JPH1114784A - Reactor internal inspecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To approach an inspecting means to an inspecting part to perform an inspection even in a place where the insertion of the inspecting means is difficult by providing a rotatable arm mechanism on an underwater remote control vehicle(ROV), and providing various inspecting means on one top end of the arm mechanism and a counter float on the other end. SOLUTION: This device is provided with an inspecting device body 10 which comprises a camera unit 2 set in the front part of a ROV body 1 so as to be capable of elevating and rotating, an arm mechanism 3 fixed to the body 1 side surface in such a manner as to be rotatable around horizontal axial line, an X-Y scanner 4 erected on the arm mechanism 3, and an inspecting means 5 loaded thereon in such a manner as to be movable within the X-Y plane and attachable/detachable. The body 1 is provided with a float 23 fixed to a pressure case, a thruster 24 for longitudinal movement and rotation, and a thruster for raising/lowering and horizontal movement. The output is performed by the signal output from a control device 121 connected to a relay box 11 and cables 13, 14. A device operating joy stick 122, an ultrasonic flaw detector 123 or the like is connected to the device 121.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inspection system in a nuclear power plant, for example, used in a reactor pressure vessel, and more particularly to various inspections for welding lines of a reactor structure in reactor water. Alternatively, the present invention relates to an in-reactor inspection device mounted on a remote control vehicle (hereinafter abbreviated as “ROV”) used for various inspections of various underwater structures in nuclear facilities other than a nuclear power plant. .

[0002]

2. Description of the Related Art Conventionally, when remotely inspecting a nuclear facility, it is common to attach a camera or an inspection device to the end of a mast or a long rod, or to design and use a dedicated arm or jig. Was.

[0003] The above-described inspection apparatus cannot be used for inspection other than the inspection purpose at first because of interference with a structure in a nuclear facility or a structural restriction.

[0004] In view of such problems, as a device dedicated to visual inspection, a small device capable of approaching an inspection part even in a narrow and complicated place in a nuclear reactor facility is being developed.

FIG. 19 shows an example of a conventional reactor inspection system.

As one example of a conventional inspection apparatus in a nuclear reactor, as described in Japanese Patent Application Laid-Open No. 7-69284, a forward-backward movement and a turning operation are performed on a pressure-resistant case 154 on which a visual inspection camera 152 and an illumination device 153 are mounted. Thruster 15 to enable
5. Provide underwater RO with thruster 156 that enables up and down
V151 and a cable 157 to the underwater ROV 151.
The control device 158 is provided via the.

[0007] With such a reactor inspection device, the inspection site can be visually inspected with less interference with the structure in the nuclear facility or with minimum structural restrictions.

[0008]

The inspection apparatus provided with the above-mentioned underwater ROV can perform a visual inspection, but since the inspection means is only a camera, the inspection apparatus itself requires an ultrasonic inspection test, an eddy current inspection test, and the like. Inspection means cannot be mounted and contacted with the inspection site for inspection. There are also restrictions such as the inability to move in the lateral direction with respect to the inspection surface or the suspension of new inspection means, and it is difficult to inspect the inside of the reactor by various inspection methods.

SUMMARY OF THE INVENTION The present invention has been made in view of the above situation, and its object is to provide a small underwater ROV comprising a visual inspection camera, a lighting device, a forward / backward / turning thruster, and a vertical / traverse thruster. It is an object of the present invention to provide a small reactor inspection device capable of mounting various inspection means.

[0010]

In order to achieve the above object, an inspection apparatus in a nuclear reactor according to the present invention is characterized by what is described in each of claims 1 to 8.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows an overall configuration of a reactor inspection apparatus according to the present invention.

