KR100497972B1 - Sludge lancing system of nuclear steam generator - Google Patents

Abstract

The present invention relates to a device for cleaning the sludge present in the steam generator and to remove foreign substances, in particular to fix the rail flowing through the hand hole to the fixed rod is installed in the central portion of the steam generator, and goes through the rail inner space By moving the transfer robot capable of driving the lance lance, the steam generator sludge cleaning and debris removal device makes it possible to access the steam generator tube through a small handhole and to access a tubesheet that is difficult to geometrically access. It is about.

The constituent means of the steam generator sludge cleaning and foreign matter removal device of the present invention, in the steam generator sludge cleaning and foreign matter removal device, has a structure in which the inner receiving space is formed long, the rail is installed in the steam generator through a hand hole, A fixed rod installed at the center of the steam generator to be fixed to the rail by contact with the end of the rail introduced into the steam generator, a transfer robot inserted into the receiving space of the rail and moved to the transfer robot; The flexible lance is approached to the tube inside the steam generator by the hand, the hand-hole coupling means fixed to the hand hole to induce the movement of the rail, coupled to the hand hole coupling means is installed outside the steam generator Characterized in that it comprises a take-up (take-up) means.

Description

Steam generator sludge cleaning and debris removal device {SLUDGE LANCING SYSTEM OF NUCLEAR STEAM GENERATOR}

The present invention relates to a device for cleaning the sludge present in the steam generator and to remove foreign substances, in particular to fix the rail flowing through the hand hole to the fixed rod is installed in the central portion of the steam generator, and goes through the rail inner space By moving the transfer robot capable of driving the lance lance, the steam generator sludge cleaning and debris removal device makes it possible to access the steam generator tube through a small handhole and to access a tubesheet that is difficult to geometrically access. It is about.

As the steam generator increases, the sludge deposits on the upper part of the tube sheet and the upper part of the tube support plate in the secondary system. Therefore, steam generator manufacturers recommend sludge removal during every preventive maintenance period to ensure the soundness of steam generators.

Some models of steam generators have a blowdown system inside, designed to extract some of the sludge contained in the system by extracting secondary system circulating water, if necessary, even while the plant is operating. However, the blowdown system can remove some of the solid sludge deposited at the bottom as well as improve the water quality of the secondary side water supply, but it is not a fundamental method for removing the sludge.

If the sludge deposited inside the steam generator secondary system is not removed every year, the sludge interferes with the heat transfer between the steam generator heat pipe and the reactor coolant, reducing steam generator efficiency and causing corrosion. If sludge is not removed in the long run, the life of the steam generator can be shortened, leading to a serious situation requiring the steam generator to be replaced or even shut down the power plant.

Various methods for removing sludge deposited in the steam generator have been devised such as a high pressure water injection method, an ultrasonic cleaning method, and a chemical cleaning method. Among them, a study on high-pressure water jet cleaning method that can obtain the most reliable cleaning effect without generating a large amount of secondary pollution has recently been conducted in Korea.

 On the other hand, foreign substances on the top of the secondary tubesheet or flow distribution plate (FDB) of the steam generator may damage the tubes in the steam generator during nuclear power plant operation, causing safety problems such as uninterrupted operation during operation. .

Therefore, in order to ensure the soundness of the steam generator, the steam generator manufacturer recommends removing foreign substances in the steam generator during the preventive maintenance every year. The FOSAR (foreign search and retrieval) equipment, which is currently used for the inspection and removal of foreign substances in the steam generator secondary system, is used as a general-purpose tool, but the operator is close to the secondary S / G handhole, which is a high-radiation area. Since the work must be performed for a long time, there is a problem that the amount of radiation of the worker is excessive. In addition, the upper part of the flow distribution plate with the possibility of foreign substances is difficult to inspect and remove foreign substances because the center portion is cut in an annular shape.

The present invention was devised to solve the above problems of the prior art, the transfer robot for driving a flexible lance that can be transported to an inaccessible tube sheet is moved along the inside of the rail strongly fixed in the steam generator By adopting the structure, an object of the present invention is to provide a steam generator sludge cleaning and debris removal device that can be installed in the upper handhole of a small steam generator.

In addition, the present invention is not only a high-pressure water hose for removing the sludge hoses mounted on the flexible lance, but also a hose for providing a camera for inspecting the foreign matter present in the tube sheet and a removal tool for removing the foreign matter. By being included, the object of the present invention is to provide a steam generator sludge cleaning and debris removal device capable of performing sludge cleaning and debris removal at the same time, thereby reducing the radiation exposure time.

