KR101080937B1 - Maintenance System for CRDM Nozzles of Reactor Head - Google Patents

Abstract

The present invention relates to a maintenance system using a remotely controllable manipulator for inspecting and repairing the integrity of the reactor head through pipe. In particular, the present invention relates to deflections and vibrations generated in a manipulator for accessing inspection or repair devices to each through pipe. The present invention relates to a maintenance system of a reactor head through-pipe, which is designed to reduce operation and improve operation control performance.

To this end, in the maintenance system of the reactor head through tube according to the embodiment of the present invention, in the maintenance system for maintaining a plurality of through tubes of the reactor head seated on a seating structure including an inner cylinder, A trolley moving along the annular rail portion installed on the top surface is installed, and the trolley is provided with a multi-joint manipulator for maintaining each through tube.

Reactor Head, Through Tube, CRDM Nozzle, Inspection, Maintenance

Description

Maintenance System for CRDM Nozzles of Reactor Head

The present invention relates to a maintenance system using a remotely controllable manipulator for inspecting and repairing the integrity of the reactor head through pipe. In particular, the present invention relates to a deflection and vibration generated by the manipulator for approaching the inspection or repair device to each through pipe. The present invention relates to a maintenance system of a reactor head through-pipe, which is designed to reduce operation and improve operation control performance.

11 is a perspective view of a seating structure for seating a reactor head to check the cross-section of the reactor head and the integrity of the reactor head.

The reactor head 200 has a hemispherical shape, and a plurality of control rod drive mechanisms (CDRMs) 210 through which control rods are moved up and down are vertically fixed to the reactor head. In this case, the reactor head 200 and the through tube 210 are welded and fixed along the circumference of the through tube 210 protruding downward from the inner circumferential surface of the reactor head. The through tube 210 is usually connected to the reactor head 200. It is composed of dissimilar metals and can damage the welds around the penetration pipe in the environment of pressure, high temperature and high radiation.

If the weld is damaged, boric acid, which is a moderator, may leak out of the reactor head through the damaged part, and there is a risk of corrosion of the outside of the reactor head. In the nuclear power generation where high radiation is generated, the soundness is very important, and it is prescribed to inspect the welded part of the penetration pipe regularly and repair the damaged part.

Since the reactor head 200 has a very large load, the reactor head 200 is not inspected while suspended in the air, and is inspected after being seated on the dedicated seating structure 300. The seating structure 300 used here is made of a double cylindrical stainless steel made of an inner cylinder 310 and an outer cylinder 320 having a thick wall to prevent external exposure of radiation emitted from the reactor head 200. To form a concrete block treated with a surface, and consists of a steel frame between the inner and outer cylindrical body is composed of a support 330 for supporting the edge of the reactor head.

At this time, the height of the inner cylindrical body 310 and the outer cylindrical body 320 is formed high enough so that a person can enter and exit, the entrance formed in the inner cylindrical body 310 to prevent radiation having a straightness to the outside. And the inlet and outlet of the outer cylindrical body 320 are formed to be offset from each other.

During the inspection and repair work of the reactor head, the operator was protected from the radiation exposure, and for the safety of the worker, the inspection and repair device was developed that can be remotely controlled by replacing the manpower.

One of the inspection and repair apparatuses capable of such remote control is illustrated in FIG. 12.

12 is a Republic of Korea Patent No. 10-0834686 (name of the invention: a remote control guide system for the reactor head through-tube repair robot), and a horizontal guide 500 formed to be inserted into the seating structure 100 and It includes a robot fixing part 410 for fixing the repair robot for repairing the reactor head through-pipe 210, and the bogie 470 is formed to move on the horizontal guide rail, and is fixed to the bogie and the robot fixing part vertical It consists of a vertical guide 400 to move in the direction, the control unit 600 for controlling the operation of the trolley and each drive device.

It moves horizontally in accordance with the sliding movement of the trolley and has a function of vertically raising the repair robot along the vertical guide to approach the reactor head penetration tube. According to this conventional technology, since the operator operates the trolley and each driving device and the maintenance robot at a long distance, the operator has the advantage of not having to worry about the direct radiation coating.

