JP6674835B2 - Nuclear pressure vessel seat inspection system - Google Patents

Description

  The present disclosure relates to a seat surface inspection device for a nuclear pressure vessel that inspects a state of a seat surface of a nuclear pressure vessel including a container part and a lid part.

  In a nuclear pressure vessel in which a container and a lid are fastened, a sheet surface of the container and the lid that comes into contact with each other when they are fastened to each other is smoothed, and an O-ring is inserted into the sheet. It is configured to be able to maintain the degree of sealing by tightening and tightening. For this reason, if the sheet surface has fine irregularities due to pitting or scratches, the airtightness is reduced. Therefore, it is required to accurately inspect the state of the sheet surface.

  Conventionally, a visual inspection using a TV camera or the like has been performed in the sheet surface inspection of this type of nuclear pressure vessel, but the color of the sheet surface is determined when the fine irregularities due to the pitting and scratches are determined as described above. There has been a problem that it is easily affected by unevenness and the like. To solve such a problem, Patent Literature 1 discloses an inspection device 20 ′ that can quantitatively evaluate unevenness on a sheet surface of a container portion while moving along an edge of the container portion having a substantially cylindrical shape. I have. FIG. 13 is a schematic diagram showing the entire configuration of an inspection device 20 'according to Patent Document 1, and FIG. 14 is a cross-sectional view taken along line HH of FIG.

  The inspection device 20 ′ is configured to be movable along the extending direction of the seat surface 10 while being engaged with the edge of the lid 3 in a nuclear pressure vessel in which the lid 3 is separated from the container 2. Moving cart 21 '. The movable trolley 21 ′ has an arm extending downward toward the seat surface 10 of the container portion 2, and a camera 32 ′ for observing the seat surface is mounted at the tip of the arm. The inspection device 20 ′ captures a moving image with the camera 32 ′ while moving the movable carriage 21 ′ in the circumferential direction, and performs inspection over the entire seat surface 10.

  In addition, as the inspection method of the inspection device 20 ', distance measurement by a distance sensor may be employed instead of the above-described video image capture by the camera 32', or distance measurement by a distance sensor is employed together with video capture by the camera 32 '. May be.

Patent No. 4585080

  A plurality of fixing holes 14 arranged in the vicinity of the edge along the extending direction of the seat surface 10 are provided in the container portion 2 constituting the nuclear pressure vessel, and a through hole for a bolt (hereinafter referred to as a bolt hole) is formed in the lid portion 3. (Referred to as “through holes” as appropriate) 6. A bolt for fastening is inserted into the through hole 6 from above, and the tip of the bolt is fixed to the fixing hole 14, so that the container 2 and the lid 3 are fixed to each other. At the time of inspection, the sheet surface 10 is exposed by separating the lid portion 3 from the container portion 2 as shown in FIG. At this time, the lid 3 is lifted and supported by a crane or the like. However, the guide 13 is provided in some of the plurality of through holes 6 and the fixing holes 14 so that the posture of the lifted and supported lid 3 is not unstable. Inserted.

  In the above Patent Document 1, the seat surface 10 located on the inner peripheral side of the guide 13 is moved by a camera 32 ′ provided at the tip of an arm extending downward from a movable cart 21 ′ installed on the edge of the lid 3. It is configured to observe. Therefore, if the movable cart 21 ′ is moved along the extending direction of the seat surface 10, structural interference occurs at the position of the guide 13. Therefore, in the vicinity of the guide 13, it is necessary to work to avoid the guide 13 by turning the arm or moving the arm toward the outside of the nuclear pressure vessel. In this type of inspection, the accuracy of millimeter units is required for inspection position control. Therefore, work to avoid such guides requires setup work including position calibration, and the work time is lengthened. Was.

  At least one embodiment of the present invention has been made in view of the above-described problems, and has as its object to provide a seat surface inspection device for a nuclear pressure vessel capable of efficiently inspecting the state of the seat surface of a container portion. I do.

(1) In order to solve the above-described problems, a seat pressure inspection apparatus for a nuclear pressure vessel according to at least one embodiment of the present invention is a nuclear pressure vessel configured to have a lid fastened to a seat face of a vessel. A seat surface inspection device for a nuclear pressure vessel that inspects a state of the seat surface when the posture of the lid portion is regulated with respect to the container portion via a guide provided on an outer peripheral side, A main body configured to be movable along an extending direction of the seat surface, a measurement unit provided on the main body so as to face the seat surface, and at least an inner peripheral side and an outer peripheral side of the main body. On the other hand, a guide mechanism configured to guide the main body portion on at least one vertical surface provided perpendicularly to the seat surface is provided, and the guide mechanism is located on an inner peripheral side of the guide.

  According to the above configuration (1), the state of the sheet surface is measured by the measurement unit while the main body is moved on the sheet surface along the extending direction of the sheet surface, so that the sheet surface is efficiently moved. Can be inspected. Such movement of the inspection device is performed in a stable posture along the sheet surface by being guided by the guide mechanism. Further, since the guide mechanism is located on the inner peripheral side of the guide (that is, inside the nuclear pressure vessel), there is no physical interference with the guide when the inspection apparatus moves on the sheet surface. For this reason, it is not necessary to perform the conventional work of turning the arm or avoiding the arm to move outward in the radial direction, so that the work of calibrating the position is also unnecessary, and the inspection period can be shortened effectively. Further, since the size and weight of the inspection device can be suppressed, efficient operation can be performed even in plant equipment where equipment and space are limited.

(2) In some embodiments, in the configuration of the above (1), the at least one vertical surface includes a first vertical surface provided on an inner peripheral side of the main body, and an outer peripheral side of the main body. A second vertical surface provided on the main body, wherein the guide mechanism urges the main body to one of the first vertical surface and the second vertical surface, and the other main body includes Abutting means for abutting the contact.

  According to the configuration (2), the main body is biased on one of the first vertical surface and the second vertical surface, and the other supports the reaction force, so that the posture of the main body in the radial direction is achieved. Can be stabilized.

(3) In some embodiments, in the configuration of the above (1) or (2), the at least one vertical surface is provided on any of a furnace internal structure, the container portion, and the lid portion. ing.