In order to solve the technical problem as described above, the constituent means of the present invention, the steam generator sludge cleaning and foreign matter removal device, in the steam generator sludge cleaning and foreign matter removal device, has a structure in which the inner receiving space is formed long, hand holes A rail installed in the steam generator through the rail, a fixed rod installed at the center of the steam generator to be fixed to the rail by being in contact with the end of the rail introduced into the steam generator, and inserted into a receiving space of the rail. A moving robot which is moved, a flexible lance which is approached by a tube inside the steam generator by the transport robot, a hand hole coupling means fixedly mounted to the hand hole to induce movement of the rail, and the hand hole coupling means. It is coupled to the take-up (take-up) means that is installed outside the steam generator It characterized by comprising.

In addition, the rail, the body is composed of a split rail coupled to each other, the rail end plate connected to the end of the body, and the rail end plate is coupled to one side, the opposite side includes a fixed rod guide that is in contact with the fixing rod Characterized in that, the body is composed of four split rails, it is preferable that the split rails are coupled by a screw bolt. In addition, the rack rail is preferably provided on the inner side of the split rail.

In addition, it is preferable that a ball bearing is further provided between the rail end plate and the fixed rod guide. By further providing a ball bearing as described above, the rail can be rotated after being fixed to the fixed rod.

In addition, the fixing rod guide has a rectangular parallelepiped shape, the opposite surface in contact with the fixing rod is preferably a concave surface having a concave shape, the concave surface is more preferably provided with a rubber (rubber).

On the other hand, the transfer robot, a robot case having an inner receiving space, a case cover covering the robot case, a robot driving means installed in the robot case to move the transfer robot, and is installed in the robot case And a lance driving means for moving the soluble lance.

In addition, the robot driving means, a first motor seated in the longitudinal direction inside the robot case, a first bevel gear connected to the shaft of the first motor, a pair formed in the middle portion of the side height direction of the robot case A first rotating shaft fitted into the first hole of the second bevel gear, a second bevel gear fixed to the first rotating shaft and engaged with the first bevel gear, a transfer gear coupled to both ends of the rotating shaft, and a side surface of the robot case. And a pair of second holes formed at both sides of the first hole to be formed, and a roller fitted to the second hole.

The lance driving means may include a second motor seated in the longitudinal direction of the robot case, a shaft guide supporting a shaft of the second motor, a third bevel gear connected to a shaft of the second motor, A fourth bevel gear meshing with the third bevel gear, a second rotation shaft interposed between the fourth bevel gear and the second rotation shaft fixedly coupled to the second rotation shaft, and both ends of the second rotation shaft. And a bearing fixing means for fixing the bearing to the inner side of the robot case.

In addition, the bearing fixing means, bearing accommodation grooves are formed on both sides of the inside of the robot case, characterized in that it comprises a bearing guide for fixing the bearing accommodated in the bearing accommodation groove from above.

On the other hand, the flexible lance, a plurality of vertical bars having at least two through holes in the body, and links provided at both ends of the vertical bar to connect the ends of the vertical bars with each other, connecting the link and the vertical bar And a fixing bolt, an injection block connected to a vertical bar at an outermost part of the vertical bars connected to each other, and at least two hoses inserted through the through holes formed in the vertical bars and extending to the injection blocks. It is done.

In addition, there are four through-holes formed in the vertical bars, and four hoses are inserted through the four through-holes.

In addition, the four hoses, the hose for inserting the foreign matter removal tool, the hose for installing the foreign matter inspection camera mounted on the injection block, the air supply hose for cleaning the lens of the foreign matter inspection camera, high pressure water for spraying high pressure water Characterized in that the injection hose.

In addition, the end of the injection block is characterized in that the air passage for injecting the air supplied through the air supply hose to the lens of the foreign matter inspection camera is formed. In this way, by forming an air passage and removing foreign matters, etc. caught in the camera lens by air, foreign matters in the steam generator may be normally inspected.

In addition, it is preferable that two smaller holes are formed in the vertical bar than the through holes so that the shape memory alloy is inserted through the holes.

On the other hand, the hand hole coupling means, a cylindrical hand hole flange is inserted into the hand hole, is formed integrally with the hand hole flange fixedly attached to the hand hole, there is formed an induction hole through which the rail can be introduced And a fixing plate, a tilting means fixed to the lower wall of the fixing plate, and a rotating body accommodated in the handhole flange and rotating by the tilting means.

