JP7374842B2 - Inspection equipment and inspection method - Google Patents

Description

Embodiments of the present invention relate to an inspection device and an inspection method for non-destructively inspecting a site to be inspected.

Generally, in aging nuclear power plants, inspection equipment is used to conduct surface inspections, volume inspections, etc. in order to evaluate the health of reactor internal structures, such as water supply nozzles in reactor pressure vessels. Non-destructive testing is being conducted.

For example, when inspecting the water supply nozzle of a reactor pressure vessel, the inspection device is suspended from the operating floor into the reactor pressure vessel filled with water using an overhead crane, and then the inspection device is brought to the vicinity of the water supply nozzle. After moving the inspection device, install the inspection device using reactor internal structures such as the reactor pressure vessel water supply sparger and core spray (CS) piping, or adsorb the inspection device to the desired position using suction means. As a result, non-destructive inspections of the nozzle corners of water supply nozzles, etc. are being conducted.

However, when inspecting narrow areas such as the nozzle corners of the water supply nozzle, inspection equipment is required because a thermal sleeve is placed inside the water supply nozzle or a water supply sparger is located near the water supply nozzle. It is difficult to access the inspection target area (nozzle corner, etc.). Therefore, in order to perform non-destructive inspection of difficult-to-access locations such as the nozzle corners of water supply nozzles, inspection devices with multiple drive parts and inspection devices with multiple inspection arms such as offset arms have been proposed. There is.

In these inspection devices having multiple offset arms, the flaw detection probe installed at the tip of the inspection device is placed at the nozzle corner in the narrow part, avoiding the water supply sparger etc. installed on the inner peripheral surface of the reactor pressure vessel. In order to get closer to each other, two offset arms (specifically, a single offset arm and a double offset arm) are used to perform flaw detection over the entire circumference of the nozzle corner, and two offset arms with mirror image symmetry are used. There is a method that performs flaw detection over the entire circumference of the nozzle corner.

Japanese Patent Application Publication No. 2015-102527 Patent Application No. 2017-138145

However, with conventional inspection equipment that has multiple offset arms, it is necessary to replace two offset arms when performing flaw detection over the entire circumference of the nozzle corner of the water supply nozzle, which increases the time required for non-destructive testing. There is an issue of doing so. In addition, if it becomes necessary to repair the area to be inspected after a non-destructive inspection, it is necessary to use a repair device equipped with polishing tools, etc. instead of the inspection device, which requires time to replace, and Since it is necessary to reposition the device to the area to be inspected, there is a problem in that the work from inspection to repair work takes a long time.

The embodiments of the present invention have been made in consideration of the above-mentioned circumstances, and it is an object of the present invention to provide an inspection device and an inspection method that can reliably inspect a flaw detection site using a flaw detection probe in a short time.

An inspection device according to an embodiment of the present invention includes a flaw detection probe that performs a non-destructive test on a site to be inspected, a plurality of arm members with different shapes to which the flaw detection probes can be attached, and a plurality of arm members that are connected to the flaw detection probe. The drive unit includes a back-and-forth movement mechanism that moves the site to be inspected in the front-rear direction and a turning mechanism that rotates the site, and a base plate on which the drive unit is installed, and grips a structure near the site to be inspected. and a gripping and mounting mechanism for mounting the base plate on the structure, wherein the arm member has a linear arm coupled to a curved arm having a predetermined degree of curvature, and the flaw detection probe is mounted to the curved arm. It includes a first arm member and a second arm member that directly attaches the flaw detection probe to the linear arm, and the first arm member and the second arm member are removably attached to the drive unit, and at least one It is characterized in that it is configured such that it can be used by being attached to the drive unit.

In an inspection method according to an embodiment of the present invention, the inspection device of the above embodiment is used to grasp a structure in the vicinity of a site to be inspected using the gripping and mounting mechanism of the inspection device, and then operate the drive unit of the inspection device. The flaw detection probe of the first arm member attached to the drive unit inspects the part hidden behind the obstacle of the inspection target part, and the flaw detection probe of the second arm member attached to the drive unit inspects the part hidden by the obstacle. This method is characterized in that a part of the target part that is not hidden by the obstacle is inspected.

According to the embodiment of the present invention, it is possible to reliably inspect the inspection site using the flaw detection probe in a short period of time.

FIG. 1 is a perspective view showing the main body of the inspection device according to the first embodiment. FIG. 2 is an enlarged perspective view of a part of the apparatus main body of FIG. 1; 2 is a block diagram showing the inspection device of FIG. 1. FIG. FIG. 2 is a partially cutaway perspective view showing the state of inspection work performed by the main body of the inspection device shown in FIG. 1; FIG. 4 is a schematic diagram showing a nuclear reactor pressure vessel and the like in which the inspection device of FIGS. 1 and 3 performs inspection work. A view taken along the VI arrow in FIG. 5.