The inspection apparatus in a nuclear reactor according to the present invention is roughly divided into an ROV main body 1, a camera unit 2 installed on the front part of the ROV main body 1 so as to be able to turn up and down, and a horizontal shaft mounted on the side surface of the ROV main body 1. An arm mechanism 3 rotatable about an axis, an XY scanner 4 mounted on the arm mechanism 3, and mounted on the XY scanner 4 so as to be vertically and horizontally movable in an XY plane and exchangeable and removable. Inspection apparatus main body 10 constituted by inspection means 5 and the like mounted on
A relay box 11 for reducing the number of cores of the cable 13 output from 0 and combining them, a controller 12 for remotely operating the inspection apparatus body 10 and performing remote inspection work, and a relay box 11 and the controller 12 And a cable 14 to be connected.

The structure of the ROV main body 1 will be described with reference to FIG.

FIG. 2 is a main projection view of the underwater ROV main body 1 of the in-reactor inspection apparatus according to one embodiment of the present invention.

The ROV body 1 has a pressure-resistant case A21 having a hollow inside, a pressure-resistant case B22 fixed water-tight behind the pressure-resistant case A21, and the pressure-resistant case A.
It comprises a float 23 fixed in front of the pressure-resistant case 21, a forward / backward / turning thruster 24 provided below the pressure-resistant case A21, and a lifting / traversing thruster 25 fixed to the upper part of the pressure-resistant case A21.

The internal structure of the ROV body 1 is shown in FIG.
This will be described with reference to FIGS.

3 is a sectional view taken along line AA of FIG. 2, FIG. 4 is a sectional view taken along line BB of FIG. 3, and FIG. 5 is a sectional view taken along line CC of FIG.

As shown in FIGS.
The motor 31 that drives the turning thruster 24 is installed via a plate 32 installed at the lower part inside the pressure-resistant case B22, and a pulley 33 is attached to the shaft of the motor 31. The forward / backward / turning thruster 24 has a pressure-resistant case A2.
Pressure-resistant case A21 by the watertight bearing 35 provided in
A propeller shaft 34 rotatably supported with respect to
Propeller 3 attached to one end of propeller shaft 34
The inside through which the propeller shaft 8 and the propeller shaft 34 pass is constituted by a propeller cover 39 fixed to a watertight bearing 35 via a hollow stay 40. Propeller shaft 34
A pulley 36 is attached to the side opposite to the propeller 38, and a V-belt 37 is provided between the pulley 33 and the pulley 36.

A motor 41 for driving the lifting / traversing thruster 25 is installed on the inner surface of the pressure-resistant case A21, and a gear 42 is mounted on the shaft of the motor 41. The lifting / traversing thruster 25 has a propeller shaft 45 rotatably supported on the pressure-resistant case A21 by a watertight bearing 44 provided on the pressure-resistant case A21, a propeller 46 provided at one end of the propeller shaft 45, and a hollow inside. The stay 4 with a hollow inside through which the propeller shaft 45 penetrates
8 comprises a propeller cover 47 fixed to the watertight bearing 44. A gear 43 is provided at one end of the propeller shaft 45 on a side opposite to the propeller 46 so as to mesh with the gear 42 at a right angle.

The camera unit 2 includes a CCD camera (not shown), a camera lens 51, and a light 52 arranged so as to illuminate the camera field of view in front of the camera unit 2. The arm unit 26 is disposed in front of the pressure-resistant case A21 via the arm 26. It is installed to be able to turn up and down. The motor 55 for driving the camera unit 2 is installed on a side surface inside the pressure-resistant case A21, and a gear 56 is attached to a shaft of the motor 55.

The gear 57 is disposed at right angles to the gear 56, and the gear 57 is provided in a pressure-resistant case A21 of a shaft 59 rotatably mounted on the pressure-resistant case A21 by a watertight bearing 58 mounted on the pressure-resistant case A21. It is provided at the end. The gear 60 is attached to the other end of the shaft 59, and the gear 61 is formed at right angles to the gear 60, and is attached to the outer end of the camera shaft 54 attached to the camera unit 2.

The attitude angle measuring unit 62 is a pressure-resistant case B
It is attached via a plate 63 inside 22. RO
The distance measurement sensor 64 in front of the V is attached to the front of the float 23. ROV side distance measurement sensor 65
Is attached to the side surface of the arm mechanism 3. The distance measuring sensor 67 above the ROV is attached to the upper surface of the pressure-resistant case A21.