The tilting means may include a motor base fixed to the lower wall of the fixing plate, a tilting motor seated on the motor base, and a tilting gear engaged with the shaft of the tilting motor.

In addition, the tilting is fixed to the fixing plate to protect the tilting gear, the tilting gear receiving hole for receiving the cover hole and the tilting gear corresponding to the guide hole and the part of the tilting gear to expose the inside of the cover hole A tilting gear cover including a gear exposure hole is further provided.

In addition, the rotating body is a ball bearing in which the outer ring is in contact with the inner surface of the hand hole flange, a cylindrical bearing housing that is in contact with the inner ring of the ball bearing, and is inserted into the hand hole flange and rotates, coupled to one end of the bearing housing And a tilting induction gear engaged with the tilting gear, and a thrust bearing fitted to the bearing housing.

Hereinafter, with reference to the accompanying drawings will be described in detail the operation and preferred embodiment of the steam generator sludge cleaning and foreign matter removal apparatus 1000 of the present invention consisting of the above configuration means.

As shown in FIG. 1, the present invention steam generator sludge cleaning and debris removing device 1000 includes a rail 100 installed inside the steam generator through a hand hole 620 and fixing the rail 100. The steam generator tube sheet 610 by the fixed rod 200 is installed in the center of the steam generator, the transfer robot 300 is inserted into the inner space of the rail 100 and moved, and the transfer robot 300 The flexible lance 700 is approached to the hand, and the hand hole coupling means 400 fixedly mounted in the hand hole 620 to induce the movement of the rail 100 and the hand hole coupling means 400 It includes a flexible lance 700 and the take-up means 500 for holding the cables taut.

The rail 100 is introduced into the steam generator through the hand hole 620 from the outside of the steam generator. The introduced rail 100 is in contact with the fixing rod 200 is installed in the central portion of the steam generator is coupled. Since the end of the rail 100 coupled with the fixed rod 200 has a concave shape, it may be tightly coupled with the fixed rod 200. In addition, the inside of the rail 100 has a structure in which a receiving space for accommodating the transport robot 300 to be described later is formed long.

2 is a diagram illustrating a configuration of the rail 100.

As shown in FIG. 2, the rail 100 includes a body 110 composed of a plurality of split rails 111, 112, 113, and 114 coupled to each other, a split rail 111, 112, 113, and 114 connected to an end of the body 110, and Combination with the rail end plate 130 is composed of a fixed rod guide 150 is in contact with the fixed rod 200.

The body 110 composed of a combination of the split rails 111, 112, 113, and 114 may be formed by a combination of a plurality of split rails 111, 112, 113, and 114. The body 110 of the present invention is configured by combining four split rails (111, 112, 113, 114). The split rails 111, 112, 113, and 114 are coupled to each other by a screw bolt 121 for horizontally coupling and a screw bolt 123 for vertical coupling. And the rail end plate 130 is fastened by the screw bolt 131 to the end of the body 110 is formed by combining the split rails (111, 112, 113, 114).

In addition, the rack gear 170 shown in FIG. 5 is fastened by a screw bolt (denoted as 171 in FIG. 2) to the inner side surfaces of the split rails 111, 112, 113, and 114 forming the body 110. The rack gear 170 is installed so that the transfer robot 300 to be described later can be moved in the rail (100). That is, the transfer gear 300 (refer to reference numeral 345 in FIG. 6) and the rack gear 170 provided in the transfer robot 300 to be described later are engaged with the transfer robot by driving the motor mounted inside the transfer robot 300. 300 is to move along the rack gear 170.

On the other hand, the rail end plate 130 and the fixed rod guide 150 may be directly connected, in the present invention between the rail end plate 130 and the fixed rod guide 150 to rotate the rail 100 Insert the ball bearing 180 in the.

As shown in FIG. 3, in order to insert the ball bearing 180 between the rail end plate 130 and the fixed rod guide 150, a concave portion 131 is formed on one surface of the rail end plate 130. As shown in FIG. 4, a convex portion 155 is formed on one surface of the fixing rod guide 150.

Therefore, the rail end plate 130 is fastened to the end of the body 110 by tightening the screw bolt 131 in the four holes 133, the ball bearing in the recess 131 formed on one surface of the rail end plate 130. 180 is inserted. The convex portion 155 of the fixing rod guide 150 is coupled to the rail end plate 130 in contact with the inner ring of the ball bearing 180.