EMBODIMENT OF THE INVENTION Hereinafter, the form for implementing this invention is demonstrated based on drawing.
[A] First embodiment (FIGS. 1 to 6)
FIG. 1 is a perspective view showing the main body of the inspection device according to the first embodiment. FIG. 3 is a block diagram showing the inspection device of FIG. 1. FIG. 4 shows the reactor pressure vessel 1 and the like on which the inspection apparatus 10 shown in FIGS. 1 and 3 performs inspection work. In this embodiment, the inspection device 10 uses the nozzle corner part 2a of the water supply nozzle 2 of the reactor pressure vessel 1 as the inspection target area, but also inspects other parts of the reactor pressure vessel 1 and reactor internal structures as the inspection target area. Good too.

The reactor pressure vessel 1 accommodates the reactor core 3, and a water supply sparger 5 connected to the water supply nozzle 2 is arranged along the inner wall 1a of the reactor pressure vessel 1. ) A pipe 6 is arranged along the inner wall 1a of the reactor pressure vessel 1. As shown in FIGS. 4 and 6, the water supply sparger 5 includes a T-tube 8 connected to a thermal sleeve 7 provided in the water supply nozzle 2, and an annular header pipe 9 connected to the T-tube 8. It is composed of:

The nozzle corner part 2a of the water supply nozzle 2, which is the inspection target part of the inspection device 10 of this embodiment, is located in a narrow part close to the T-tube 8 and the thermal sleeve 7 of the water supply sparger 5, and is located in a narrow part of the reactor pressure vessel 1. When visually observed from inside the water supply sparger 5, a portion thereof is hidden by the water supply sparger 5 (particularly the T-shaped pipe 8). Therefore, the water supply sparger 5 becomes an obstacle to inspection work for the nozzle corner portion 2a of the water supply nozzle 2.

When the inspection device 10 inspects the nozzle corner 2a of the water supply nozzle 2, the inside of the reactor pressure vessel 1 is filled with water, and the steam dryer, steam separator, etc. installed above the reactor core 3 are filled with water. be removed. Furthermore, inspection work using the inspection device 10 involves lowering the device body 29 of the inspection device 10 from the operating floor above the reactor pressure vessel 1 to the vicinity of the water supply nozzle 2 using an overhead crane, and remotely controlling the device body 29. It is implemented by

Now, as shown in FIGS. 1 and 3, the inspection device 10 includes a flaw detection probe 11, an arm member 12 including a first arm member 12a and a second arm member 12b, a turning mechanism 14, a back-and-forth moving mechanism 15, and a flaw detection probe 11. A drive unit 13 equipped with an arm position control mechanism 16, a grip mounting unit 17 equipped with a grip mounting mechanism 18, a rotation axis X direction positioning mechanism 19, a rotation axis Y direction positioning mechanism 20, and a rotation axis tilt adjustment mechanism 21; A device main body 29 includes a circuit section 22 , and further includes a control unit 23 and a controller 24 .

The flaw detection probe 11 non-destructively tests the nozzle corner portion 2a of the water supply nozzle 2 for defects using eddy current or ultrasonic waves (eddy current in this embodiment). The detection signal of the flaw detection probe 11 is amplified by the electric circuit section 22 and transmitted to the control unit 23 over a long distance (for example, 20 to 30 meters). The control unit 23 that has received the detection signal of the flaw detection probe 11 using the eddy current can determine the presence or absence of a defect in the nozzle corner portion 2a of the water supply nozzle 2, and can also measure the distance between the nozzle corner portion 2a and the flaw detection probe 11. Note that the flaw detection probe 11 may be provided with a position sensor for measuring the distance between the nozzle corner portion 2a of the water supply nozzle 2 and the flaw detection probe 11.

The arm member 12 shown in FIG. 1 is capable of attaching the flaw detection probe 11, and has a first arm member 12a and a second arm member 12b having different shapes. The first arm member 12a has a linear arm 25 coupled to a curved arm 26 having a predetermined degree of curvature, and the flaw detection probe 11 is attached to the tip of the curved arm 26. Further, the second arm member 12b is used to directly attach the flaw detection probe 11 to the linear arm 25.

As shown in FIGS. 4 and 6, the predetermined degree of curvature of the curved arm 26 in the first arm member 12a is such that the flaw detection probe 11 attached to the first arm member 12a is connected to the nozzle corner 2a of the water supply nozzle 2 and the thermal sleeve. 7 and the T-shaped tube 8 of the water supply sparger 5, the curved arm 26 is prevented from interfering with the protrusion 8a protruding from the T-shaped tube 8 of the water supply sparger 5. is set to the value obtained.

As shown in FIG. 1, a block 27 is integrally provided on the linear arm 25 of the first arm member 12a and the second arm member 12b, and this block 27 is connected to the movable part 51 (described later) of the arm position control mechanism 16. By being attached or detached, the first arm member 12a and the second arm member 12b are configured to be detachable from the arm position control mechanism 16 of the drive unit 13. Thereby, at least one (for example, both) of the first arm member 12a and the second arm member 12b is mounted on the drive unit 13 and is provided so as to be usable.

As shown in FIG. 6, a portion hidden by the water supply sparger 5 in the nozzle corner portion 2a of the water supply nozzle 2 is inspected by the flaw detection probe 11 attached to the first arm member 12a. Further, a portion of the nozzle corner portion 2a of the water supply nozzle 2 that is not hidden by the water supply sparger 5 is inspected by the flaw detection probe 11 attached to the second arm member 12b.