The arm mechanism 3 includes an arm 3a and an arm 3
b, and a hollow arm 3a is provided with a pressure-resistant case A2.
The ROV 1 is rotatably provided about a horizontal axis with respect to the ROV main body 1 via a shaft 71 fixed to the base 1 and a watertight bearing 72 attached to a lower portion of the arm 3a. Arm 3a
Inside, a motor 116 is mounted, and a gear 117 is mounted on a shaft of the motor 116, and the gear 117 is formed at right angles to a gear 118 mounted on the shaft 71.
An encoder 119 is mounted in the arm 3b opposite to the arm 3a instead of the motor 116.

Next, the structure of the XY scanner 4 will be described.
This will be described with reference to FIGS.

FIG. 6 is a sectional view taken along line EE in FIG. 3, and FIG. 7 is a sectional view taken along line FF in FIG.

As shown in FIGS. 6 and 7, a ball screw 81, a guide rod 82,
An X-axis frame 83 and support legs 84 are provided, and are installed on the upper end of the arm mechanism 3. The X-axis frame 83 includes a ball nut 85 and a guide rod 8 for the ball screw 81.
2 are movably supported by the bush 86 with respect to the scanner frame 115, respectively. In the scanner frame 115, a motor 87 is provided.
The gear 88 is attached to the shaft 7. Watertight bearing 9
0, a gear 89 provided at one end of a ball screw 81 rotatably supported on the scanner frame 115.
Are arranged to mesh with the gear 88 at right angles.

The X-axis frame 83 has a ball screw 92,
A guide rod 93 and a motor case 94 are provided. The motor case 102 is movably supported on the X-axis frame 83 by a ball nut 95 for the ball screw 92 and by a bush 96 for the guide rod 93. The X-axis frame 83 is provided with a motor 97.

The shaft of the motor 97 is rotatably supported by a watertight bearing 98 with respect to the motor case 94, and a pulley 99 is attached to the end of the shaft. A pulley 100 is provided at one end of the ball screw 92, and a V-belt 101 is hung between the pulley 99 and the pulley 100.

A motor 103 is installed in the motor case 102. A shaft of the motor 103 is rotatably supported by the motor case 102 by a watertight bearing 104, and a gimbal mechanism 105 having a pressing function is provided at the end of the shaft. The ultrasonic probe 106 as an ultrasonic inspection means is attached.

The gimbal mechanism 105 includes a frame A107 mounted on the shaft of the motor 103, a spring case 108 slidably provided at the end of the frame A107 along the frame A107, and a spring 1 installed in the spring case 108.
09, a frame B110 rotatably provided with respect to the spring case 108, and the ultrasonic probe 106
Is rotatably supported on the frame B110 at right angles to the rotation direction of the frame B110.

Support legs 84 are provided at the four corners of the scanner frame 115, and support pads 111 are attached to the ends thereof.

As shown in FIG. 1, the underwater ROV body 1, X
A cable for outputting a signal from the −Y scanner 4, the arm mechanism 3, and the like enters the relay box 11. A serialization circuit (not shown) for reducing the number of cables in the main cable 13 is built in the relay box 11. A main cable 13 is led out of the relay box 11 from the side opposite to the entrance of the cable 14.

On the side opposite to the main cable 13 with respect to the relay box 11, a control device 121 of the inspection apparatus main body 10 is provided.
Is connected. A joystick 122 for operating the device, an ultrasonic flaw detector 123, a computer 124 for data processing, and the like are connected to the control device 121, and a recording device 125 such as an MO is connected from the computer.

Next, an example of inspecting the shroud support using the in-furnace inspection apparatus constituted as described above will be described with reference to FIGS.
This will be described with reference to FIG.

FIG. 13 shows the shroud 2 in the reactor.
02, a partial cross section of the installation state of the upper lattice plate 203, the core support plate 204, and the shroud support 205 are shown.