An opposite surface of one surface of the fixing rod guide 150 coupled to the rail end plate 130 has a shape that can be in contact with the fixing rod 200. That is, as shown in Figure 4, the fixing rod guide 150 as a whole is a rectangular parallelepiped, the concave surface 151 having a concave shape is formed on the opposite surface in contact with the fixing rod 200 is It is configured in a form that can be tightly coupled with the fixed rod (200).

A plurality of rubber grooves 153 are formed in the concave surface 151 formed in the fixing rod guide 150, and a rubber (190 in FIG. 2) is formed in the rubber groove 153. It is inserted. As such, by providing the plurality of rubbers 190 on the concave surface 151, when the fixing rod guide 150 is coupled with the fixing rod 200, the fixing rod 200 does not slip and is stable. I can keep it in a state.

When the rail 100 having the structure as described above is fixed to the fixing rod 200, the transfer robot 300 is inserted into the inner receiving space of the rail 100 and moves. The transfer robot 300 moves in engagement with the rack gear 170 installed inside the rail 100, and the flexible lance 700 approaches the tube seat 610 of the steam generator. ) Is performed.

6 is a configuration diagram of the transfer robot 300 moving along the receiving space inside the rail 100.

As shown in FIG. 6, the transfer robot 300 includes a robot case 310 having an inner accommodation space, a case cover 320 covering the robot case 310, and a motor for moving the transfer robot 300. The robot lance means 340 to be transferred by driving, and the flexible lance 700 in order to approach the steam generator tube sheet 610 to the flexible lance 700 provided in the upper side of the transfer robot 300. It comprises a lens driving means 380 to move.

The robot case 310 has a predetermined structure for accommodating the robot driving means 340 and the lens driving means 380. That is, the robot case 310 has a structure for seating various motors and a structure for coupling various gears, and holes for installing each shaft are provided on the side of the robot case 310.

The robot driving means 340 is a necessary component so that the transfer robot 300 can be moved inside the rail 100.

As shown in FIG. 6, the robot driving means 340 for moving the transfer robot 300 includes a first motor 341 and a first motor 311 seated in a longitudinal direction inside the robot case 310. A first bevel gear 342 connected to the shaft of 341, a first rotation shaft 344 fitted to a pair of first holes 343 formed at an intermediate portion of the robot case 310 in the height direction, and A second bevel gear (not shown) fixed to a first rotating shaft 344 and engaged with the first bevel gear 342, a transfer gear 345 coupled to both ends of the first rotating shaft 344, and Two pairs of second holes 346 formed at both sides of the first hole 343, and a roller 347 fitted into the second hole 346.

The first motor 341 is mounted on a predetermined portion of the robot case 310 in a state accommodated in the motor case 341. That is, two pairs of protrusions 348 are formed at both sides of the motor case 341, and protrusion accommodation grooves 349 are formed in the robot case 310 to accommodate the protrusions. Accordingly, the motor case 341 allows the protrusion 348 to pass through the protrusion accommodation groove 349, and compresses the spring (numbering omitted) provided on the upper side of the robot case 310 while the robot case ( 310) It is seated on the floor.

A first bevel gear 342 is connected to an end of the shaft of the first motor 341, and a second bevel gear (not shown) engaged with the first bevel gear 342 is the first rotation shaft 344. It is fixed to and installed. In addition, transfer gears 345 are connected to both ends of the first rotation shaft 344.

In the above structure, when the first motor 341 is driven, the first bevel gear 342 rotates, and the second bevel gear (not shown) engaged with the first bevel gear 342 also rotates. Done. Then, the first rotation shaft 344 is also subjected to the rotational force and the transfer gear 345 is rotated.

Since the transfer gear 345 is engaged with the rack gear 170 fixed to the inside of the rail 100 described above, the transfer robot 300 can move according to the driving of the first motor 341. On the other hand, when the transfer robot 300 is moved according to the driving of the first motor 341, the roller 347 that is fitted to the second hole 346 formed on the side of the robot case 310 is also interlocked. To help the stable movement of the transfer robot (300).

By the robot moving means 340 having the structure as described above, the transfer robot 300 is moved along the inner space of the rail 100 described above to reach near the tube sheet 610 for sludge cleaning and foreign matter removal. . When the transfer robot 300 is moved to a desired position, the tube robot 610 should then approach the tube sheet 610 to drive the flexible lens 700 for cleaning and removing foreign matters.