However, as the tension distance of the vertical guide for moving the repair robot from the ground to the reactor head through tube becomes longer, the volume of the vertical guide must be structurally increased, and thus sagging due to the load is large.

In particular, during the operation of the maintenance robot, a vibration occurs due to the movement of the load, and this vibration affects the vertical guides that have been increased for a long time, so that it is difficult to precisely control the maintenance robot.

On the other hand, another conventional technology is Republic of Korea Utility Model Registration No. 20-0216705 (designation name: Inspection device of the reactor closer head). Another conventional technique includes a rotation table pivot means rotatably installed at the bottom center of the inner cylinder, movable plate reverse means slidable outward from the rotation center on the pivot table pivot means, and installed on the movable plate reverse means. There is a lifting plate lifting means including a lifting means capable of lifting.

As the rotary table means rotates on the ground, as the movable plate reversing means slides, the inspection means is positioned under each reactor head through tube, and the elevating plate lifting means raises the inspection means to the inspection portion of the reactor head through tube. Inspection and repair work will be done.

Another conventional technique, as shown in FIG. 13, is to reduce the height of the seating structure 103 by reducing the height of the inspection means as much as possible, which is the height of the bottom of each through pipe 101 as shown. Can be used only in the same reactor head 100, it is formed so that the height of the seating structure 103 is used so that people can not directly access. In other words, the structure that the worker can not enter at all in the seating structure is excluded the possibility that the worker can intervene in case of emergency.

On the other hand, another conventional technology is the Republic of Korea Utility Model No. 20-0328011 (design name: turntable lifting device of the inspection equipment for the reactor closer head).

Another conventional technique includes a carrier with a pedestal, an electric turntable mounted on the pedestal, a carrier transfer bed mounted on the turntable, a carrier moving linearly on the bed, a camera holder with cleaning nozzles and a fallopian tube jaw. In the configuration of the inspection device mounted on the, it is to raise the center of the bottom of the turntable to the workable height by using the hydraulic jack, if the height from the floor where the base is installed to the workable height, even if the hydraulic jack is used as in the prior art It is a problem that is vulnerable to sag and vibration.

On the other hand, in the known technology related to the present invention, there is a Republic of Korea Patent No. 10-0625438 (Invention: Liquid penetration inspection device and inspection method of the reactor head of the nuclear power plant) for the inspection device of the reactor head through-pipe, Republic of Korea Patent No. 10-0713954 (name of the invention: the inspection system of the nozzle and the through-pipe welding portion of the through-pipe installed in the reactor head).

In addition, there is a mast device for lifting up and down the Republic of Korea Patent No. 10-0235184 (name of the invention: lifting and lowering mast applying a spiral groove).

The present invention has been made to solve the above-described problem, the embodiment of the present invention is to control the operation to reduce the deflection and vibration generated by the manipulator to approach the inspection or repair device to each through pipe provided in the reactor head as possible Has the purpose of improving performance.

More specifically, the work tool for inspection or repair has a purpose to increase the rigidity against deflection and vibration by reducing the height to be raised.

It also aims to present a suitable number of articulated manipulator structures so that the control system is not too complex, while the work tool is readily accessible to all through-pipes of the reactor head.

In addition, the short distance of vertical movement of the work tool is provided with a separate lifting means to generate deflection and vibration as little as possible.

It also has the purpose of making it easy to replace the work tool.

It also has the purpose of reducing the average travel distance of the manipulator for accessing one of the penetrating tubes of the reactor head as much as possible, thereby reducing the time required for transporting the work tool.

In order to solve the above problems, the present invention is a maintenance system for maintaining a plurality of through-tubes of the reactor head seated on the seating structure including the inner cylinder in an embodiment, the upper surface of the inner cylinder A trolley moved along the annular rail is installed, and the trolley is provided with a multi-joint manipulator for maintaining each of the through pipes, and the manipulator moves a work tool T for maintenance on a horizontal plane. The maintenance unit of the reactor head through-tube, characterized in that the link portion 32 and the mast 31 for elevating the link portion 32 is included.