As shown in FIG. 1, each of the linear arms 25 of the first arm member 12a and the second arm member 12b has the aforementioned electric circuit connected to the flaw detection probe 11 to amplify the detection signal from the flaw detection probe 11. The section 22 is installed integrally. This electric circuit section 22 is installed on the linear arm 25 even when the linear arm 25 of the first arm member 12a and the second arm member 12b is attached to and detached from the arm position control mechanism 16 of the drive unit 13. State is preserved. Therefore, during maintenance of the electric circuit section 22 or during calibration of the flaw detection probe 11, the electric circuit section 22 is separated from the drive unit 13 while being installed on the first arm member 12a and the second arm member 12b.

As shown in FIGS. 1 and 4, the gripping and mounting mechanism 18 of the gripping and mounting unit 17 grips a structure near the nozzle corner 2a of the water supply nozzle 2, for example, the CS pipe 6, It has a gripper 31 and a drive cylinder 32.

Grippers 31 and drive cylinders 32 are provided at both ends of the substantially rectangular base plate 30, and the drive cylinders 32 open and close the grippers 31. The opening/closing operation of the gripper 31 is performed by a worker on the operating floor operating the controller 24 (FIG. 3), and the control unit 23 outputting an operation command to the drive cylinder 32. When the gripper 31 closes and grips the CS pipe 6, the base plate 30 on which the drive unit 13 is provided is attached to the CS pipe 6 in a substantially fixed state. Note that instead of the drive cylinder 32, a telescopic drive mechanism using an electric motor, a ball screw, and a nut may be used.

The rotation axis X direction positioning mechanism 19 and the rotation axis Y direction positioning mechanism 20 are provided between the base plate 30 and the drive unit 13, as shown in FIGS. The axis P is adjusted in two orthogonal directions (X-axis direction and Y-axis direction).

Of these, the rotation axis Y direction positioning mechanism 20 includes a Y-axis slider 33 provided on a base plate 30 so as to be movable in the Y-axis direction, and a ball extending in the Y-axis direction and rotatably supported on the base plate 30. It is configured to include a screw 34 and a nut 35 fixed to the Y-axis direction slider 33 and threaded onto the ball screw 34. When a worker on the operating floor applies rotational force to the end (for example, the upper end) of the ball screw 34 to rotate the ball screw 34, the Y-axis direction slider 33 is moved in the Y direction relative to the base plate 30 via the nut 35. Slide in the axial direction (e.g. vertical direction).

The rotation axis X direction positioning mechanism 19 includes an The X-axis first ball screw 37 is rotatably supported by the direction slider 33, and the X-axis first ball screw 37 extends in the It is configured to include an X-axis second ball screw 38 connected to the ball screw 37, and a nut (not shown) held by the X-axis direction slider 36 and screwed to the X-axis second ball screw 38. .

A worker on the operating floor applies a rotational force to the end (for example, the upper end) of the X-axis first ball screw 37 to rotate the X-axis first ball screw 37, so that the The two-ball screw 38 rotates, and the X-axis slider 36 slides in the X-axis direction (for example, horizontally) via the nut.

Since the motor shaft (not shown) of the turning motor 45 in the turning mechanism 14 is fixed to the X-axis slider 36 as described later, the Y-axis slider 33 is moved in the Y-axis direction, and the X-axis slider 36 is moved in the X-axis direction. By sliding the pivot mechanism 14, the pivot axis P of the pivot mechanism 14 is adjusted in the Y-axis direction and the X-axis direction. This makes it possible to align the pivot axis P of the pivot mechanism 14 with the central axis O (FIG. 6) of the water supply nozzle 2 to be inspected.

As shown in FIG. 1, the rotation axis inclination adjustment mechanism 21 adjusts the inclination of the rotation axis P of the rotation mechanism 14 of the drive unit 13, and includes a mechanism body 40, an operating rod 41, a ball screw 42, and a pressing part 43. It is composed of The mechanism main body 40 is attached to the base plate 30 or gripper 31 of the grip attachment mechanism 18. The operating rod 41 is rotatably supported by the mechanism body 40 in the Y-axis direction. The ball screw 42 is rotatably supported by the mechanism body 40 in the Z-axis direction and connected to the operating rod 41 via a bevel gear. The pressing portion 43 is provided on the mechanism body 40 so as to be slidable in the Z-axis direction, and is connected to the ball screw 42 via a nut. Here, the Z-axis is, for example, a horizontal axis orthogonal to the X-axis and the Y-axis.

When a worker on the operating floor applies rotational force to the end (for example, the upper end) of the operating rod 41 to rotate the operating rod 41, the ball screw 42 rotates via the bevel gear, and the pressing part 43 is rotated. It moves in the Z-axis direction relative to the mechanism body 40. As a result, the pressing unit 43 applies a pressing force to, for example, the inner wall 1a of the reactor pressure vessel 1 near the nozzle corner 2a of the water supply nozzle 2, which is the inspection target site, and rotates the base plate 30 around the CS piping 6. . As a result, the rotation axis P of the rotation mechanism 14 of the drive unit 13 is perpendicular to the inner wall 1a, so that the inclination of the rotation axis P is adjusted.