In order to drive the flexible lance 700 as described above, the lance driving means 380 must be driven. The lance driving means 380 is also provided inside the transfer robot 300.

As shown in FIG. 6, the lance driving means 380 includes a second motor 361 seated in the longitudinal direction of the robot case 310 and a shaft guide for supporting the shaft of the second motor 361. 362, a third bevel gear 363 connected to the shaft of the second motor 361, a fourth bevel gear 364 engaged with the third bevel gear 363, and the fourth bevel gear A second rotary shaft 365 inserted into the shaft 364, two lance shift gears 366 fixedly coupled to the second rotary shaft 365, and bearings connected to both ends of the second rotary shaft 365. 367 and bearing fixing means 368 and 369 for fixing the bearing 367.

The bearing fixing means for fixing the bearing 367 to the inner surface of the robot case 310 has a bearing accommodation groove 368 for accommodating the bearing 367 on both sides of the robot case 310. And a bearing guide 369 for fixing the bearing 367 in the state accommodated in the bearing accommodation groove 368 from above.

In the above structure, when the second motor 361 is driven, the third bevel gear 363 connected to the shaft supported on the shaft guide 362 rotates, the third bevel gear 363 The interlocking fourth bevel gear 364 also rotates in linkage. Then, the lance shifting gear 366 rotates while the second rotation shaft 365 fixed to the fourth bevel gear 364 rotates.

When the lance shift gear 366 is rotated, the flexible lance 700 is provided on the inner side of the transfer robot 300 and is bitten by the lance shift gear 366 is rotated in the direction of the tube sheet 610 in the steam generator. ) Can be accessed.

The flexible lens 700 approaching the tube sheet 610 according to the rotation of the lens moving gear 366 is configured to be turned about 90 degrees by the lens moving gear 366.

7 is an overall configuration diagram illustrating the flexible lance 700.

As shown in FIG. 7, the flexible lance 700 includes a plurality of vertical bars 710 having at least two through holes in the body, and the vertical bars 710 to connect ends of the vertical bars 710 to each other. Links 720 provided at both ends of the bar 710, a fixing bolt 730 connecting the link 720 and the vertical bar 710, and the outermost one of the vertical bars 710. The injection block 740 connected to the vertical bar 710 and at least two hoses 750 inserted into the through-holes of the vertical bar 710 and extending to the injection block.

As illustrated in FIG. 7, the vertical bars 710 are continuously arranged perpendicularly to the longitudinal direction of the flexible lance 700, and the vertical bars 710 are connected by a link 720. The fixing bolt 730 connects the link 720 and the vertical bar 710.

Two or more through holes formed in the body of the vertical bar 710 may be used. However, in the present invention, four through holes are formed, and four hoses to be fitted into the four through holes are also provided. The hose is an essential hose in the present invention, a hose 751 for a foreign substance removal tool for removing foreign substances in the steam generator, a foreign substance inspection camera installation hose 753 mounted on the injection block, and the foreign substance. An air supply hose 752 for cleaning the lens of the inspection camera, and a high pressure water injection hose 754 for injecting high pressure water to remove the sludge in the steam generator.

The debris removal tool input hose 751 includes necessary cables for controlling the debris removal tool coming out of the injection block. Therefore, the foreign matter removal tool connected to the cable is controlled by a control means (not shown) installed outside the steam generator.

The foreign matter inspection camera installation hose 753 is provided with a cable electrically connected to the foreign matter inspection camera, the foreign matter inspection camera is provided on the injection block. Therefore, the image information photographed by the foreign matter inspection camera installed on the injection block is displayed on the monitor (not shown) included in the control means (not shown) through the cable.

The lens of the foreign substance inspection camera may be soiled by dirt or the like in the steam generator. Therefore, it is necessary to remove foreign substances and the like stuck on the lens by air. To this end, an air supply hose 752 capable of injecting air is provided next to the foreign matter inspection camera installation hose.

The air supply hose 752 extends to the end of the injection block and injects air to the lens of the foreign matter inspection camera through an air passage 744 formed inside the injection block as shown in FIG. 8.

As shown in FIG. 8, the injection block 740 has four grooves 742, 743, 744, and 745 formed in the through-holes of the vertical bar 710 to accommodate the extended hoses. have. That is, as shown in Figure 8, the right side is formed a hole 742 for connecting the foreign matter removal tool, next to the groove 743 is formed extending the air supply hose, next to it A hole 744 in which the foreign matter inspection camera is mounted is formed, and a hole 745 in which a nozzle capable of spraying high pressure water is connected is formed next to the hole 744.