  According to the configuration of the above (3), the reactor internal structure, the container portion, and the lid portion are used as vertical surfaces for guiding the main body portion by the guide mechanism, so that the nuclear pressure vessel having the existing configuration can be used. This inspection apparatus can be applied without any design change.

(4) In some embodiments, in the configuration of (2), the first vertical surface is provided on a core support member that supports a core in the nuclear reactor, and the second vertical surface is It is a step provided in the container part.

  According to the above configuration (4), by adopting the core support member and the step as the first vertical surface and the second vertical surface, respectively, the present inspection apparatus can be easily applied to the nuclear pressure vessel having the existing configuration. Applicable to

(5) In some embodiments, in any one of the above-described configurations (1) to (4), the measurement unit acquires surface data of the sheet surface along a radial direction of the container unit. At least one of a shape measurement unit for measuring a shape and an imaging unit for imaging the sheet surface is provided.

(6) In some embodiments, in the configuration of the above (5), the shape measuring unit is a line sensor.

(7) In some embodiments, in the configuration of (5) or (6), the imaging unit is a still image camera that captures a still image.

  According to the configurations of (6) and (7) above, by adopting the line sensor and the still image camera as the sheet surface measuring means, an accurate inspection can be performed while suppressing the volume of the measurement data.

  Note that, instead of the still image camera, a moving image camera may be used as in the related art, and a title generator may be used in addition thereto. However, the cost may be reduced by omitting the title generator.

(8) In some embodiments, in any one of the above-mentioned constitutions (1) to (7), a position detecting unit for detecting a circumferential position of the main body on the sheet surface is further provided.

  According to the configuration of (8), the measurement result in the measurement unit is stored in association with the circumferential position on the sheet surface, so that the measurement result can be efficiently managed.

(9) In some embodiments, in the configuration of the above (8), a plurality of through-holes configured so that fastening bolts arranged at equal intervals along the circumferential direction on the outer peripheral side of the lid portion can be respectively inserted. The holes are arranged along the circumferential direction on the outer peripheral side of the container portion so as to correspond to the plurality of through holes, and are configured to be capable of fixing the tips of the fastening bolts inserted into the plurality of through holes. And a plurality of fixing holes, wherein the guide is provided so as to penetrate some of the plurality of through holes and the plurality of fixing holes, and the position detection unit includes a plurality of fixing holes. The position of the main body is detected as a movement distance based on at least one of each position and a position of a guide inserted into the through hole assumed based on the positions of the plurality of through holes.

  According to the configuration of the above (9), by detecting the circumferential position on the seat surface as the moving distance based on such a criterion, the measurement data is managed in a form that is easy for the operator to grasp sensuously. Can be.

(10) In some embodiments, in the configuration of the above (8) or (9), the position detection unit is generated in accordance with a rotation speed of a resolver provided independently of a traveling wheel of the main body. The position of the main body is detected by counting the pulses.

  According to the configuration of (10), the position of the main body is detected based on the resolver provided independently of the traveling wheels, so that a slip error is small and the position can be detected with high accuracy.

(11) In some embodiments, in any one of the above-mentioned constitutions (1) to (10), the nuclear pressure vessel is coaxially arranged along the circumferential direction on the inner peripheral side and the outer peripheral side of the seat surface. The measuring unit is disposed so as to correspond to a position on the sheet surface where the elastic member contacts.

  According to the above configuration (11), the position of the sheet surface where the elastic member such as the O-ring abuts is a factor that deteriorates the airtightness if there is fine unevenness due to pitting or scratches. Must be inspected with high accuracy. Therefore, by arranging the measuring unit so as to correspond to the position, an accurate inspection can be performed.

(12) In some embodiments, in any one of the above-described constitutions (1) to (11), when the main body is disposed on the seat surface, the main body is attached to a seat surface of the lid. Further, there is provided an upper biasing portion for biasing.

  According to the above configuration (12), the posture of the main body in the vertical direction perpendicular to the seat surface can be further stabilized by urging the main body toward the seat surface by the upper urging portion.

(13) In some embodiments, in any one of the above (8) to (10), a control system that controls movement of the main body on the sheet surface and a measurement result obtained by the measurement unit are Analysis means for analyzing in association with the circumferential position detected by the position detection unit.

  According to the configuration of (13), by controlling the movement of the main body by the control system, the measurement result of the measuring unit is associated with the circumferential position while managing the circumferential position of the main body on the seat surface. To analyze. Thus, efficient processing can be performed by performing inspection and analysis in a series of operations from movement control of the main body to analysis of measurement results. In particular, when a sheet surface is to be inspected precisely, it is necessary to handle a large amount of measurement results. However, since such an efficient processing is possible, it is possible to cope with a small work load. In order to perform the processing more efficiently, a series of operations may be automated.

  According to at least one embodiment of the present invention, it is possible to provide a seat surface inspection device of a nuclear pressure vessel capable of efficiently inspecting a state of a seat surface of a container portion.

It is a side sectional view of a nuclear pressure vessel. FIG. 2 is a sectional view taken along line II of FIG. 1. FIG. 2 is a side sectional view showing a state where a container part and a lid part of the nuclear pressure vessel of FIG. 1 are separated for maintenance. FIG. 4 is a schematic view showing an inspection apparatus (main body) according to at least one embodiment of the present embodiment from above. FIG. 5 is a schematic view showing the inspection device (main body) of FIG. 4 from below. FIG. 5 is a schematic diagram illustrating an example of installation of the inspection device of FIG. 4 on a sheet surface. FIG. 7 is a sectional view taken along line II-II of FIG. 6. FIG. 9 is a schematic diagram showing a moving state of an inspection device (main body) according to Patent Document 1. It is a schematic diagram which shows the movement state of the test | inspection apparatus (main part) which concerns on at least one embodiment of this embodiment. It is a block diagram showing composition of an analysis system which analyzes control and measurement results of an inspection device concerning one embodiment of the present invention. 10 is a flowchart showing a control procedure performed by the analysis system of FIG. 9 for each process. FIG. 11 is a flowchart schematically illustrating an example of data conversion in step S7 in FIG. 10. It is a schematic diagram which shows an example of the correspondence of the detection signal of a through-hole sensor, and a pulse signal. It is a schematic diagram which shows the whole structure of the conventional inspection device. FIG. 14 is a sectional view taken along line HH of FIG. 13.

Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the components described in the embodiments or shown in the drawings are not intended to limit the scope of the present invention thereto, but are merely illustrative examples. Absent.
For example, expressions representing relative or absolute arrangement such as “in a certain direction”, “along a certain direction”, “parallel”, “orthogonal”, “center”, “concentric” or “coaxial” are strictly described. Not only does such an arrangement be shown, but also a state of being relatively displaced by an angle or distance that allows the same function to be obtained.
Also, for example, an expression representing a shape such as a square shape or a cylindrical shape not only represents a shape such as a square shape or a cylindrical shape in a strictly geometrical sense, but also a concave and convex portion as long as the same effect can be obtained. A shape including a chamfered portion and the like is also represented.
On the other hand, the expression “comprising”, “comprising”, “including”, “including”, or “having” one component is not an exclusive expression excluding the existence of another component.

1 is a side sectional view of the nuclear pressure vessel, FIG. 2 is a sectional view taken along the line II of FIG. 1, and FIG. 3 is a view of the container and lid of the nuclear pressure vessel of FIG. 1 separated for maintenance. It is a side sectional view showing the situation where it did.
In FIG. 2, the upper core support plate 9 shown in FIGS. 1 and 3 is omitted for easy understanding.

  The nuclear pressure vessel 1 includes a container part 2 having a substantially cylindrical shape, and the upper part of the container part 2 is configured to be covered by a lid part 3 having a substantially circular shape when viewed from above. The container part 2 and the lid part 3 are arranged coaxially, and are fixed to each other via flanges 4 and 5 provided at the respective edges. A plurality of through holes 6 are arranged on the flange 5 of the lid 3 along the circumferential direction of the lid 3, and a plurality of through holes 6 are arranged on the flange 4 of the container 2 along the circumferential direction of the container 2. A plurality of fixing holes 14 are arranged so as to correspond to the positions of the through holes 6. Bolts 7 for fastening are inserted into the plurality of through-holes 6, and the tips of the bolts 7 are fixed to the plurality of fixing holes 14. It is configured.

  The nuclear pressure vessel 1 contains a core 8 having a fuel assembly composed of a plurality of fuel rods in which a plurality of fuel pellets containing low-enriched uranium are stacked in a cladding tube. The core 8 is supported on the inner wall of the nuclear reactor 1 via a core support member. Although FIG. 1 illustrates the upper core support plate 9 as the core support member, it is needless to say that another configuration may be included as the core support member.

  The flanges 4 and 5 have seat surfaces 10A and 10B provided inside the through holes 6 and the fixing holes 14, and the seat surfaces 10A and 10B are in close contact with each other via O-rings 12A and 12B. The inside of the nuclear pressure vessel 1 is sealed from the outside. The O-rings 12A and 12B are disposed on ring-shaped grooves 11A and 11B provided on the inside and outside along the extending direction of the sheet surface 10B on the sheet surface 10B of the lid 3 (FIG. 7). Thereby, the O-rings 12A and 12B arranged in the grooves 11A and 11B respectively seal the gap between the seat surfaces 10A and 10B well when the flanges 4 and 5 are tightened by the bolts 7, and the nuclear power The inside of the pressure vessel 1 can be reliably isolated from the outside.

  Here, the seat surface 10 is finished to be smooth in order to ensure the airtightness of the nuclear pressure vessel 1. If the sheet surface 10 has fine irregularities due to pitting or scratches, the airtightness of the nuclear pressure vessel 1 will be reduced. Therefore, it is required to inspect the state of the sheet surface 10 with high accuracy. As shown in FIG. 3, the inspection of the seat surface 10 is performed in a state where the cover portion 3 is separated from the container portion 2 by removing the fastening bolts 7 and the seat surface 10 is exposed to the outside. At this time, the lid 3 is supported by being lifted by a crane or the like, and guides 13 are provided in some (for example, three places) of the plurality of through holes 6 so that the posture of the lifted and supported lid 3 does not become unstable. Is inserted.

4 to 8B, the configuration of the inspection device 20 (main body 21) according to at least one embodiment of the present embodiment will be described.
FIG. 4 is a schematic diagram showing the inspection device 20 (main body 21) according to at least one embodiment of the present embodiment from above, and FIG. 5 is a schematic diagram showing the inspection device 20 (main body 21) of FIG. 4 from below. FIG. 6 is a schematic view showing an example of installation of the inspection device 20 (main body 21) of FIG. 4 on the sheet surface 10A, FIG. 7 is a cross-sectional view taken along line II-II of FIG. 6, and FIG. FIG. 8B is a schematic diagram illustrating a moving state of an inspection device 20 ′ (main unit 21 ′ [measurement unit 32 ′]) according to Patent Literature 1, and FIG. 8B illustrates an inspection device 20 (main unit) according to at least one embodiment of the present embodiment. It is a schematic diagram which shows the movement state of 21).
4 and 6, the peripheral structure of the urging mechanism 29 shown in FIG. 7 is partially omitted for easy understanding.

The inspection device 20 (main body portion 21) is mounted on a substantially ring-shaped sheet surface 10A provided on an upper edge of the container portion 2 having a substantially cylindrical shape, and extends along the extending direction of the sheet surface 10A. While moving, the state of the sheet surface 10A is inspected. The main body 21 of the inspection device 20 has a substantially rectangular parallelepiped shape. In the present embodiment, as one aspect, when viewed from above in the vertical direction, it is formed in a substantially sector shape so as to correspond to the partial shape of the substantially ring-shaped sheet surface 10A.
The inspection device 20 (the main body 21) is provided with a drive wheel 22 that functions as a drive unit when moving on the seat surface 10. Here, in the flange 4 provided with the sheet surface 10A, a step 17 is provided between the region where the fixing hole 14 is provided and the sheet surface 10A on the side facing the lid 3. The drive wheel 22 has a rotation axis extending in the up-down direction and at least a part of the drive wheel 22 extends radially outward from the main body portion 21, thus providing the step provided radially outward from the seat surface 10 </ b> A. 17. A power source (not shown) such as an electric motor for driving the drive wheels 22 is housed inside the main body 21.