As shown in FIGS. 1 and 4, the swing mechanism 14 of the drive unit 13 includes a swing frame 44 and a swing motor 45. A motor shaft (not shown) of the swing motor 45 is fixed to the X-axis direction slider 36, and a swing frame 44 is attached to the motor housing 46 of the swing motor 45. Further, this rotating frame 44 supports a longitudinal movement mechanism 15 and an arm position control mechanism 16 as described later.

Therefore, due to the rotational drive of the swing motor 45, the motor housing 46 and the swing frame 44 rotate around the swing axis P, and the first arm member 12a and the second arm member 12b supported by the arm position control mechanism 16 move toward the water supply. The nozzle 2 rotates around the rotation axis P with respect to the nozzle corner portion 2a. Rotation of the swing motor 45 is performed by a worker on the operating floor operating the controller 24 (FIG. 3), and the control unit 23 outputting an operation command to the swing motor 45.

As shown in FIG. 1, a pair of forward and backward moving mechanisms 15 are installed on the rotating frame 44 corresponding to the first arm member 12a and the second arm member 12b. Each back and forth movement mechanism 15 includes a back and forth movement motor 47 fixed to the swing frame 44, a ball screw 48 connected to the back and forth movement motor 47 and extending in the Z-axis direction along the swing frame 44, and an arm. A nut (not shown) is attached to the base portion 50 (described later) of the position control mechanism 16 and screwed onto the ball screw 48.

The ball screw 48 rotates due to the rotational drive of the back and forth movement motor 47, and the base part 50 of the arm position control mechanism 16 moves in the Z-axis direction via the nut, thereby moving the first base part 50 supported by the arm position control mechanism 16. The arm member 12a and the second arm member 12b move in the front-rear direction (Z-axis direction) with respect to the nozzle corner portion 2a of the water supply nozzle 2.

This rotational drive of the motor 47 for forward and backward movement is carried out by the control unit 23 outputting an operation command to the motor 47 for forward and backward movement when a worker on the operating floor operates the controller 24 (FIG. 3). . Note that the back-and-forth moving mechanism 15 may be one that moves the base portion 50 of the arm position control mechanism 16 in the back-and-forth direction (Z-axis direction) with respect to the nozzle corner portion 2a of the water supply nozzle 2 using, for example, an air cylinder device.

As shown in FIGS. 1 and 2, a pair of arm position control mechanisms 16 are installed on the rotating frame 44 corresponding to the first arm member 12a and the second arm member 12b. Each arm position control mechanism 16 controls the radial positions Ta and Tb of the linear arm 25 of the first arm member 12a and the second arm member 12b with respect to the pivot axis P of the pivot mechanism 14 without moving the pivot axis P. It is composed of a base portion 50, a movable portion 51, and a position control motor 52.

The base portion 50 is slidably disposed on the rotating frame 44 along the Z-axis direction (the front-rear direction with respect to the nozzle corner portion 2a of the water supply nozzle 2), and is moved in the Z-axis direction by the front-back movement mechanism 15. The movable part 51 is disposed on the base part 50 so as to be movable in the radial direction about the pivot axis P of the pivot mechanism 14, and is disposed on the linear arm 25 of the first arm member 12a and the second arm member 12b. The block 27 is detachably attached. The position control motor 52 is installed on the base portion 50 , and a pinion 53 provided on the motor shaft meshes with a rack 54 provided on the movable portion 51 . When the position control motor 52 is driven by an operation command from the control unit 23 (FIG. 3), the pinion 53 and the rack 54 cause the movable part 51 to move in the radial direction about the pivot axis P with respect to the base part 50. Move to.

The control unit 23 (FIG. 3) drives the back-and-forth moving mechanism 15 to insert the flaw detection probe 11 into the narrow portion between the nozzle corner portion 2a of the water supply nozzle 2, the thermal sleeve 7, and the T-tube 8. The control unit 23 controls the flaw detection probe 11 and the nozzle corner portion 2a of the water supply nozzle 2 based on the detection signal from the flaw detection probe 11 at this time or the detection signal from a position sensor (not shown) (in this embodiment, the detection signal from the flaw detection probe 11). Measure the distance to. Next, the control unit 23 compares the measured distance between the flaw detection probe 11 and the nozzle corner portion 2a of the water supply nozzle 2 with a target value.

That is, the control unit 23 moves the flaw detection probe 11 closer to the nozzle corner 2a when the measurement distance is larger than the target value, and moves the flaw detection probe 11 away from the nozzle corner 2a when it is smaller than the target value. The control motor 52 is driven. As a result, the movable part 51 moves in the radial direction about the pivot axis P with respect to the base part 50, and each of the linear arms of the first arm member 12a and the second arm member 12b attached to the movable part 51 Adjust the radial positions Ta and Tb of 25. As a result, the distance between the flaw detection probe 11 and the nozzle corner portion 2a of the water supply nozzle 2 is maintained at a desired constant value.

Next, a method of inspecting the nozzle corner portion 2a of the water supply nozzle 2 for defects using the inspection device 10 configured as described above will be described.

When conducting a non-destructive inspection of the nozzle corner 2a of the water supply nozzle 2 of the reactor pressure vessel 1 using the inspection device 10, first, the device body 29 of the inspection device 10 is suspended by an overhead crane, and a worker on the operating floor inspects the device. The main body 29 is lowered within the reactor pressure vessel filled with water to approach the water supply nozzle 2.