Meanwhile, two small holes may be further formed in the vertical bar 710 in addition to the through holes. The shape memory alloy (reference numeral 755 in FIG. 7) is fitted into two holes smaller than the through hole. The shape memory alloy can stably maintain the flexible lance 700 by increasing the recovery force of the soluble lance and maintaining the tension.

Referring to Figure 9 summarized the coupling structure of the flexible lance 700 as follows.

Four hose through holes 711, 712, 713, and 714 are formed in the vertical bar 710, and holes 715 for shape memory alloys are formed. The vertical bars 710 are connected to each other by a link 720, and the link 720 and the vertical bar 710 are connected to each other by a fixing bolt 730. On the other hand, the vertical bar 710 and the injection block is also connected by a link 720, the fixing bolt 730 is connected to the vertical bar 710 and the injection block 740 and the link 720. .

The hand hole coupling means 400 fixedly mounted to the hand hole 620 to induce the movement of the rail 100 is fixedly coupled to the hand hole 620 to vaporize the rail 100 and the transfer robot 300. It is provided as a passage for entering into the generator, and performs a function for rotating the rail 100 fixed to the fixed rod 200 is installed in the steam generator.

10 is a block diagram showing the hand hole 620 coupling means 400 as described above.

As shown in FIG. 10, the handhole coupling means 400 is inserted into the handhole 620 and integrally formed with the cylindrical handhole flange 410 located inside the steam generator and the handhole flange 410. And a fixing plate 420 fixedly attached to the hand hole 620, a tilting means 430 fixedly installed at a lower wall of the fixing plate 420, and accommodated in the hand hole flange 410. It comprises a rotating body 440 is rotated by the tilting means 430.

The hand hole flange 410 is located inside the steam generator through the hand hole 620, the fixing plate 420 is fixed to the wall of the steam generator at the inlet of the hand hole 620 by a fixing bolt 422. The fixing plate 420 is provided with an induction hole 421 in the center portion to allow the rail 100 and the transfer robot 300 to flow into the steam generator.

The tilting means 430 is a rail 100 is introduced into the steam generator through the guide hole 421 of the fixing plate 420, when the transfer robot 300 is moved through the inner space of the rail 100, The rail 100 is rotated. As the rail 100 rotates, the flexible lance 700 driven by the transfer robot 300 may approach the tubesheet 610 of the steam generator.

As shown in FIG. 10, the tilting means 430 for performing the above operation includes a motor base 431 fixed to the lower wall of the fixing plate 420 and a tilting motor seated on the motor base 431. 432 and a tilting gear 435 coupled to the shaft of the tilting motor 432. Specifically, the tilting motor 432 is accommodated in the motor case 433 and covered with the motor cover 434 and then coupled to the motor base 431 by a fixing bolt.

Meanwhile, a tilting gear cover 450 may be further provided on the fixing plate 420 to protect the tilting gear 430. As shown in FIG. 10, the tilting gear cover 450 includes a cover hole 451 corresponding to the guide hole 421 of the fixing plate 420 in the center portion, and accommodates the tilting gear 435. A tilting gear accommodation hole 452 is formed at a lower side thereof, and a tilting gear exposure hole 453 is formed to expose a portion of the tilting gear 435 to the cover hole 451.

Accordingly, the tilting gear receiving hole 452 of the tilting gear cover 450 is attached to the fixed plate 420 by passing through the tilting motor 432 and the cover hole 451 of the tilting gear cover 450. The induction hole 421 of the fixing plate 420 is coupled to the fixing plate 420 by a fixing bolt 454. The motor case 433 is then written on the tilting motor 432. When the tilting gear cover 450 is attached to the fixed plate 420, the upper gear of the tilting gear 430 is exposed through the tilting gear exposure hole 453.

The rotating body 440 rotated by the tilting means 430 in the state accommodated in the hand hole flange 410 is accommodated in the hand hole flange 410, as shown in FIG. A ball bearing 441 in contact with an inner surface of the hand hole flange 410, a cylindrical bearing housing 442 inserted into the hand hole flange 410 and rotating in contact with the inner ring of the ball bearing 441, and A tilting induction gear 443 coupled to one end of the bearing housing 442 and engaged with the tilting gear 435 included in the tilting means 430 and a thrust bearing 444 fitted to the bearing housing 442. It is done by

One end of the bearing housing 442 is exposed outside the fixed plate 420 (exposed to the steam generator), the tilting induction gear 443 is coupled to the exposed end. Then, the tilting induction gear 443 is provided at the lower side of the fixed plate to engage with the tilting gear 435 exposed through the tilting gear exposure hole 453.