The shroud 202 is provided on a lower inner wall of the reactor 201 along a circumferential direction.
The core support plate 204 is attached to the inside of the middle abdomen of the shroud 202, and the shroud 202
The upper lattice plate 203 is attached to the upper part.

FIG. 14 is an enlarged view of the shroud support 205 in FIG. 13. The shroud support bracket 206 is provided on the inner wall of the lower lower mirror in the reactor 201 by welding, and the upper part of the shroud support bracket 206 is welded to the reactor. FIG. 4 shows a partial cross section of a cylindrical shroud support ring 207 provided around the inside of 201, a ring-shaped shroud support plate 208 provided by welding to an upper portion of the shroud support bracket 206 and an outer surface of the shroud support ring 207 by welding.

A through hole is provided in the upper surface of the shroud support plate 208 along the circumferential direction, and an adapter 209 is provided.
The jet pump diffuser 210 is attached by welding.

In this embodiment, a method of inspecting these welding lines using the inspection apparatus in a nuclear reactor according to the present invention will be described.

First, the inspection apparatus main body 10 is suspended by a wire or the like (not shown) by a pulley or the like (not shown) on the refueling truck, and the apparatus is suspended in the furnace. After the inspection apparatus main body 10 dive into the furnace water in the furnace, the inspection apparatus 10 is operated with the joystick 122, and the upper lattice plate 203, the core support plate 204
And the like to approach the shroud support 205 site.

In FIGS. 15 to 17, a pressure-resistant case A
21, the pressure-resistant case B22, the hollow portion of the arm mechanism 3 and the float 23 make the ROV main body 1 buoyant.
By placing the buoyancy above the center of gravity of the V body 1,
The OV main body 1 always keeps the illustrated basic posture at rest.

As shown in FIG. 2, the XY of the arm mechanism 3
A counter float 66 is attached to the end opposite to the scanner 4, and the center of gravity including the XY scanner 4, the arm mechanism 3, and the counter float 66, and the buoyant position is the same as the position of the center of gravity of the ROV main body 1. Be the same. For this reason,
Even if the XY scanner 4 rotates with respect to the ROV main body 1,
That doesn't break the balance.

After the inspection apparatus body 10 approaches the shroud support site, the arm mechanism 3 is operated by the joystick 122 to rotate the XY scanner 4 so as to be parallel to the flaw detection surface. Thereafter, the user operates the joystick 122 to push the joystick against the flaw detection site. The XY scanner 4 is fixed by the thrust of the support pad 111 and the thrusters 24 and 25.

FIG. 15 shows an inspection apparatus 10 according to the present invention.
7 shows a state in which the XY scanner 4 is pressed so that a weld between the inside of the lower part of the reactor 201 and the shroud support bracket 206 can be inspected.

FIG. 16 shows an inspection apparatus 10 according to the present invention.
4 shows a state in which the XY scanner 4 is pressed so that a weld between the inside of the lower part of the reactor 201 and the shroud support plate 208 can be inspected.

FIG. 17 shows an inspection apparatus 10 according to the present invention.
Connect the XY scanner 4 to the shroud support bracket 20
6 shows a state in which the welded portion between the shroud 6 and the shroud 202 is pressed so as to be inspectable.

After pressing the XY scanner 4 against the inspection site, the ultrasonic probe 106 in the XY scanner 4 is scanned to perform flaw detection.

During the flaw detection, the attitude angle of the underwater ROV main body 1 is measured by the attitude angle measuring unit 62 in the underwater ROV main body 1,
By applying feedback to the outputs of the thrusters 24 and 25, the attitude of the underwater ROV main body 1 can be stabilized and the XY scanner 4 can be stably pressed. Therefore, according to the present embodiment, an apparatus suitable for checking the soundness of the welding line of the shroud support is obtained.

For the purpose of reducing the weight and thickness of the XY scanner for ultrasonic flaw detection, a linear ultrasonic actuator drive type XY using a linear ultrasonic actuator for the drive unit.
An example of the scanner will be described below with reference to FIGS.