  Note that the movement of the inspection apparatus may be performed by a different method, and is only an example in the present embodiment. For example, the inspection device 20 (the main body 21) may be moved by being manually pulled by an operator, or the step 17 and the inspection device 20 (the main body 21) may be provided with a rack gear and a pinion gear, respectively. The movement may be realized by driving one of the rack gear and the pinion gear with a drive motor. Further, the movement may be realized by a so-called scale insect method in which the container 2, the lid 3, and the various structures of the peripheral structure (for example, the furnace internal structure) are sequentially gripped and opened while repeatedly running.

  When the driving wheel 22 is driven in this manner, the power is transmitted to the step 17, whereby the inspection device 20 (the main body 21) moves in the extending direction of the seat surface 10A. Here, a driven wheel 23 is provided on the same side of the main body 21 as the drive wheel 22 so as to be in contact with the step 17 together with the drive wheel 22. The driving wheel 22 and the driven wheel 23 are arranged at different positions along the extending direction of the seat surface 10A on the side of the inspection device 20 (the main body 21) so that the driving wheel 22 and the driven wheel 23 abut on the step 17 uniformly. It is configured.

  The arrangement of the drive wheel 22 and the driven wheel 23 in the main body 21 is, for example, such that the inspection device 20 (main body 21) is installed on the seat surface 10A by accurately designing and installing the positions of these two rollers. When the measurement unit 32 is placed at a position corresponding to the contact surface of the O-rings 12A and 12B of the sheet surface 10A, the contact surface of the O-rings 12A and 12B is measured by the measurement unit 32. Should be set so as to be surely covered. Thereby, when the inspection device 20 (the main body 21) is installed on the sheet surface 10A, the measuring unit 32 is arranged at a position corresponding to the contact surface of the O-rings 12A and 12B, thereby facilitating the installation work. be able to.

  In addition, the inspection device 20 (main body portion 21) has a plurality of traveling wheels 24 provided on the side facing the seat surface 10A when installed on the seat surface 10A, that is, on the bottom side of the inspection device 20 (main body portion 21). Have been. The running wheels 24 are driven wheels to which driving force is not transmitted similarly to the driven wheels 23 described above, and a plurality of the running wheels 24 are provided along the extending direction of the seat surface 10A so as to correspond to the traveling direction of the inspection device 20.

  The movement path of the inspection device 20 (the main body 21) on the sheet surface 10A is guided by the guide mechanism 25. The guide mechanism 25 guides the inspection device 20 (main body portion 21) to at least one vertical surface provided perpendicular to the sheet surface 10A on at least one of the inner peripheral side and the outer peripheral side of the inspection device 20 (main body portion 21). It is configured to be.

  The guide mechanism 25 is a guide that comes into contact with the upper core support plate 9 inside the container unit 2 from the inspection device 20 (main body 21) when the inspection device 20 (main body 21) is installed on the sheet surface 10A. A plate 26 and an urging mechanism 27 for urging the inspection device 20 (the main body 21) against the upper core support plate 9 via the guide plate 26 are provided. FIG. 5 illustrates an extendable cylinder mechanism as an example of the urging mechanism 27. Here, as shown in FIG. 7, the upper core support plate 9 is disposed with a gap 30 between the upper core support plate 9 and the container unit 2, and the guide plate 26 is connected to the inspection device 20 (the main body unit 21) by the sheet surface 10. It is configured so that it can be inserted into the gap 30 when installed on the upper side. The biasing mechanism 27 applies a biasing force to the guide plate 26 that contacts the upper core support plate 9.

The inspection device 20 (the main body 21) preferably has at least one urging mechanism 27. In the present embodiment, in the longitudinal direction along the sheet surface 10 of the inspection device 20 (the main body 21), the urging mechanisms are respectively provided at one end (for example, the front side in the traveling direction) and the other end (for example, the rear side in the traveling direction). 27, the case where two biasing mechanisms 27 are provided in total is illustrated. When the inspection device 20 (the main body unit 21) has a plurality of urging mechanisms 27 as described above, each urging mechanism 27 is configured such that the guide plate 26 is substantially uniformly urged against the upper core support plate 9. It is good to be.
Note that, as the urging mechanism 27, a spring mechanism may be used instead of the above-described cylinder mechanism.

  Note that, depending on the structure in the furnace, a biasing mechanism 27 may be configured so that a separate plate member is inserted into the gap 30 and the guide plate 26 is brought into contact with the plate member. In this case, in order to prevent the plate member, which is another member, from falling into the container, a projection for preventing fall (a pin or the like) may be provided.

  As described above, the drive wheel 22 and the driven wheel 23 also function as a part of the guide mechanism 25 by abutting on the step 17 when the inspection device 20 (the main body 21) is installed on the seat surface 10A. I do. That is, when the guide plate 26 is urged by the urging mechanism 27 toward the upper core support plate 9 on the inner peripheral side of the inspection device 20 (main body portion 21), the reaction force received by the inspection device 20 (main body portion 21) is It is supported by a driving wheel 22 and a driven wheel 23 on the outer peripheral side of the inspection device 20 (main body 21). As described above, the guide mechanism 25 supports the inspection device 20 (the main body 21) mounted on the sheet surface 10A from both sides in the radial direction, thereby maintaining a stable posture and extending along the extending direction of the sheet surface 10A. It is configured to allow accurate movement.

  In the present embodiment, the case where the drive wheel 22 and the driven wheel 23 are pressed against the step 17 by the reaction force of the urging force is exemplified, but instead, the drive wheel 22 and the driven wheel 23 include a magnetic material. Thus, magnetic attraction may be used.