Accordingly, when the tilting motor 432 of the tilting means 430 is driven, the tilting gear 435 rotates, and the tilting induction gear 443 engaged with the tilting gear 435 also rotates. Then, the bearing housing 442 coupled with the tilting induction gear 443 rotates together with the inner ring of the ball bearing 441. Since the bearing housing 442 may be rotated according to the driving of the tilting motor 432 as described above, the rail 100 introduced into the steam generator through the bearing housing 442 may be rotated.

On the other hand, the various types of cables required to drive the rail 100, the transfer robot 300 and the flexible lance 700 described above and the flexible lance 700 to prevent the twist and adjust the appropriate tension In order to the fixed plate as shown in Figure 1, the take-up (take-up) is coupled.

According to the present invention having the configuration and operation and the preferred embodiment as described above, since the transfer robot 300 for driving the flexible lens 700 is moved along the inside of the rail 100 installed in the steam generator, the handhole It is also possible to install in the upper hand hole 620 of the steam generator having a small diameter 620, so that it is possible to remove foreign substances present in the upper portion of the flow distribution plate.

In addition, the present invention, if the rail 100 for receiving the transfer robot 300 is fixed to the fixed rod 200 is installed in the central portion of the steam generator, because the rail 100 can be rotated by a motor drive various The flexible lance 700 may approach the tubesheet 610 at an angle. Therefore, the sludge present in the tube sheet 610 can be effectively removed, and there is an effect angle capable of approaching the desired tube sheet 610 for clean cleaning.

In addition, the flexible lance 700 of the present invention is further provided with a hose for inputting a removal tool for removing the inspected foreign matter as well as a camera for inspecting the presence of foreign matter as well as sludge removal by high pressure water. By installing the equipment, sludge cleaning, foreign material inspection and foreign material removal can be performed simultaneously, which can reduce the amount of work and work time and greatly reduce the amount of radiation of the worker.

1 is an overall configuration diagram of a steam generator sludge cleaning and foreign matter removal apparatus.

Figure 2 is a block diagram of a rail that is one component of the present invention.

Figure 3 is a block diagram of a rail end plate of one component of the present invention.

Figure 4 is a block diagram of a fixing rod guide that is one component of the present invention.

5 is a block diagram of a LAN gear which is one component of the present invention.

6 is an overall configuration diagram of a transport robot that is one component of the present invention.

7 is an overall configuration diagram of a flexible lance that is one component of the present invention.

8 is a block diagram of an injection block that is one component of the present invention.

9 is a coupling structure diagram of a flexible lance that is one component of the present invention.

10 is an overall configuration diagram of a handhole coupling means as one component of the present invention.

Claims (20)