Next, the device main body 29 is positioned so that the flaw detection probe 11 of the device main body 29 is positioned at the nozzle corner portion 2a of the water supply nozzle 2. At this time, the gripper 31 of the gripping attachment mechanism 18 is brought close to the CS piping 6 in an open state as shown in FIG. Then, as shown in FIG. 3, the gripper 31 is closed and the CS pipe 6 is gripped. In this way, the base plate 30 of the gripping and attaching mechanism 18 is attached to the CS piping 6 in a substantially fixed state.

In this state, the worker remotely operates the rotation axis Y direction positioning mechanism 20 and the rotation axis X direction positioning mechanism 19 as necessary to move the Y axis direction slider 33 and the X axis direction slider 36, and thereby, The pivot axis P of the pivot mechanism 14 of the drive unit 13 is adjusted to match the central axis O of the water supply nozzle 2 (FIG. 6). Furthermore, the worker remotely controls the rotation axis tilt adjustment mechanism 21 as necessary, applies a pressing force to the inner wall 1a of the reactor pressure vessel 1 with the pressing part 43, and micro-rotates the base plate 30 around the CS piping 6. to adjust the inclination of the rotation axis P of the rotation mechanism 14.

Next, the worker operates the controller 24 to drive the longitudinal movement motor 47 of the longitudinal movement mechanism 15 corresponding to each of the first arm member 12a and the second arm member 12b via the control unit 23. The first arm member 12a and the second arm member 12b are advanced relative to the nozzle corner portion 2a of the water supply nozzle 2. As a result, the flaw detection probe 11 attached to the first arm member 12a and the second arm member 12b can be inserted between the nozzle corner part 2a (inspection target part) of the water supply nozzle 2 and the thermal sleeve 7 and T-tube 8. Inserted into narrow areas. At this time, since the curved arm 26 of the first arm member 12a has a predetermined degree of curvature, interference between the curved arm 26 and the protrusion 8a of the water supply sparger 5 is avoided.

In this insertion state of the flaw detection probe 11, the control unit 23 measures the distance between the nozzle corner part 2a of the water supply nozzle 2 and the flaw detection probe 11 from the detection signal of the flaw detection probe 11 obtained at this time, and uses this measured distance and the target value. The position control motors 52 of the arm position control mechanism 16 corresponding to the first arm member 12a and the second arm member 12b are appropriately driven. As a result, the radial positions Ta and Tb of the linear arm 25 of the first arm member 12a and the second arm member 12b with respect to the pivot axis P of the pivot mechanism 14 are adjusted, respectively, and the first arm member 12a and the second arm member The distance between the flaw detection probe 12b and the nozzle corner portion 2a of the water supply nozzle 2 is maintained at a desired constant value.

Next, the worker operates the controller 24 to drive the turning motor 45 of the turning mechanism 14 via the control unit 23, and rotates the first arm member 12a and the second arm member 12b around the turning axis P of the turning mechanism 14. Swirl.

At this time, the control unit 23 first rotates the first arm member 12a and the second arm member 12b to the left, and as shown in FIG. Then, the left side portion hidden behind the water supply sparger 5 at the nozzle corner portion 2a of the water supply nozzle 2 is inspected using the flaw detection probe 11 of the first arm member 12a. At the same time, in the turning range B1 in which the flaw detection probe 11 of the second arm member 12b turns left, the flaw detection probe 11 of the second arm member 12b detects the right side of the nozzle corner portion 2a of the water supply nozzle 2 that is not hidden by the water supply sparger 5. Inspect the lower half.

Next, the control unit 23 rotates the first arm member 12a and the second arm member 12b to the right, so that the second arm member 12b is rotated in a rotation range C1 in which the flaw detection probe 11 of the second arm member 12b is rotated. The flaw detection probe 11 inspects the lower left half portion of the nozzle corner 2a of the water supply nozzle 2 that is not hidden by the water supply sparger 5. After that, the control unit 23 rotates the first arm member 12a and the second arm member 12b to the left and returns them to the insertion positions.

As shown in FIGS. 1 and 4, next, the worker operates the controller 24 to drive the back and forth movement motor 47 of the back and forth movement mechanism 15 via the control unit 23, and the first arm member 12a and the second arm The member 12b is moved back with respect to the nozzle corner portion 2a of the water supply nozzle 2. As a result, the flaw detection probe 11 attached to each of the first arm member 12a and the second arm member 12b is pulled out from the narrow part between the nozzle corner part 2a of the water supply nozzle 2 and the thermal sleeve 7 and T-tube 8. .

Thereafter, the worker operates the controller 24 to drive the turning motor 45 of the turning mechanism 14 via the control unit 23, and rotates the first arm member 12a and the second arm member 12b 180 degrees around the turning axis P of the turning mechanism 14. Rotate degrees. In this state, the worker operates the controller 24 to drive the back and forth movement motor 47 of the back and forth movement mechanism 15 again via the control unit 23 to move the first arm member 12a and the second arm member 12b to the nozzle corner of the water supply nozzle 2. It is advanced toward the section 2a. As a result, the flaw detection probes 11 attached to the first arm member 12a and the second arm member 12b are inserted into the narrow part between the nozzle corner part 2a of the water supply nozzle 2 and the thermal sleeve 7 and T-tube 8. .