  Such a guide mechanism 25 is configured such that when the inspection device 20 (the main body 21) is mounted on the sheet surface 10A, the guide mechanism 25 is located on the inner side of the guide 13 in the container 2. As shown in FIG. 8A, in the conventional inspection device 20 ′ (main body portion 21 ′ [measurement portion 32 ′)), since the structure extends radially outward from the sheet surface 10 A, the inspection device 20 ′ (main body When the unit 21 ′ [measurement unit 32 ′) moves on the sheet surface 10 </ b> A, an avoidance operation of the inspection device is required to avoid physical interference with the guide 13. In this type of inspection, high-precision position control in units of millimeters is required, and such avoidance work requires a large amount of time for set-up, and causes a long inspection period. On the other hand, in the inspection device 20 (main body portion 21) according to the present embodiment, the guide mechanism 25 is housed inside the container portion 2 in comparison with the guide 13, so that the guide mechanism 25 does not physically interfere with the guide 13. The conventional avoidance work is not required. Therefore, the inspection period can be significantly reduced as compared with the related art.

  In the guide mechanism 25 of the present embodiment, an example is shown in which the upper core support plate 9 and the step 17 are employed as vertical surfaces for guiding the inspection device 20 (the main body 21). Alternatively, a vertical surface provided on any one of the container part 2, the lid part 3, and other furnace internals may be made widely available. For example, when the guide mechanism 25 is formed of a soft material such as resin, by removing the O-rings 12A and 12B from the grooves 11A and 11B provided on the lid 3, a part of the grooves 11A and 11B is You may use as.

  In the present embodiment, as shown in FIG. 7, when the inspection device 20 (the main body 21) is mounted on the seat surface 10A, the inspection device 20 (the body portion 21) It includes a guide wheel 28 that can be abutted and an urging mechanism 29 provided between the guide wheel 28 and the inspection device 20 (the main body 21). As a result, the inspection device 20 (the main body 21) mounted on the sheet surface 10A receives the reaction force of the urging force so as to be pressed from the sheet surface 10B to the sheet surface 10A, so that the posture along the vertical direction is also improved. Can be stabilized.

In addition, the inspection device 20 (main body 21) includes a resolver 31 as a position detection unit (position detection mechanism 35) for detecting the position of the inspection device 20 (main body 21) on the sheet surface 10A. A position detection unit (position information processing unit 42), which will be described later, is configured to generate a pulse signal according to the rotation speed of the resolver 31. The resolver 31, like the drive wheel 22 and the driven wheel 23, is abutted against the step 17 by a biasing mechanism (not shown) outside in the radial direction of the inspection device 20 (the main body 21). The driven wheel 22 and the driven wheel 23 are configured independently of each other, and are adjusted to predetermined values so that slipping of the resolver 31 hardly occurs. Therefore, when the resolver 31 rotates with the movement of the inspection device 20 (the main body unit 21), the position detection unit (the position information processing unit 42) outputs a pulse signal for position detection in accordance with the rotation of the resolver 31. It can be generated with high accuracy.
The pulse signal generated in response to the rotation of the resolver 31 of the present embodiment is designed to emit one pulse every time the inspection device 20 (the main body 21) moves 4 μm on the sheet surface 10A. .

Further, in the present embodiment, the case where the resolver 31 is configured to be in contact with the step 17 is exemplified. However, when the resolver 31 comes into contact with any of the container part 2, the lid part 3, and other core structures, the sheet surface is reduced. What is necessary is just to be able to detect the position of the inspection device 20 (main body 21) that moves on 10A.
Note that an encoder may be used as the position detecting unit (the position detecting mechanism 35) instead of the resolver 31 described above. However, since the encoder uses a semiconductor, it is necessary to design the encoder in consideration of radiation exposure.

  When the inspection device 20 (the main body unit 21) is arranged on the sheet surface 10A, a measurement unit 32 for measuring the state of the sheet surface 10A is provided on the side facing the sheet surface 10A (that is, the bottom side). The measurement unit 32 includes a line sensor including a non-contact laser displacement meter capable of acquiring surface data along the radial direction of the sheet surface 10A, and a still image camera that captures a still image of the sheet surface 10A. And these may be unitized.

  At least one measurement unit 32 is provided along the radial direction of the container unit 2 on the side facing the sheet surface 10A. In the present embodiment, in particular, two measuring units 32A and 32B are provided, and these are provided in an area of the sheet surface 10A where the O-rings 12A and 12B abut when the container unit 2 and the lid unit 3 are fastened. It is arranged to correspond. Since the seat surface 10A is a region where the O-rings 12A and 12B come into contact with each other, if there are minute irregularities due to pitting or scratches, the airtightness of the nuclear pressure vessel 1 is reduced. Need to be inspected. Therefore, by arranging the measuring unit 32 in this way, the inspection can be performed with high accuracy. Further, when the inspection device 20 (the main body unit 21) is arranged on the sheet surface 10A, the measuring units 32A and 32B can cover the area, so that the work load required for installation can be reduced.

  Conventionally, in this type of inspection apparatus, a combination of a non-contact CCD laser displacement sensor and a galvanomirror scan method has been used as a measurement unit. In a non-contact CCD laser displacement sensor, diffused and diffusely reflected light of laser light applied to a surface to be measured is condensed by a light receiving lens, an image (spot) is formed on the light receiving element, and the image is displaced on the light receiving element. Is measured as the movement of the target surface in the depth direction. Since a point sensor is used in the galvanomirror scanning method, a line-shaped measurement is made possible by shaking the laser spot light on the galvanomirror. On the other hand, since the measuring unit 32 of the present embodiment does not involve sliding like a galvanomirror, it can easily cope with an increase in speed, and the inspection period can be effectively shortened.

  In addition, as a component of the measurement unit 32, in addition to or instead of the above-described line sensor and still image camera, a 3D camera, a stereo camera, a microscope, a white interferometer, a three-dimensional optical profiler, a magnescale stylus, a vortex Various measuring devices and methods such as a current flaw measuring device, a PT spray, an ultrasonic distance measuring device, a replica coating mechanism, and a line sensor type camera can be adopted. In the case of using these devices and methods, a configuration for automating the corresponding work process may be appropriately mounted on the inspection device 20 (the main body 21).