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In addition, the link part includes a first link rotatably coupled at one side of the upper end of the mast, and a second link rotatably coupled at one side of the upper surface of the other side of the first link. Present the maintenance system of the through tube.

In addition, the other side of the second link proposes a maintenance system of the reactor head through-tube, characterized in that the vertical carriage is further coupled to the lifting work tool.

In addition, the vertical carriage proposes a maintenance system of the reactor head through-tube, characterized in that the inclination angle can be adjusted with respect to the second link.

In addition, when the first link and the second link is overlapped up and down, the center of the work tool is proposed to maintain the reactor head through-pipe maintenance system, characterized in that coincides with the center of the mast.

In addition, the mast proposes a maintenance system of the reactor head through-tube, characterized in that one side is fixed to the bogie and coupled to the assembly table protruding to the inner bottom of the inner cylinder.

In addition, the mast provides a maintenance system for the reactor head through-tube, characterized in that the mast is located at the intermediate point between the center through-tube and the outermost through-tube of the reactor head.

In addition, the rail portion has a bottom surface facing the upper surface of the inner cylindrical body, a pair of rails extending upwardly having a curved surface along the inner wall and outer wall of the inner cylindrical body on both sides of the bottom surface, each It proposes a maintenance system of the reactor head through-tube, characterized in that formed by a fixed surface extending to the bottom of the rail fixed to the inner and outer walls.

In addition, the rail is a nuclear reactor characterized in that the inner surface facing each other is recessed to form a coupling groove, the trolley includes a plurality of rotating wheels inserted into the coupling groove, and a driving part for rotating the rotating wheels. Present a maintenance system for the head through tube.

In addition, the drive unit is a drive motor for rotating any one of the outer rotation wheels of the outer rotation wheels coupled to the rail of the outer wall side of the inner cylinder body, the sprocket is coupled to the outer rotation wheel, each said sprocket is coupled to the chain It is proposed a maintenance system of the reactor head through-tube, characterized in that.

According to the maintenance system of the reactor head through-pipe according to the embodiment of the present invention as described above, the manipulator is coupled to the bogie moving along the upper surface of the inner cylinder can reduce the height to raise the work tool. As it is possible to reduce the volume and load of the mast of the manipulator, it has the effect of greatly improving the position control performance by reducing the deflection or bending caused by the load on the movement of the work tool.

In addition, when the first link and the second link are overlapped up and down, the center of the work tool is coincident with the center of the mast so that access to all the work objects within the rotation radius of the link unit is dependent on the lift and the rotation of the first and second links. It has an effect made possible by it.

In addition, the short distance up and down movement of the work tool transported near the work target by the vertical transfer table is made without lifting and lowering of the mast including the link portion having a relatively high load, thereby reducing the occurrence of vibration in the work tool. Has an effect.

In addition, it is possible to level the transport plate by adjusting the inclination angle of the vertical transfer table, it is easy to separate and replace the heavy work tool.

In addition, as the mast is moved to the intermediate point between the center through tube and the outermost through tube of the reactor head, the horizontal tension length of the link part which approaches the work tool to both the center and the edge of the reactor head is reduced. The warpage is further reduced, and the work tool has an effect of minimizing the average transfer time required to transfer to the work space.

Hereinafter, the preferred embodiment of the accompanying drawings, the function, configuration and operation of the maintenance system of the reactor head through-tube of the present invention will be described in detail.

The maintenance system 100 of the reactor head through tube according to the embodiment of the present invention is installed on the inner cylinder 310 of the mounting structure 300 on which the reactor head 200 is seated.

The inner cylinder 310 has a rigid reinforced concrete structure having a sufficient thickness coated with stainless steel to shield radiation emitted from the reactor head 200. The annular rail part 1 is mounted along the flat upper end surface of this inner cylinder body 310, and the trolley | bogie 2 which slides on the upper end surface of an inner cylinder body along this rail part 1 is provided. In addition, the trolley 2 is equipped with an articulated manipulator 3 that is accessible to the through pipe 210 of the reactor head 200 seated on the seating structure 300 and includes a work tool for maintaining the through pipe. .