FIG. 8 is a plan view of a linear ultrasonic actuator type XY scanner according to the present invention, and FIG.
G is a sectional view, FIG. 10 is a sectional view taken along line HH of FIG. 8, and FIG.
12 is a sectional view taken along line II of FIG. 9, and FIG. 12 is a sectional view taken along line JJ of FIG.

In each of the above figures, the scanner frame 1
Reference numeral 61 denotes a frame A163 and a frame A163 each of which has a U-shaped cross section and which are arranged to face each other via the plate 162.
Frame 182, supporting legs 164 slidable in parallel to
And the like, and is installed on the upper end of the arm mechanism 3.

The X-axis frame 182 has a U-shaped frame B 166, which is disposed to face each other via the plate 165, and the scanning sphere 16 provided on the outer surface of the plate 165.
7, a linear ultrasonic actuator 169 provided on the inner lower surface of the frame A 163 and a sliding plate 170 provided on the inner upper surface of the frame A 163, which are constituted by a linear encoder 168 provided on the inner surface of the plate 165;
, With appropriate pressing pressure, the frame A16
3 slidably supported.

From the linear encoder 168, the rod 171 of the linear encoder 168 is connected to the linear encoder 16
8 slidably penetrates the linear encoder 168 from both sides, penetrates the X-axis frame 182 slidably, and is in contact with each end of the plate 162.

The probe holder 172 is connected to the frame B166.
Linear ultrasonic actuator 17 installed on inner lower surface
3 and the slide plate 174 installed on the inner upper surface of the frame B 166 with an appropriate pressing pressure, and slidably and rotatably supported on the X-axis frame 182.

In the probe holder 172, a potentiometer 175 is mounted.
An X-axis frame 163 that is rotatable with respect to the probe holder 172 is
A linear encoder 176 is attached so as to be slidable along the frame B166. From the linear encoder 176, the rod 181 of the linear encoder 176
Are slidably penetrated from both sides of the linear encoder 176 with respect to the linear encoder 176, and the plate A163
Is in contact with

The linear encoder 1 of the probe holder 172
The probe 177 is fixed to a surface opposite to the surface 76 via a gimbal mechanism 178 having a function of pressing the probe 177. At four corners of the scanner frame 161, support legs 164 are provided, and support pads 179 are attached to the front ends thereof.

In the present ultrasonic actuator drive type XY scanner, the X-axis frame 182 is moved to the frame A 163 by operating the linear ultrasonic actuator 169.
The probe holder 172 is moved along the X axis frame 1 by operating the ultrasonic actuator 173.
The probe 177 can be moved vertically and horizontally by moving the probe along the line 82. In order to rotate the probe, one of the ultrasonic actuators 173 is operated in the forward direction, and the other ultrasonic actuator 173 is operated in the reverse direction to rotate the probe holder 172.

Therefore, according to the present embodiment, since the conventional rotary motor, a case for accommodating the rotary motor and the rotation transmitting means are not required, the weight and thickness of the scanner main body can be reduced, and the inspection can be performed. A device suitable for suspension on the arm mechanism of the device is obtained.

An example in which an XY scanner and an XY scanner driven by an ultrasonic actuator are suspended in the arm mechanism 3 is shown, but a radiation-resistant television camera unit 191 is suspended from the arm mechanism 3 as another suspended object. Figure 18 for an example
Shown in

In place of the radiation resistant television camera, an infrared camera, an underwater cleaning means such as an underwater electric brush, and an end effector such as an air chuck may be used.

In this embodiment, an example in which the ultrasonic probe 106 is mounted on the inspection means 5 is shown. However, as other inspection means, use of an eddy current detection sensor, a laser surveying instrument, or the like is prohibited. Absent.

[0063]

According to the present invention, even in a narrow place where it is difficult to insert the inspection means, such as a shroud support, in the reactor pressure vessel, the inspection means can be brought close to the inspection site in a short time to perform the inspection. By being able to do so, it is possible to reduce the radiation equivalent received by the worker in the inspection work and improve the efficiency.

Further, by providing a work tool such as a brush unit for removing clad in the arm mechanism instead of the scanner, the apparatus can be used for work other than inspection.