  In addition, the inspection device 20 (the main body 21) further functions as a position detection unit (the position detection mechanism 35). When the inspection device 20 (the main body 21) is mounted on the sheet surface 10A, the inspection device 20 (the main body 21) A through-hole sensor 33 for detecting the through-hole 6 of the located lid 3 is provided. The through-hole sensor 33 is provided at a distal end of an arm 34 extending radially outward from the inspection device 20 (the main body 21). The through-hole sensor 33 is, for example, a non-contact laser sensor, and is configured to be able to detect the presence or absence of the through-hole 6 by irradiating the through-hole 6 with a laser beam and receiving its reflected wave.

  In addition, instead of or in addition to such a through-hole sensor 33, for example, when the inspection device 20 (the main body 21) is mounted on the sheet surface 10 </ b> A, the fixing hole 14 of the container 2 is detected. Inspection device 20 (main body section 21) detects the presence or absence of fixed hole 14 by irradiating laser beam to fixed hole 14 and receiving a reflected wave thereof by providing a fixed hole sensor for performing It may be configured to be possible. The following description of the through-hole sensor 33 is equally applicable to a mode in which a fixed-hole sensor is provided, unless otherwise specified.

The arm 34 is configured to be able to avoid interference with the guide 13 by extending and contracting along the extending direction. Further, the through-hole sensor 33 may irradiate the laser beam obliquely to the through-hole 6, but it is preferable to irradiate the through-hole 6 from the vertical direction in order to improve the accuracy.
Note that another non-contact sensor or a contact sensor may be used as the through-hole sensor 33.

  As described above, the inspection device 20 (the main body 21) is configured to be able to move by self-running while being mounted on the seat surface 10A, and has a size and a weight that are smaller than those of the conventional device such as Patent Document 1. Both are compactly formed. At nuclear power plants, cranes are installed in the equipment to transport heavy objects.However, due to the limited number of such cranes, large inspection equipment that makes heavy use of cranes requires a long time for inspection. Was required. However, since the inspection device 20 (main body 21) of the present embodiment is compact, it is easy to handle and the installation work is light. In particular, since there is no physical interference with the guide 13 when moving on the sheet surface 10A, there is no need to set up again, and the inspection period can be shortened effectively.

  Further, in the conventional device as disclosed in Patent Literature 1, the lid 3 is hung from the lid 3. Therefore, it is necessary to largely separate the lid 3 from the container 2 and open it during maintenance. Tended to increase the radiation dose. On the other hand, in the inspection device 20 (main body 21) of the present embodiment, since the size of the device mounted on the sheet surface 10A is small, the height of the device on the sheet surface 10A is reduced, and The amount of opening can be reduced. As a result, the radiation dose from the inside of the container unit 2 during the inspection can be reduced, the working environment of the worker can be improved, and the work load during maintenance can be greatly reduced.

  Next, an analysis system 100 that analyzes a measurement result by the inspection device 20 (the main body 21) will be described. FIG. 9 is a block diagram showing a configuration of an analysis system 100 for analyzing the control and measurement results of the inspection device 20 (main unit 21) according to one embodiment of the present invention, and FIG. 10 is a block diagram of the analysis system 100 shown in FIG. 11 is a flowchart showing a control procedure performed by the control system 40 for each process. FIG. 11 is a flowchart schematically showing an example of data conversion in step S7 of FIG. 10, and FIG. 12 is a detection signal of the through-hole sensor 33. FIG. 4 is a schematic diagram showing an example of a correspondence relationship between a pulse signal and a pulse signal.

  The analysis system 100 is composed of an arithmetic processing device such as a computer using a microprocessor, for example, and performs the following inspection control by installing a program stored in a storage device such as a memory or a hard disk (not shown). It is configured to be operable. As shown in FIG. 9, the analysis system 100 includes a control system 40 that controls the inspection device 20 (main unit 21), an analysis PC (analysis unit) 50 that analyzes the inspection result by the inspection device 20 (main unit 21). Is provided. The control system 40 controls the movement control unit 41 that controls the movement of the inspection device 20 (the main body unit 21), the position information processing unit 42 that generates a pulse signal in accordance with the rotation of the resolver 31, and the measurement unit 32. A measurement command unit 43 for sending a measurement command, a data reception unit 44 for receiving a detection signal from the through-hole sensor 33 and measurement data from the measurement unit 32, and a data conversion for converting the received measurement data into an appropriate format. A storage unit 46 configured to be able to store data handled by the above components.

  Note that the block diagram shown in FIG. 9 shows one configuration example of the analysis system 100 for each representative function, and each component may be integrated into a common function block, or may be further detailed. It may be subdivided into various functional blocks. The analysis system 100 may be composed of a plurality of hardware, for example, a control panel in charge of movement control of the inspection device 20 (main unit 21), a relay device for relaying measurement results, and a detailed analysis. A mobile processing device (a notebook PC or the like) to be implemented and hardware such as a hub may be connected and configured via a wired or wireless communication network.

  Note that the inspection device 20 may be configured such that the main body 21 and the analysis system 100 are integrally formed, or may be separated as shown in FIG. The position detection unit may be configured such that the position detection mechanism 35 and the position information processing unit 42 are integrated or separate depending on the configuration state of the inspection device.

Next, the control performed by the control system 40 included in the analysis system 100 having the above configuration will be specifically described.
As shown in FIG. 10, first, the inspection device 20 (the main body 21) mounted on the sheet surface 10 </ b> A moves on the sheet surface 10 </ b> A based on a command from the movement control unit 41 in the extending direction of the sheet surface 10 </ b> A. (Step S1). The movement control unit 41 controls the electric motor, which is the power source of the drive wheels 22, so as to selectively perform forward movement, backward movement, and stop, and to adjust the movement speed.

The position information processing unit 42 generates a pulse signal corresponding to the rotation speed of the resolver 31, and the data receiving unit 44 acquires data on the presence or absence of the through-hole 6 from the through-hole sensor 33 (step S2). For example, one pulse signal is generated each time the inspection device 20 (the main body 21) moves by 4 μm in the extending direction of the sheet surface 10A. The through-hole sensor 33 generates a signal regarding the presence or absence of the through-hole 6 at every predetermined time (for example, every 0.01 second) set in advance (for example, “1” when the through-hole 6 is present, If there is no data, "0" data is output).
In step S2, when a fixed hole sensor is provided instead of or in addition to the through hole sensor 33, a pulse signal generated in accordance with the rotation speed of the resolver 31 is acquired, and the fixed hole sensor is output from the fixed hole sensor. May be obtained as to the presence or absence of the data.