At this time, the articulated manipulator (3) is composed of a robot having a known configuration, the work tool (T) is replaceably coupled to the end according to various purposes. Here, the work tool (T) is known to perform various inspections or repairs, such as a device for inspecting a welded portion, a device for repairing an existing welded portion as necessary, or a device for inspecting the surface corrosion of a through pipe. It is a work means having a configured configuration.

As such, the manipulator 3 provided in the trolley 2 moving along the upper end surface of the inner cylindrical body 310 is positioned high on the ground. Therefore, as in the prior art, the lifting member installed on the ground reduces the burden of height to raise the work tool from the ground to the inner wall surface of the reactor head.

That is, according to the maintenance system 100 of the reactor head through-tube according to the embodiment of the present invention, the height at which the manipulator 3 should raise the work tool T to the work target position is reduced by the height at which the inner cylinder is formed. . Therefore, compared with the elevating member for raising the work tool according to the prior art, the elevating member of the manipulator according to the present invention can be manufactured relatively small and accordingly the load of the elevating member is reduced, so that the deflection under the influence of gravity It is possible to reduce the occurrence.

In addition, as the length of the elevating member extending upward is reduced, rigidity is increased with respect to vibration generated by the operation of the work tool, which also has the advantage of enabling precise control. In addition, as the height to which the work tool is to be lifted is lowered, there is an effect that the work tool can be moved to the work target more quickly than in the prior art.

Hereinafter, the configuration according to the embodiment of the present invention in more detail.

FIG. 2 is an exploded perspective view of the maintenance system of the reactor head through tube shown in FIG. 1. FIG. The maintenance system 100 of the reactor head through tube according to the embodiment of the present invention includes a rail unit 1, a bogie 2, and a manipulator 3 installed in the inner cylinder 310 as described above. The manipulator 3 includes a mast 31 and a link portion 32.

At this time, the mast 31 has a configuration to raise the link portion by using hydraulic pressure, as is known as a lifting member for raising the link portion 32, or more preferably a mechanical element to facilitate post-treatment by radiation It may have a configuration to make the rising or falling only.

The mast for raising and lowering with only such mechanical elements is inserted into a plurality of links having different outer diameters sequentially according to the configuration described in Korean Patent No. 10-0235184, for example, by rotating the spiral shaft by the driving force of the motor, each link. It can be an ascending and descending mast applying a spiral groove in which the ascend or descend.

Alternatively, in addition to the above-described configuration, the mast, which is lifted by only mechanical elements, may have various known configurations, such as dedicated to a scissor type in which a plurality of links are alternately coupled and lifted.

On the other hand, the link portion 32 is provided on the top of the mast 31, the work tool (T) is to move the position on a horizontal plane parallel to the ground.

That is, the link unit 32 is hinged so that a plurality of links have a rotation axis perpendicular to the ground so that each link is rotatable on a horizontal plane, so that the work tool raised through the mast can be horizontally moved to any one through tube of the reactor head. It becomes possible.

The link unit 32 may be specifically configured to have two joints, as shown in the upper end of the first link 321 and the first link 321 of the mast 31, the first link 321 of the One side of the other upper surface may be composed of a second link 322 is rotatably coupled.

At this time, one side of the first link 321 is hinged to the upper end of the mast 31 is configured to face the entire orientation. In addition, one side of the second link 322 is hinged to the other side of the first link 321, the lower surface of the second link 322 is hinged in a shape raised on the upper surface of the first link 321. As a result, the second link 322 may also face the entire orientation.

At this time, the hinge shaft is coupled to each hinge is provided with a remotely controlled drive motor is configured to enable the operator to control the rotation of the first and second links at a distance.

In addition, the other end of the second link 322 is provided with a work tool (T), the work tool can be moved to the required work position by the rotation operation of the first link or the second link.