With the flaw detection probe 11 inserted, a worker operates the controller 24 to drive the swing motor 45 of the swing mechanism 14 via the control unit 23 to move the first arm member 12a and second arm member 12b to the swing mechanism 14. Rotate around the rotation axis P.

At this time, the control unit 23 first rotates the first arm member 12a and the second arm member 12b to the left, and as shown in FIG. Then, the right side portion hidden behind the water supply sparger 5 at the nozzle corner portion 2a of the water supply nozzle 2 is inspected using the flaw detection probe 11 of the first arm member 12a. At the same time, in the turning range B2 in which the flaw detection probe 11 of the second arm member 12b rotates to the left, the flaw detection probe 11 of the second arm member 12b detects the upper left part of the nozzle corner portion 2a of the water supply nozzle 2 that is not hidden by the water supply sparger 5. Inspect the half site.

Next, the control unit 23 rotates the first arm member 12a and the second arm member 12b to the right, so that the second arm member 12b rotates in a rotation range C2 in which the flaw detection probe 11 of the second arm member 12b rotates. The flaw detection probe 11 inspects the upper right half portion of the nozzle corner portion 2a of the water supply nozzle 2 that is not hidden by the water supply sparger 5. After that, the control unit 23 rotates the first arm member 12a and the second arm member 12b to the left and returns them to the insertion positions.

As shown in FIGS. 1 and 4, next, the worker operates the controller 24 to drive the back and forth movement motor 47 of the back and forth movement mechanism 15 via the control unit 23, and the first arm member 12a and the second arm The member 12b is moved back with respect to the nozzle corner portion 2a of the water supply nozzle 2. As a result, the flaw detection probes 11 attached to the first arm member 12a and the second arm member 12b are pulled out from the narrow portion between the nozzle corner portion 2a of the water supply nozzle 2 and the thermal sleeve 7 and T-tube 8.

Thereafter, the worker operates the controller 24 to drive the drive cylinder 32 of the gripping and attaching mechanism 18 via the control unit 23, and opens the gripper 31 to release the attached state of the base plate 30. Subsequently, the worker lifts up the main body 29 of the inspection device 10 using an overhead crane, and finishes the non-destructive inspection of the nozzle corner portion 2a of the water supply nozzle 2 by the inspection device 10.

During the inspection work of the nozzle corner part 2a of the water supply nozzle 2 by the inspection device 10, for some reason, the flaw detection probes 11 of the first arm member 12a and the second arm member 12b attached to the arm position control mechanism 16 of the drive unit 13 are simultaneously moved. If it is not efficient for the work to inspect the nozzle corner part 2a of the water supply nozzle 2 using the flaw detection probe 11, select either the first arm member 12a or the second arm member 12b equipped with the flaw detection probe 11 for inspection. The nozzle corner portion 2a of the water supply nozzle 2 may be individually inspected with each flaw detection probe 11 by attaching it to the device main body 29 of the device 10.

For example, first, only the first arm member 12a equipped with the flaw detection probe 11 is attached to the main body 29 of the inspection device 10, and an operator operates the controller 24 to control the gripping and mounting mechanism 18 via the control unit 23. drive As a result, after attaching the device body 29 to the CS piping 6, the worker uses the rotation axis X direction positioning mechanism 19, the rotation axis Y direction positioning mechanism 20, and the rotation axis tilt adjustment mechanism 21 to Adjust the position of P.

Next, the worker operates the controller 24 to drive the forward/backward moving mechanism 15 via the control unit 23 to move the flaw detection probe 11 attached to the first arm member 12a to the nozzle corner 2a of the water supply nozzle 2, the thermal sleeve 7, and the Insert into the narrow part between the T-tube 8. Based on the test signal from the flaw detection probe 11 at this time, the control unit 23 drives the arm position control mechanism 16 to adjust the distance between the nozzle corner portion 2a of the water supply nozzle 2 and the flaw detection probe 11.

Thereafter, the worker operates the controller 24 and drives the turning mechanism 14 via the control unit 23, so that the water supply nozzle 2 The portion hidden behind the water supply sparger 5 in the nozzle corner portion 2a is inspected.

Next, the worker operates the controller 24 to drive the forward/backward moving mechanism 15 via the control unit 23 to move the flaw detection probe 11 of the first arm member 12a to the nozzle corner 2a of the water supply nozzle 2, the thermal sleeve 7, and the T-tube. Pull it out from the narrow area between 8 and 8. Thereafter, the worker removes the first arm member 12a equipped with the flaw detection probe 11 from the arm position control mechanism 16 of the drive unit 13, and attaches the second arm member 12b equipped with the flaw detection probe 11 to this arm position control mechanism 16. Installing.

With the second arm member 12b attached, a worker operates the controller 24 to drive the forward/backward movement mechanism 15 via the control unit 23 to move the flaw detection probe 11 attached to the second arm member 12b to the water supply nozzle 2. It is inserted into the narrow part between the nozzle corner part 2a and the thermal sleeve 7 and T-tube 8. Based on the detection signal of the flaw detection probe 11 at this time, the control unit 23 drives the arm position control mechanism 16 to adjust the distance between the nozzle corner portion 2a of the water supply nozzle 2 and the flaw detection probe 11.