In the steam generator sludge cleaning and debris removal device, A rail having a structure in which an inner accommodating space is formed and installed in the steam generator through a hand hole; A fixed rod installed at a central portion of the steam generator to be in contact with the end of the rail introduced into the steam generator to support the rail; A transfer robot which is inserted into the receiving space of the rail and moved; A flexible lance accessible by the transfer robot to a tube inside the steam generator; A hand hole coupling means fixedly mounted to the hand hole to induce movement of the rail; Steam generator sludge cleaning and debris removal device comprising a take-up means coupled to the hand hole coupling means is installed outside the steam generator. The method according to claim 1, The rail, A body comprising a split rail coupled to each other, a rail end plate connected to the end of the body, and the rail end plate is coupled to one surface, the opposite side comprises a fixing rod guide is in contact with the fixing rod Steam generator sludge cleaning and debris removal device. The method according to claim 2, The body is composed of four split rails, the steam generator sludge cleaning and debris removal device, characterized in that coupled between the split rail by a screw bolt. The method according to claim 2, Steam generator sludge cleaning and foreign matter removal device, characterized in that the ball bearing is further provided between the rail end plate and the fixed rod guide. The method according to claim 2 or 4, The fixed rod guide is a rectangular parallelepiped shape, the opposite surface in contact with the fixed rod is a steam generator sludge cleaning and debris removal device, characterized in that the concave surface having a concave shape. The method according to claim 5, Steam generator sludge cleaning and foreign matter removal device, characterized in that the rubber (rubber) is further provided on the concave surface. The method according to claim 3, Steam generator sludge cleaning and foreign matter removal apparatus, characterized in that the rack gear is provided on the inner side of the split rail. The method according to claim 1, wherein the transfer robot, A robot case having an inner receiving space, a case cover covering the robot case, a robot driving means installed inside the robot case to move the transfer robot, and installed inside the robot case to move the flexible lance. Steam generator sludge cleaning and debris removal device comprising a lance driving means. The method of claim 8, wherein the robot driving means, A first motor seated in a longitudinal direction of the inside of the robot case, a first bevel gear connected to a shaft of the first motor, and a pair of first holes formed at a middle portion in a lateral height direction of the robot case; A first rotating shaft, a second bevel gear fixed to the first rotating shaft and engaged with the first bevel gear, a transfer gear coupled to both ends of the rotating shaft, and the first hole formed on the side of the robot case. Steam generator sludge cleaning and debris removal device comprising a pair of second holes formed on both sides and a roller fitted in the second hole. The method of claim 8, wherein the lens driving means, A second motor seated in the longitudinal direction of the robot case, a shaft guide supporting a shaft of the second motor, a third bevel gear connected to the shaft of the second motor, and a third bevel gear A fourth bevel gear, a second rotating shaft that is inserted into the fourth bevel gear and rotates, two lance shift gears fixedly coupled to the second rotating shaft, bearings connected to both ends of the second rotating shaft, and the bearing. Steam generator sludge cleaning and foreign matter removal device, characterized in that it comprises a bearing fixing means for fixing to the inner surface of the robot case. The method according to claim 10, The bearing fixing means, the bearing receiving grooves are formed on both sides of the inside of the robot case, the steam generator sludge cleaning and debris removal device, characterized in that it comprises a bearing guide for fixing the bearing accommodated in the bearing accommodation groove from above. . The method according to claim 1, wherein the flexible lance, A plurality of vertical bars having at least two through holes in the body, links provided at both ends of the vertical bars to connect the ends of the vertical bars to each other, fixing bolts connecting the links and the vertical bars, and connected to each other Steam generator sludge cleaning and foreign substances, characterized in that it comprises a spray block connected to the vertical bar at the outermost of the vertical bars, and at least two hoses inserted through the through holes formed in the vertical bars to extend to the injection block. Removal device. The method according to claim 12, Four through holes formed in the vertical bars, steam generator sludge cleaning and debris removal device, characterized in that the four hoses are inserted through the four through holes extending. The method according to claim 13, The four hoses include a hose for inserting a foreign substance removal tool, a hose for installing a foreign substance inspection camera mounted on the injection block, an air supply hose for cleaning the lens of the foreign substance inspection camera, and a high pressure water spray hose for spraying high pressure water. Steam generator sludge cleaning and debris removal device, characterized in that. The method according to claim 14, Steam generator sludge cleaning and debris removal device characterized in that the air passage for injecting the air supplied through the air supply hose to the lens of the foreign matter inspection camera is formed at the end of the injection block. The method according to claim 12, Two further smaller holes are formed in the vertical bar than the through-holes, so that the shape memory alloy is fitted through the holes. The method according to claim 1, wherein the handhole coupling means, A cylindrical hand hole flange inserted into the hand hole, a fixed plate which is integrally formed with the hand hole flange and fixedly attached to the hand hole, and has an induction hole through which the rail can be introduced, and a lower wall of the fixed plate. A steam generator sludge cleaning and debris removal device comprising a tilting means fixedly installed and a rotating body accommodated in the hand hole flange and rotating by the tilting means. The method according to claim 17, The tilting means includes a motor base fixed to the lower wall of the fixing plate, a tilting motor seated on the motor base, and a tilting gear coupled to the shaft of the tilting motor. Device. The method according to claim 18, Tilting gear exposure fixed to the fixing plate to protect the tilting gear, the tilting gear receiving hole for accommodating the cover hole corresponding to the guide hole and the tilting gear and a portion of the tilting gear exposed inside the cover hole Steam generator sludge cleaning and debris removal device further comprises a tilting gear cover including a hole. The method according to claim 18, The rotating body, A ball bearing in which the outer ring is in contact with the inner surface of the hand hole flange, a cylindrical bearing housing which is in contact with the inner ring of the ball bearing, is inserted into the hand hole flange and rotates, and is coupled to one end of the bearing housing to be engaged with the tilting gear. A steam generator sludge cleaning and debris removal device comprising a tilting induction gear and a thrust bearing fitted to the bearing housing.