Meanwhile, the rail unit will be described in detail with reference to FIG. 3.

The rail 1 has a bottom surface 11 facing the top surface 311 of the inner cylindrical body 310, and an inner wall 312 of the inner cylindrical body 310 on both sides of the bottom surface 11. A pair of rails 12 having a curved surface along the outer wall 313 and extending upwardly, and a fixed surface 13 extending below the rail 12 and fixed to the inner wall 312 and the outer wall 313. ) Is included.

At this time, it is preferable that the rail unit 1 is divided into a plurality of shorter front and rear lengths, and thus, the rail unit 1 is easily formed by being seated and fixed to the upper end surface 311 of the inner cylindrical body 310 in order. .

The bottom surface 11 and both fixing surfaces 13 of the rail portion 1 surround the upper portion of the inner cylindrical body 310 and support the rail portion 1 by the load of the bogie 2 and the manipulator 3. ) Is not to be separated from the inner cylindrical body (310).

At this time, in order to more securely secure the rail unit 1, it is preferable that the bolt B is inserted into the bolt coupling hole 131 formed in the fixing surface 13 to be firmly fixed.

Thus, as described later, even when the manipulator is installed to be biased toward the center of the inner cylindrical body, the rail portion is firmly fixed without being separated from the upper portion of the inner cylindrical body.

On the other hand, Figure 4 is a perspective view showing a bogie and an assembly stage employed in the maintenance system of the reactor head through-pipe shown in Figure 1, Figure 5 is a partial cross-sectional view showing the combination of the bogie and the rail portion shown in FIG.

The trolley 2 is provided with a plurality of rotary wheels 21 in contact with the pair of rails 12 formed on the rail unit 1, and includes a driving unit 22 for rotating some of the rotary wheels.

When the link portion of the manipulator is rotated to face the center of the inner cylinder, the center of gravity of the manipulator is moved out of the bogie. Therefore, the moment which raises a trolley | bogie in the rail part 1 is generated.

In order to prevent the trolley 2 from being separated from the rail part 1 by such a moment, coupling grooves recessed in inner side surfaces of the pair of rails 12 protruding upward from the rail part 1 face each other ( 121 is formed, the rotary wheel 21 of the cart 2 is configured to be inserted into the coupling groove 121.

That is, the rotary wheels 21 provided on the trolley 2 are provided to be rotated on a horizontal plane, and each of the rotary wheels 21 is inserted into the 'c'-shaped coupling groove 121 of the rail so that the trolley 2 is provided with a rail. In (1), it is configured not to deviate.

On the other hand, the drive unit 22 and the drive motor 221 for rotating any one of the outer wheel 211 of the outer wheel 211 coupled to the rail 12 of the outer wall side of the inner cylindrical body 310, and each A sprocket 222 coupled to the outer rotation wheel 211 and a chain 223 connecting each sprocket 222 is included.

As described above, by connecting and driving the drive motor 221 to the outer rotation wheel 211 in which the moment for moving the bogie 2 toward the center of the inner cylindrical body 310 is large, the outer rotation wheel 211 is rotated. It is rotated without slipping in the coupling groove 121 is made to move the correct bogie (2). At this time, the rotational force of the drive motor may be configured to be transmitted to the rotating wheel through a reducer for obtaining a large torque as is known.

On the other hand, the outer rotation wheel 211 and the remaining outer rotation wheel 211 receives power from the drive motor 221 is rotated at the same time by the sprocket 222 and the chain 223 so that the transfer of the cart 2 more Make it smooth.

Furthermore, in order to reduce the moment acting on the trolley 2, the driving unit 22 is preferably formed on the upper side of the outer wheel 211.

Meanwhile, referring to FIGS. 2 and 6 to 7, the coupling relationship between the link unit and the work tool will be described in more detail.

As described above, the work tool T may be directly coupled to the other end of the second link 322, but the work tool T may be shortly moved up and down from the work target position without lifting the mast 31. To this end, the other side of the second link 322 is preferably coupled to the vertical carriage 33 for elevating the work tool (T).