[Brief description of the drawings]

FIG. 1 is an overall view showing an inspection apparatus in a nuclear reactor according to one embodiment of the present invention.

FIG. 2 is a main projection view of an inspection device main body of the reactor inspection device according to one embodiment of the present invention.

FIG. 3 is a vertical sectional view showing the internal mechanism of FIG. 2;

FIG. 4 is a vertical sectional view showing the internal mechanism of FIG. 2;

FIG. 5 is a cross-sectional view showing the arrangement of the tilt mechanism of the camera unit shown in FIG. 1;

FIG. 6 is a sectional view showing the internal structure of the X-axis frame of the XY scanner in FIG. 2;

FIG. 7 is a sectional view showing the internal structure of the XY scanner of FIG. 2;

FIG. 8 is a main projection view of an ultrasonic actuator driven XY scanner according to one embodiment of the present invention.

FIG. 9 is a cross-sectional view showing the connection between the scanner frame and the X-axis frame of the ultrasonic actuator driven XY scanner of FIG. 8;

FIG. 10 is a cross-sectional view showing the connection between the X-axis frame of the ultrasonic actuator driven XY scanner of FIG. 8 and the inspection means and the like.

FIG. 11 is a cross-sectional view showing the arrangement of the X-axis frame and the probe holder in FIG. 9 from the back side with respect to FIG. 8;

FIG. 12 is a cross-sectional view showing the engagement between the X-axis frame and the probe holder in FIG. 9 from the front side with respect to FIG. 8;

FIG. 13 is a cross-sectional view showing a state of connection of internal structures installed in the reactor pressure vessel.

FIG. 14 is an enlarged view showing how the shroud support portions are joined in FIG.

FIG. 15 shows an inspection apparatus according to the present invention, which includes an XY scanner;
FIG. 4 is a side view showing a state where a weld between a lower inside of the reactor and a shroud support bracket is pressed so as to be inspectable.

FIG. 16 shows an inspection apparatus according to the present invention, which is an XY scanner.
FIG. 4 is a side view showing a state where a weld between a lower inside of the reactor and a shroud support plate is pressed so as to be inspectable.

FIG. 17 shows an inspection apparatus according to the present invention using an XY scanner;
FIG. 4 is a side view showing a state in which a weld between the shroud support bracket and the shroud is pressed so as to be inspectable.

FIG. 18 is an overall view showing an example in which a radiation-resistant television camera unit is suspended on an arm mechanism.

FIG. 19 is an overall view showing a conventional in-reactor inspection apparatus which swims underwater in various parts of a nuclear reactor or the like, approaches the part, and performs a visual inspection with a built-in camera.

[Explanation of symbols]