  The measurement command unit 43 counts the pulse signal generated by the position information processing unit 42, and transmits a measurement command to the measurement unit 32 together with the pulse signal count in synchronization with the pulse signal (step S3). As described above, the measurement unit 32 includes the line sensor and the still image camera. For example, the measurement unit 32 sends a measurement command to the line sensor every 5 counts of the pulse signal generated by the position information processing unit 42, A measurement command is sent to the still image camera every 250 counts.

  In the line sensor and the still image camera, the measurement is performed at a predetermined timing by receiving the measurement command from the measurement command unit 43, and the measurement result is received by the data receiving unit 44 in association with the count number of the pulse signal ( Step S4). The measurement result associated with the count number of the pulse signal received by the data receiving unit 44, the signal regarding the presence or absence of the through hole 6, and the count number of the pulse signal counted by the measurement instruction unit 43 are stored in the storage device 46 ( Step S5). For example, in the example of FIG. 11, the measurement results of the line sensor correspond to the count numbers “5”, “10”, “15”, “20”,... Of the pulse signals generated in response to the rotation of the resolver 31. As the measurement results, the measurement values “A”, “B”, “C”, “D”,... Acquired by the inner measurement unit 32A and the measurement values “A” acquired by the outer measurement unit 32B “ "A", "I", "U", "E" ... are stored. On the other hand, regarding the measurement result of the still image camera, as the measurement result corresponding to the count numbers “250”, “500”, “750”, “1000”,... Of the pulse signal generated in response to the rotation of the resolver 31. The still images “a”, “b”, “c”, “d”,... Acquired by the inner peripheral measurement unit 32A, and the still images “A”, “A” acquired by the outer peripheral measurement unit 32B. , "U", "E",... Are stored.

The data conversion unit 45 counts the number of pulse signals generated corresponding to the detection signal from the through-hole sensor 33 (signal related to the presence or absence of the through-hole 6) stored in the storage device 46 and the rotation speed of the resolver 31. And the count number of the pulse signal corresponding to each through hole 6 is obtained (step S6). In the example shown in FIG. 12, the detection signal from the through-hole sensor 33 is acquired as binary data of “0” or “1” according to the presence or absence of the through-hole 6. Then, the midpoint of the range in which the detection value “1” corresponding to “having a hole” is acquired is specified as the position of the through-hole 6, and the count number of the corresponding pulse signal is obtained. In this example, 50,000 counts and 100,000 counts are specified as the positions of the two through holes 6, respectively.
In the example of FIG. 12, the through holes 6 are numbered consecutively, and the count number corresponding to the first reference through hole 6 may be appropriately selected by the operator.

  Further, the data conversion unit 45 compares the measurement result associated with the count number of the pulse signal stored in the storage device 46 in step S5 with the number of the nearest through-hole 6 based on the correspondence obtained in step S6. It is converted into a combination of distances from the holes 6 (hereinafter, appropriately referred to as “distance from the through holes”) (step S7). Thereby, the position associated with each data is specified as the distance from the through hole. The data converter 45 stores the data thus converted in the storage device 46 again (step S8).

  Then, the organizing unit 47 appropriately arranges the various data stored in the storage device 46 as needed (step S9). For example, label information relating to the shooting date and time may be added to various data stored in the storage device 46, and the data may be processed so that information such as the shooting date and time is also displayed when referring to the screen, The still images included in the stored various data may be edited into moving image data by collecting them in chronological order. In the present embodiment, a still image is basically inspected by using a still image camera, and is processed into moving image data as necessary, thereby eliminating the need for a title generator which was conventionally required. Can be effectively suppressed, and efficient operation can be performed even in a nuclear power plant or the like having a large space constraint.

  In addition to the above control, a determination unit that determines whether or not the inspection device 20 (the main body unit 21) is performing the inspection while appropriately moving on the sheet surface 10A may be provided. For example, the movement distance of the inspection device 20 (the main body 21) is calculated based on the result calculated based on the detection signal of the through-hole sensor 33 and the count number of the pulse signal generated corresponding to the rotation of the resolver 31. The results may be compared with each other to determine the consistency between them, thereby determining whether the inspection device 20 (the main body 21) is operating normally. Further, a timer for measuring the inspection time is further provided, and the number of the through holes 6 detected by the through hole sensor 33 within a predetermined period, that is, the number of the through holes 6 passed by the inspection device 20 (the main body 21) is assumed. Whether or not the inspection device 20 is operating normally may be determined based on whether or not the number matches the number obtained from the moving speed of the inspection device 20. As a result, when it is determined that the inspection device 20 (the main body unit 21) is not operating normally, the operator may be alerted by notifying an alarm or the like.

  In the above-described embodiment, an example is shown in which the state of the sheet 10A is inspected by mounting the inspection device 20 (the main body 21) on the sheet surface 10A. The inspection device 20 (the main body 21) may be mounted on the surface 10B in an inverted state to inspect the state of the seat surface 10B. When measuring the sheet surface 10B of the lid 3, for example, the upper surface of the inspection device 20 may be opened, and the inspection may be performed by a sensor arranged upward through the opening.

  INDUSTRIAL APPLICABILITY The present disclosure is applicable to a seat surface inspection device for a nuclear pressure vessel that inspects a state of a seat surface of a container part in a nuclear pressure vessel including a container part and a lid part.