Thereafter, the operator operates the controller 24 to drive the turning mechanism 14 via the control unit 23, thereby changing the turning ranges B1, C1, B2, and C2 in which the flaw detection probe 11 attached to the second arm member 12b turns. In each case, a portion of the nozzle corner portion 2a of the water supply nozzle 2 that is not hidden by the water supply sparger 5 is inspected.

With the above configuration, the present embodiment provides the following effects (1) to (3).
(1) As shown in FIGS. 1, 4, and 6, by using the flaw detection probe 11 attached to a plurality of arm members 12 having different shapes (first arm member 12a, second arm member 12b) Both the part hidden by the water supply sparger 5 and the part not hidden by the water supply sparger 5 in the nozzle corner part 2a (part to be inspected) of the water supply nozzle 2 of the reactor pressure vessel 1 can be reliably inspected by the flaw detection probe 11. Further, a first arm member 12a and a second arm member 12b to which the flaw detection probe 11 is attached are removably provided to the arm position control mechanism 16 of the drive unit 13, and the first arm member 12a and the second arm member Since at least one of the arms 12b is attached to the arm position control mechanism 16 and configured to be usable, the nozzle corner portion 2a of the water supply nozzle 2, which is the site to be inspected, can be efficiently inspected. As a result, using the flaw detection probe 11, it is possible to reliably inspect a portion hidden by the water supply sparger 5 and a portion not hidden by the water supply sparger 5 in the nozzle corner portion 2a of the water supply nozzle 2, which is the inspection target region, in a short time.

(2) The first arm member 12a and the second arm member 12b, to which the flaw detection probe 11 is attached, are configured to be detachable from the arm position control mechanism 16 of the drive unit 13. Therefore, only the first arm member 12a and the second arm member 12b equipped with the flaw detection probe 11 need to be replaced while the gripping attachment mechanism 18 grips the CS piping 6 and the device main body 29 is attached to the CS piping 6. I can do it. As a result, each time the first arm member 12a and the second arm member 12b are replaced, the drive unit 13 is adjusted using, for example, the rotation axis X direction positioning mechanism 19, the rotation axis Y direction positioning mechanism 20, and the rotation axis tilt adjustment mechanism 21. Since there is no need to adjust the position of the rotation axis P of the rotation mechanism 14, the work of replacing the first arm member 12a and the second arm member 12b can be facilitated.

(3) The electric circuit section 22 that amplifies and processes the signal from the flaw detection probe 11 is installed in the first arm member 12a and the second arm member 12b to which the flaw detection probe 11 is attached, respectively. Even when the arm member 12b is attached to and detached from the arm position control mechanism 16 of the drive unit 13, the installation state on the first arm member 12a and the second arm member 12b is maintained. Furthermore, when the first arm member 12a and the second arm member 12b are attached to and detached from the arm position control mechanism 16, the device main body 29 is maintained attached to the CS piping 6 by the grip attachment mechanism 18 of the grip attachment unit 17. There is.

For these reasons, the first arm member 12a and the second arm member 12b, which are equipped with the flaw detection probe 11 and the electric circuit section 22, respectively, are removed from the arm position control mechanism 16 of the drive unit 13 to perform maintenance and maintenance of the electric circuit section 22. When the flaw detection probe 11 is calibrated and then the first arm member 12a and the second arm member 12b are attached to the arm position control mechanism 16 of the drive unit 13, the flaw detection probe 11 of the inspection device 10 is misaligned. This enables highly reproducible tests to be carried out.

[B] Second embodiment (see Figure 1)
The difference between the inspection device 60 (FIG. 1) of the second embodiment and the first embodiment is that, instead of at least one of the first arm member 12a and the second arm member 12b to which the flaw detection probe 11 is attached, An arm member (both not shown) equipped with a repair tool for repairing the nozzle corner portion 2a of the water supply nozzle 2 is configured to be detachable from the arm position control mechanism 16 of the drive unit 13.

The replacement work for the arm member equipped with the repair tool is carried out when the main body 29 of the inspection device 60 is suspended in the reactor pressure vessel 1, and the gripping and mounting mechanism 18 of the gripping and mounting unit 17 of this device main body 29 is connected to the CS, for example. The arm position control mechanism 16 of the drive unit 13 is remotely controlled by a worker on the operation floor while gripping the pipe 6 and attaching the main body 29 to the CS pipe 6 .

As configured as described above, the inspection device 60 of the second embodiment provides the same effects as the effects (1) to (3) of the first embodiment, as well as the following effect (4). play.

(4) In the inspection device 60, in place of at least one of the first arm member 12a and the second arm member 12b to which the flaw detection probe 11 is attached, an arm member is provided with a repair tool for repairing the nozzle corner portion 2a of the water supply nozzle 2. is detachably attached to the arm position control mechanism 16 of the drive unit 13.