1. ROV main unit 2. Camera unit
3 ... arm mechanism, 4 ... XY scanner,
5 ... inspection means, 10 ... inspection device body,
11 ... relay box, 12 ... controller, 13 ...
Cable, 21 ... pressure-resistant case A, 22 ...
Pressure-resistant case B, 23: float, 24: forward / backward / turning thruster, 25: lifting / traversing thruster, 2
6 ... arm, 31 ... motor, 32 ... plate, 33 ... pulley, 34 ... propeller shaft, 35 ... watertight bearing, 36 ... pulley,
37 ... V belt, 38 ... Propeller,
39 ... propeller cover, 40 ... stay,
41 ... motor, 42 ... gear,
43: gear, 44: watertight bearing, 4
5 ... propeller shaft, 46 ... propeller,
47 ... Propeller cover, 48 ... Stay,
51: camera lens, 52: light,
53: bearing, 54: camera shaft, 5
5 ... motor, 56 ... gear, 57 ... gear, 58 ... watertight bearing, 59 ... shaft,
Reference numeral 60: gear, 61: gear, 62: attitude angle measuring unit, 63: plate, 64: distance measuring sensor, 65: distance measuring sensor, 66: counter float, 67: distance measuring sensor, 71: shaft, 72: watertight bearing 81, ball screw, 82, guide rod, 83, X-axis frame, 84, support leg, 85, ball nut, 86, bush, 87, motor,
88 ... gear, 89 ... gear,
90: watertight bearing, 92: ball screw, 9
3 Guide rod, 94 Motor case, 9
5 ... Ball nut, 96 ... Bushing, 9
7 motor, 98 watertight bearing, 99 pulley, 100 pulley, 101 V belt, 102 motor case, 103 motor
104: watertight bearing, 105: gimbal mechanism, 106: ultrasonic probe, 107: frame A, 108: spring case, 109: spring, 1
10 Frame B, 111 Support pad, 1
15: scanner frame, 116: motor, 117
... Gear, 118 ... Gear, 119 ... Encoder, 121 ... Control device, 122 ... Joystick, 123 ... Ultrasonic flaw detector, 124 ... Data processing computer, 125 ... Recording device
151 ... underwater ROV part, 152 ... camera for visual inspection,
153: lighting device, 154: pressure-resistant case,
155: thruster, 156: thruster,
157: cable, 158: controller, 1
61: scanner frame, 162: plate,
163: Frame A, 164: Support legs,
165: plate, 166: frame B,
167: Copying ball, 168 ... Linear encoder, 169
... linear ultrasonic actuator, 170 ... sliding plate, 171 ... rod, 172 ... probe holder,
173: linear ultrasonic actuator, 174: sliding plate, 175: potentiometer, 176 ...
Linear encoder, 177: Probe, 178: Support leg, 179: Support pad, 181: Rod, 182: X-axis frame 191: Radiation-resistant television camera unit, 201: Reactor,
202: shroud, 203: upper lattice plate,
204: core support plate, 205: shroud support, 206: shroud support bracket, 207
... shroud support ring, 208 ... shroud support plate, 209 ... adapter, 210 ... jet pump diffuser,

Continued on the front page (51) Int.Cl. ⁶ Identification code FI G01N 29/26 501 G01N 29/26 501 G21C 17/08 G21C 17/08

Claims (8)

[Claims] An in-reactor inspection apparatus comprising: an underwater ROV, a forward / backward / turning thruster, a lifting / traversing thruster, an underwater TV camera, and a lighting device, wherein the inspection apparatus is rotatable with respect to the underwater ROV. An arm mechanism is attached to the underwater ROV, and various inspection means are detachably attached to one end of the arm mechanism, and a counter float is detachably attached to the other end opposite to the inspection means. An inspection apparatus in a nuclear reactor, characterized in that: 2. An underwater ROV has attitude angle inspection means inside the underwater ROV, and the attitude of the underwater ROV is always kept constant by the attitude angle inspection means, the forward / backward turning / thruster, and the vertical / horizontal thruster. The inspection apparatus in a nuclear reactor according to claim 1, wherein: 3. The lifting / traversing thruster is spaced apart from a center line of the underwater ROV in a lifting direction, and two thrusters are arranged at equal angles and opposite angles to the center line. 2. The method according to claim 1, wherein
Or the inspection apparatus in a nuclear reactor according to 2. 4. An apparatus according to claim 1, wherein an XY scanner mechanism is suspended from one end of said arm mechanism, and said inspection means is detachably mounted on said XY scanner mechanism. Inspection device in a nuclear reactor as described above. 5. The in-reactor inspection apparatus according to claim 4, wherein a linear ultrasonic actuator is used as an operating means of the XY scanner mechanism. 6. The replaceable inspection means is any one of an ultrasonic inspection means having an ultrasonic probe, a radiation-resistant television camera, an infrared camera, and an eddy current flaw detection sensor. Item 6. The reactor inspection apparatus according to any one of Items 1 to 5. 7. In place of the replaceable inspection means,
2. The in-reactor inspection apparatus according to claim 1, wherein an underwater cleaning means such as an underwater electric brush is suspended on one end of the arm mechanism. 8. In place of the exchangeable detachable inspection means,
2. The inspection apparatus according to claim 1, wherein an end effector such as an air chuck is suspended at one end of the arm mechanism.