At this time, the vertical conveyer 33 is moved up and down with a guide rail 331 in the up and down direction, the transport plate 332 and the transport plate 332 to which the work tool (T) is fixed and lifted according to the guide rail 331. Drive motor is included. Specifically, the coupling relationship between the drive motor and the transfer plate may be made by adopting any one of various known configurations for converting the rotational force of the drive motor into linear motion. For example, the vertical transfer table may be a known linear motion guide (LM guide). It may be made of.

As a result, a mast having a large vertical lifting range is used to raise the work tool T to the corresponding working position, and the vertical carriage 33 is used to shortly lift the work tool T along the curved inner wall surface of the reactor head. Is to use

As a result, the lifting operation of the mast 31 accompanying the lifting of the first and second links 321 and 322 may be omitted when the work tool T is lifting up and down in the short height section through the vertical carriage 33. As the mast is raised and lowered every time, it is possible to exclude the occurrence of vibration due to the lifting and lowering of the load including the link portion. Therefore, the position movement of more precise work tool becomes possible.

Meanwhile, referring to FIGS. 2 and 7, it is preferable that the vertical carriage 33 can adjust the inclination angle with respect to the second link 322. To this end, the vertical carrier 33 is hinged in a direction perpendicular to the longitudinal direction of the second link 322 at the end of the second link (322).

As a result, when the vertical carriage 33 is rotated and completely folded to the second link 322, the transfer plate 332 is horizontal or close to horizontal, and then the work tool T fixed to the transfer plate 332 is replaced. This can be done easily. That is, since the work tool is placed on the transport plate parallel to the ground, it is necessary to suspend the work tool in the air by a separate means in fixing or releasing the transport plate and work tool by fastening means such as bolts and nuts. There will be no.

At this time, in order to make the transfer plate 332 completely horizontal, the body of the second link 322 may form a receiving groove 322a in which the folded vertical transfer table 33 is accommodated.

Meanwhile, referring to FIG. 8, when the first link 321 and the second link 322 overlap vertically, the center of the work tool T may be configured to coincide with the center of the mast 31.

That is, when the second link 322 is rotated and overlaps the first link 321 up and down, the center of the work tool T coupled to the vertical carrier 33 is positioned above the center of the mast 31. The length of the second link 322 is shorter than the length of the first link 321.

This allows maintenance work for all through-pipes within the range in which the first and second links 321 and 322 extend to their maximum length, including through-pipes located vertically on the mast 31 without additional movement of the trolleys. It will be lost. Therefore, it is possible to minimize the movement of the bogie in the maintenance of the entire through pipe, thereby simplifying the control system.

Referring back to FIG. 2, the mast 31 may be configured to be coupled to the assembly table 23, one side of which is fixed to the trolley 2 and protrudes into the inner bottom of the inner cylinder 310.

At this time, the assembly table 23 is to move the mast 31 to the center of the inner cylindrical body 310, one side is coupled to the trolley (2).

More preferably, the mast 31 is located at an intermediate point between the center through tube and the outermost through tube of the reactor head 200 by the assembly table 23, and the through tube positioned at the center of the reactor head 200. In order to access the work tool up to the through tube coupled to the edge, the distance that the link portion 32 must extend is formed almost equally.

As a result, the maximum extension length of the link portion 32 provided at the upper portion of the mast 31, that is, the work tool T may be formed to have the shortest length to be extended farthest from the upper end of the mast 31. The shorter the maximum extension length of the link portion 32, the smaller the moment acting on the mast 31 is configured to minimize the effects on bending and deflection. In addition, it is possible to minimize the section and the operating time required to operate the link unit to access the work tool to each through-pipe.

