping work device according to claim 4. The working means is in a state of being wound in a spiral shape having a smaller diameter than the in- furnace piping when housed in the housing portion;
The in-reactor piping work device according to claim 4 or 5, characterized in that: The working means includes a working head and a tape that biases the working head in the furnace piping direction, and the feeding mechanism feeds the tape and moves the head in the circumferential direction of the furnace piping. Configured,
The in-reactor piping work device according to any one of claims 4 to 6. A horizontal positioning mechanism for positioning the mast horizontally by moving relative to the traveling mechanism;
The in-reactor piping work device according to any one of claims 1 to 7, wherein: The mast is provided with a monitoring camera for monitoring the status and position of the working means,
The in-reactor piping work device according to any one of claims 1 to 8, wherein: A transport means for transporting the horizontal traveling mechanism from above the reactor pressure vessel and placing it on the upper end of the cylindrical structure is provided, and the transport means is a hanger attached to the horizontal traveling mechanism. It must be a hoist or crane that grabs and carries the lifting hardware,
The in-reactor piping work device according to any one of claims 1 to 9, wherein: A cylindrical structure arranged with its axis vertical and an in-reactor pipe arranged between the cylindrical structure and the reactor pressure vessel are shut down when the reactor arranged in the reactor pressure vessel is shut down. , A reactor piping work method for working by bringing a probe close to or in contact with the outer peripheral surface of the reactor piping,
With the upper part of the reactor pressure vessel opened and the reactor pressure vessel filled with water, a traveling mechanism having a horizontal moving stage with a mast attached is transported from above the reactor pressure vessel. A transfer placing step for placing on the upper end of the cylindrical structure;
A horizontal running step in which, after the carrying and placing step, a horizontal moving stage, to which the mast is attached, runs and moves by the running mechanism horizontally in the circumferential direction of the cylindrical structure along the upper end of the cylindrical structure; ,
After the horizontal traveling step, a horizontal position adjusting step of operating the horizontal movement stage to move the mast horizontally with respect to the furnace piping;
After the horizontal position adjustment step, a vertical position adjustment step for raising and lowering the mast attached to the horizontal movement stage toward the outer peripheral surface of the furnace pipe,
After the vertical position adjustment step, the working means attached to the mast and provided in a circumferential movement mechanism that is movable along the circumferential direction of the furnace pipe approaches or contacts the outer peripheral surface of the furnace pipe. A working means moving step for moving in the circumferential direction;
A method for piping in a nuclear reactor, characterized by comprising: After the vertical position adjustment step, further comprising an alignment step of rotating the circumferential movement mechanism in the vertical direction or the horizontal direction to align with the shape of the in-furnace piping;
The in-reactor piping work method according to claim 11. A cylindrical structure arranged with its axis vertical and an in-reactor pipe arranged between the cylindrical structure and the reactor pressure vessel are shut down when the reactor arranged in the reactor pressure vessel is shut down. , A reactor piping work method for working by bringing a probe close to or in contact with the outer peripheral surface of the reactor piping,
With the upper part of the reactor pressure vessel opened and the reactor pressure vessel filled with water, a traveling mechanism having a horizontal moving stage with a mast attached is transported from above the reactor pressure vessel. A transfer placing step for placing on the upper end of the cylindrical structure;
A horizontal running step in which, after the carrying and placing step, a horizontal moving stage, to which the mast is attached, runs and moves by the running mechanism horizontally in the circumferential direction of the cylindrical structure along the upper end of the cylindrical structure; ,
After the horizontal traveling step, a horizontal position adjusting step of operating the horizontal movement stage to move the mast horizontally with respect to the furnace piping;
After the horizontal position adjustment step, a vertical position adjustment step for raising and lowering the mast attached to the horizontal movement stage toward the outer peripheral surface of the furnace pipe,
After the vertical position adjustment step, working means provided on a feeding mechanism attached to the mast and capable of feeding out along the circumferential direction of the furnace pipe approaches or contacts the outer peripheral surface of the furnace pipe. A working means moving step for moving in the circumferential direction;
A method for piping in a nuclear reactor, characterized by comprising:

Images