DESCRIPTION OF SYMBOLS 1 Nuclear pressure vessel 2 Container part 3 Lid part 4 Flange 5 Flange 6 Through hole 7 Bolt 8 Core 9 Upper core support plate 10 Sheet surface 11 Groove part 12 O-ring 13 Guide 14 Fixing hole 17 Step 20 Inspection device 21 Main part 22 Drive wheel Reference Signs List 23 driven wheel 24 running wheel 25 guide mechanism 26 guide plate 27 urging mechanism 28 guide wheel 29 urging mechanism 31 resolver 32 measuring unit 33 through-hole sensor 34 arm 35 position detecting mechanism 40 control system 41 movement control unit 42 position information processing unit 43 Measurement command part 44 Data reception part 45 Data conversion part 46 Storage device 47 Organizing part 50 Analysis PC (analysis means)
100 analysis system

Claims (14)

In a nuclear pressure vessel in which a lid is fastened to the sheet surface of the container, when the posture of the lid is regulated with respect to the container via a guide provided on the outer peripheral side, A seat surface inspection device for a nuclear pressure vessel for inspecting a state of the seat surface,
A main body configured to be movable along an extending direction of the seat surface;
A measuring unit provided in the main body unit so as to face the sheet surface;
A guide mechanism configured to guide the main body to at least one vertical surface provided perpendicular to the seat surface on at least one of an inner peripheral side and an outer peripheral side of the main body;
With
The guide mechanism is located on the inner peripheral side of the guide ,
The at least one vertical surface includes a first vertical surface provided on an inner peripheral side of the main body, and a second vertical surface provided on an outer peripheral side of the main body.
The guide mechanism includes a biasing unit that biases the main body unit on one of the first vertical plane and the second vertical plane, and a contact unit that abuts the main body unit on the other. Inspection equipment for nuclear pressure vessels. 2. The apparatus for inspecting a seat surface of a nuclear pressure vessel according to claim 1 , wherein the at least one vertical surface is provided on any of a furnace internal structure, the container portion, and the lid portion. 3. The first vertical surface is provided on a support member that supports a core in the nuclear pressure vessel,
The said 2nd perpendicular | vertical surface is the level | step difference provided in the said container part, The sheet | seat surface inspection apparatus of the nuclear pressure vessel of Claim 1 or 2 characterized by the above-mentioned. The measurement unit includes at least one of a shape measurement unit that measures a shape by acquiring surface data of the sheet surface along a radial direction of the container unit, and an imaging unit that images the sheet surface. The inspection apparatus for a seat surface of a nuclear pressure vessel according to any one of claims 1 to 3 , wherein: The said shape measurement part is a line sensor, The sheet | seat surface inspection apparatus of the nuclear pressure vessel of Claim 4 characterized by the above-mentioned. The imaging unit sheet surface inspection system of a nuclear pressure vessel according to claim 4 or 5, characterized in that a still image camera for capturing still images. The apparatus according to any one of claims 1 to 6 , further comprising a position detection unit configured to detect a circumferential position of the main body on the seat surface. A plurality of through-holes configured to be able to insert fastening bolts arranged at equal intervals along the circumferential direction on the outer peripheral side of the lid portion,
A plurality of fixing members arranged on the outer peripheral side of the container portion along the circumferential direction so as to correspond to the plurality of through holes, and configured to be capable of fixing tips of the fastening bolts inserted into the plurality of through holes. Holes and
Further comprising
The guide is provided so as to penetrate some of the plurality of through holes and the plurality of fixing holes,
The position detection unit is configured to move each of the plurality of through-holes, and a movement distance based on at least one of a position of a guide inserted into the through-hole, which is assumed based on the positions of the plurality of through-holes. The apparatus for inspecting a seat surface of a nuclear pressure vessel according to claim 7 , wherein the position of the main body is detected. 8. The apparatus according to claim 7, wherein the position detector detects the position of the main body by counting pulses generated in accordance with the number of revolutions of a resolver provided independently of the running wheels of the main body. Or a sheet surface inspection device for a nuclear pressure vessel according to 8 . The nuclear pressure vessel has an elastic member coaxially arranged along the circumferential direction on the inner peripheral side and the outer peripheral side of the seat surface,
The seat surface of a nuclear pressure vessel according to any one of claims 1 to 9 , wherein the measurement unit is arranged to correspond to a position of the seat surface where the elastic member contacts. Inspection equipment. The device according to any one of claims 1 to 10 , further comprising: an upper urging unit that urges the main body toward the seat surface of the lid when the main body is disposed on the seat surface. Item 6. A sheet surface inspection device for a nuclear pressure vessel according to the above item. A control system for controlling the movement of the main body on the seat surface;
Analysis means for analyzing the measurement result in the measurement unit in association with the circumferential position detected by the position detection unit,
The sheet surface inspection device for a nuclear pressure vessel according to any one of claims 7 to 9 , further comprising:   In a nuclear pressure vessel in which a lid is fastened to the sheet surface of the container, when the posture of the lid is regulated with respect to the container via a guide provided on the outer peripheral side, A seat surface inspection device for a nuclear pressure vessel for inspecting a state of the seat surface,
  A main body configured to be movable along an extending direction of the seat surface;
  A measuring unit provided in the main body unit so as to face the sheet surface;
  A guide mechanism configured to guide the main body to at least one vertical surface provided perpendicular to the seat surface on at least one of an inner peripheral side and an outer peripheral side of the main body;
With
  The guide mechanism is located on the inner peripheral side of the guide,
  A position detecting unit that detects a circumferential position of the main body on the sheet surface,
  The nuclear pressure vessel, wherein the position detector detects the position of the main body by counting pulses generated corresponding to the number of revolutions of a resolver provided independently of a traveling wheel of the main body. Sheet surface inspection equipment.   In a nuclear pressure vessel in which a lid is fastened to the sheet surface of the container, when the posture of the lid is regulated with respect to the container via a guide provided on the outer peripheral side, A seat surface inspection device for a nuclear pressure vessel for inspecting a state of the seat surface,
  A main body configured to be movable along an extending direction of the seat surface;
  A measuring unit provided in the main body unit so as to face the sheet surface;
  A guide mechanism configured to guide the main body to at least one vertical surface provided perpendicular to the seat surface on at least one of an inner peripheral side and an outer peripheral side of the main body;
With
  The guide mechanism is located on the inner peripheral side of the guide,
  The at least one vertical surface includes a first vertical surface provided on an inner peripheral side of the main body, and a second vertical surface provided on an outer peripheral side of the main body.
  An apparatus for inspecting a seat surface of a nuclear pressure vessel, further comprising an upper urging unit for urging the main body unit against the seat surface of the lid when the main body unit is disposed on the seat surface.

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