Therefore, once the device main body 29 of the inspection device 60 is installed at a predetermined position in the reactor pressure vessel 1, the inspection arm members 12a and 12b attached to the drive unit 13 of the device main body 29 can be used for repair. By simply replacing the arm member, the grip attachment unit 17 can be mounted by the grip attachment mechanism 18, and the rotation axis of the rotation mechanism 14 can be fixed by the rotation axis X direction positioning mechanism 19, the rotation axis Y direction positioning mechanism 20, and the rotation axis tilt adjustment mechanism 21. It is possible to repair the inspection target portion (for example, the nozzle corner portion 2a of the water supply nozzle 2) without repeating the position adjustment of P. As a result, it is possible to shorten the time and improve the efficiency of work ranging from inspection (inspection) work to repair work of the inspection target part.

Although several embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the gist of the invention, and those substitutions and changes can be made. are included within the scope and gist of the invention, and are included within the scope of the invention described in the claims and its equivalents.

For example, in both of the above embodiments, the case of inspection and repair of the nozzle corner part 2a of the water supply nozzle 2 of the reactor pressure vessel 1 was described, but the inner circumferential surface of the reactor pressure vessel 1, the outer circumferential surface of the in-reactor piping, etc. Furthermore, the present embodiment can be applied to non-destructive inspection of structures in other technical fields.

DESCRIPTION OF SYMBOLS 1... Reactor pressure vessel, 1a... Inner wall, 2... Water supply nozzle, 2a... Nozzle corner part (part to be inspected), 5... Water supply sparger (obstruction), 6... CS piping (structure), 10... Inspection device, 11 ...Flaw detection probe, 12...Arm member, 12a...First arm member, 12b...Second arm member, 13...Drive unit, 14...Swivel mechanism, 15...Back and forth movement mechanism, 16...Arm position control mechanism, 18...Gripping attachment Mechanism, 19... Rotating axis X direction positioning mechanism, 20... Rotating axis Y direction positioning mechanism, 21... Rotating axis tilt adjustment mechanism, 22... Electric circuit section, 25... Straight arm, 26... Curved arm, 29... Device main body, 30...Base plate, 32...Drive cylinder, 33...Y-axis direction slider, 36...X-axis direction slider, 43...Pushing part, 45...Swivel motor, 47...Motor for forward and backward movement, 52...Motor for position control, P... Rotating axis, Ta, Tb...Radial position, X, Y...Axis direction

Claims (8)

A flaw detection probe that performs a non-destructive test on the inspection target area,
A plurality of arm members with different shapes to which this flaw detection probe can be attached,
a drive unit equipped with a back-and-forth movement mechanism that moves the plurality of arm members in the front-rear direction with respect to the inspection target site and a turning mechanism that turns the plurality of arm members;
An inspection device comprising a base plate on which the drive unit is provided, and a gripping and mounting mechanism that grips a structure near the inspection target site and attaches the base plate to the structure,
The arm members include a linear arm coupled to a curved arm having a predetermined degree of curvature, a first arm member to which the flaw detection probe is attached to the curved arm, and a second arm member to which the flaw detection probe is directly attached to the linear arm. and
The inspection device is characterized in that the first arm member and the second arm member are detachably attached to the drive unit, and at least one of the first arm member and the second arm member is configured to be usable when attached to the drive unit. The inspection device according to claim 1, wherein the base plate is provided with a rotation axis positioning mechanism that adjusts the rotation axis of the rotation mechanism in the drive unit in two orthogonal axes directions between the base plate and the drive unit. . The gripping and mounting mechanism is provided with a pivot axis tilt adjustment mechanism that rotates the base plate by applying a pressing force near the inspection target site to adjust the tilt of the pivot axis of the pivot mechanism. The inspection device according to claim 1 or 2. The drive unit has an arm position control mechanism, and the arm position control mechanism is configured to attach linear arms of a first arm member and a second arm member, and to move the flaw detection probe that is measured based on the signal from the flaw detection probe. 4. The linear arm is configured to control a radial position of the linear arm with respect to a rotation axis of a rotation mechanism so as to adjust the distance between the inspection target part and the inspection target part to a target value. Inspection device described in. An electric circuit unit connected to a flaw detection probe and amplifying a signal from the flaw detection probe is installed in each of the first arm member and the second arm member, and this electric circuit unit is connected to the first arm member and the second arm member. The inspection device according to any one of claims 1 to 4, wherein the inspection device is configured so that the installed state is maintained even when the second arm member and the second arm member are attached to and detached from the respective drive units. The inspection target area is the nozzle corner of the water supply nozzle of the reactor pressure vessel, and it is confirmed that this nozzle corner is partially hidden by the water supply sparger that is located along the inner wall of the reactor pressure vessel. The inspection device according to any one of claims 1 to 5. In place of at least one of the first arm member and the second arm member to which the flaw detection probe is attached, an arm member equipped with a repair tool for repairing the inspection target area is configured to be removably attached to the drive unit. The inspection device according to any one of claims 1 to 6, characterized in that: Using the inspection device according to any one of claims 1 to 6,
After gripping the structure near the inspection target area using the gripping and mounting mechanism of this inspection device,
The drive unit of the inspection device is operated to inspect a portion of the inspection target area hidden behind an obstacle using the flaw detection probe of the first arm member attached to the drive unit, and An inspection method characterized in that a part of the inspection target part that is not hidden by the obstacle is inspected using a flaw detection probe having two arm members.

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