In addition, although not specifically illustrated, the drive unit of the trolley 2, a power source such as a motor provided on the mast 31, and a lift, the upper hinge of the mast 31 to rotate the first link 321 in the mast 31. Drive motor provided on the shaft, drive motor provided on the rotation axis of the first link 321 and the second link 322 to rotate the second link 322 with respect to the first link 321, the vertical The drive motor for elevating the feed plate 332 in the carriage 33 and the drive motor for modifying the inclination angle of the vertical carriage 33 are connected to a control unit for controlling the operation, and the operator commands the operation through a manipulator from a remote place. Is input to the control unit, and the control unit is configured to operate the corresponding drive motor or power source. The configuration of the control unit has a known algorithm used for the control of the articulated robot, and detailed description thereof will be omitted.

9 and 10 will be described the operation relationship of the maintenance system of the reactor head through-tube according to an embodiment of the present invention.

FIG. 9 is a front sectional view showing a state of use of the maintenance system of the reactor head through tube shown in FIG. 1, and FIG. 10 is a plan sectional view showing a state of use of the maintenance system of the reactor head through tube shown in FIG.

The manipulator 3 is moved along the circular trajectory under the reactor head 200 by the trolley 2 sliding along the rail portion 1 provided on the upper end surface of the inner cylindrical body 310.

After the manipulator 3 is moved to the periphery of the through tube selected as the work object by the movement of the trolley | bogie 2, the mast 31 is operated, and the link part 32 is raised and lowered below the through tube.

At this time, since the mast 31 is connected to the trolley 2 located on the upper end surface of the inner cylindrical body, and the position thereof is formed high, the height at which the mast 31 raises and lowers the link portion 32 to the work target is known. The elevating member is lower than the height at which the link portion must be raised to the work target. Therefore, the mast 31, which is lifted to a shorter height than the lifting member according to the related art, can be manufactured more compactly, so that sag or bending due to a small load is generated smaller, thereby enabling more precise position control.

Thereafter, the first link 321 and the second link 322 are appropriately rotated on the horizontal plane to move the work tool T to the lower portion of the through pipe as a work target. At this time, the horizontal circular area having the radius of the maximum elongated portion of the link portion becomes a range where the work tool T is accessible by the lifting height of the mast and the rotation of the first and second links without further movement of the trolley.

After the end of the second link 322, that is, the vertical carriage 33 is located at the lower end of the work through tube, the transfer plate of the vertical carriage 33 is raised to further raise the work tool T up to the work target. Maintenance work. At this time, by attaching a video camera to the vertical carriage 33 can be configured so that the operator can operate the work tool while watching the image taken by the video camera from a distance.

For example, in the case where the work tool needs to rotate one turn of the outer circumferential surface of the through pipe while maintaining a certain distance from the welded portion in order to check the integrity of the welded portion of the through pipe, the work tool T is a vertical transfer table 33. In addition to the vertical movement by the combination of the horizontal movement of the first link 321 and the second link 322 it is possible to inspect the weld formed along the curved inner wall surface of the reactor head.

In this way, it is possible to exclude the operation of the mast in the vertical movement of the local work tool, and thus it is possible to exclude the generation of vibration of the work tool due to the micro-vibration that can occur due to the operation of the mast. Reliability is improved.

On the other hand, the mast 31 stays at the intermediate point between the center through tube and the outermost through tube of the reactor head, as described above by the assembly table 23, and the work tool T with the maximum extension of the link portion 32. By adjusting the length of the first and second links to be located at the center of the reactor head, it is possible to minimize the length of the first and second links, thereby minimizing the occurrence of sag.

According to this invention of the present invention, while improving the limitations of the prior art, it is possible to improve the reliability in the maintenance of the reactor head.

1 is a schematic perspective view showing a state in which a maintenance system of a reactor head through tube according to an embodiment of the present invention is mounted;

Figure 2 is an exploded perspective view of the maintenance system of the reactor head through-pipe shown in Figure 1;

3 is a partially exploded perspective view showing the rail portion employed in the maintenance system of the reactor head through-pipe shown in FIG.

4 is a perspective view showing a bogie and an assembly table employed in the maintenance system of the reactor head through-pipe shown in FIG. 1.

FIG. 5 is a partial cross-sectional view showing the coupling between the bogie and the rail shown in FIG. 4. FIG.

6 is a perspective view showing a manipulator employed in the maintenance system of the reactor head through-pipe shown in FIG.

FIG. 7 is a side view illustrating an operating state of a link unit employed in the maintenance system of the reactor head through tube shown in FIG. 1. FIG.

FIG. 8 is a side view showing another operating state of the link unit employed in the maintenance system of the reactor head through tube shown in FIG. 1. FIG.

9 is a front sectional view showing a state of use of the maintenance system of the reactor head through-pipe shown in FIG.

10 is a plan sectional view showing a state of use of the maintenance system of the reactor head through-pipe shown in FIG.

11 is a perspective view of the reactor head and seating structure.

12 shows a conventional technique.

13 shows another conventional technique.

Explanation of symbols on the main parts of the drawings

100: maintenance system

1: Rail part

11: bottom surface 12: rail 121: coupling groove

13 fixing surface 131 bolt coupling hole B bolt

2: balance

21: rotation wheel 211: outer rotation wheel

22: drive unit 221: drive motor 222: sprocket 223: chain

23: assembly stand

3: Manipulator

31: mast 32: link portion 321: first link

322: second link 332a: receiving groove

33: vertical transfer table 331: guide rail 332: transfer plate

T: Work Tool

200: reactor head

210: through tube

300: seating structure

310: inner cylinder 311: top surface 312: inner wall

313: outer wall 320: outer cylinder 330: support

Claims (11)

delete In the maintenance system for maintaining the reactor head 200 seated on the seating structure 300 including the inner cylinder 310, A trolley 2 which is moved along the annular rail portion 1 installed on the top surface 311 of the inner cylindrical body 310 is installed, and the trolley 2 holds the inner surface of the reactor head 200. The articulated manipulator 3 for repair is provided, The manipulator 3 includes a link unit 32 for moving a work tool T for maintenance work on a horizontal plane, And a mast (31) for elevating the link portion (32). 3. The method of claim 2, The link portion 32 is A first link 321 rotatably coupled to one side at an upper end of the mast 31; Retaining system of the reactor head through-tube, characterized in that it comprises a second link (322) rotatably coupled to one side on the other upper surface of the first link (321). 4. The method of claim 3, The other side of the second link (322) maintenance system of the reactor head through-pipe, characterized in that further coupled to the vertical carriage (33) for lifting the work tool (T). In claim 4, The vertical carriage 33 is a maintenance system of the reactor head through-tube, characterized in that the angle of inclination can be adjusted with respect to the second link (322). In claim 4, When the first link 321 and the second link 322 overlaps up and down, the center of the work tool (T) coincides with the center of the mast 31, the maintenance system of the reactor head through-tube . 3. The method of claim 2, The mast (31) is one side is fixed to the bogie (2) and the maintenance system of the reactor head through-pipe, characterized in that coupled to the assembly table (23) protruding inside the lower portion of the inner cylinder (310). 8. The method of claim 7, The mast (31) by the assembly table (23) is the maintenance system of the reactor head through-pipe, characterized in that located in the middle point between the center through-tube and the outermost through pipe of the reactor head (200). 3. The method of claim 2, The rail unit 1 A bottom surface 11 facing the top surface of the inner cylindrical body 310, A pair of rails 12 extending upwardly with curved surfaces of the inner wall 312 and the outer wall 313 of the inner cylindrical body 310 on both sides of the bottom surface 11; And a fixed surface (13) fixed to the inner wall (312) and the outer wall (313) extending to the lower portion of each of the rails (12). The method of claim 9, The rail 12 has a recessed inner surface facing each other to form a coupling groove 121, The trolley 2 includes a plurality of rotary wheels 21 inserted into the coupling groove 121 and a driving unit 22 for rotating the rotary wheels 21. Maintenance system. In claim 10, The drive unit 22 A drive motor 221 for rotating any of the outer rotation wheels of the outer rotation wheel 211 coupled to the rail on the outer wall side of the inner cylindrical body 310; A sprocket 222 is coupled to each of the outer rotation wheels 211, and each of the sprockets 222 is connected to a chain 223.

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