KR102259924B1 - Apparatus for inspecting head of nuclear reactor - Google Patents

Abstract

The present invention relates to a nuclear reactor head inspecting device. The nuclear reactor head inspecting device includes: a moving carrier unit movably installed and disposed under a nuclear reactor head; a rotation support unit including a rotation stage mounted on the moving carrier unit and installed to be rotatable around a first virtual rotation shaft vertical to the ground and a guide rail coupled to an upper portion of the rotation stage and extended in a first direction parallel to the ground; a first moving unit installed to move linearly along the guide rail; a second moving unit rotatably connected to the first moving unit and having a variable length; and an inspection unit connected to an end of the second moving unit for inspection of the nuclear reactor head. Therefore, the nuclear reactor head inspecting device can reduce work hours.

Description

Reactor head inspection device {APPARATUS FOR INSPECTING HEAD OF NUCLEAR REACTOR}

The present invention relates to a nuclear reactor head inspection apparatus, and more particularly, to a nuclear reactor head inspection apparatus with improved work convenience and stability.

The reactor head is equipped with a control rod drive mechanism (CRDM) that controls the fission reaction rate of the nuclear reactor by withdrawing and inserting the control rods using electromagnetic force.

The reactor head is equipped with a plurality of penetration nozzles for guiding the vertical movement of the control rod. The through tube of the nuclear reactor head is periodically subjected to non-destructive testing to determine the integrity of the reactor head.

In addition, depending on the long-term use of the nuclear reactor, the through tube or a funnel provided at the lower end of the through tube may sag, which may cause the funnel to contact or collide with the fuel rod. Therefore, the height of the reactor penetration tube and funnel must be accurately inspected and replaced when necessary. That is, the height of the through tube must be accurately inspected to determine the integrity of the reactor head.

A conventional reactor head inspection apparatus is mounted on equipment previously installed under the reactor head, or a moving rail is installed in advance to enter the reactor head.

However, the conventional rail running type inspection system or manually installed type inspection system for inspecting a nuclear reactor head has a problem in that it takes a lot of work time by installing a moving rail or equipment in advance. In addition, high-load installation work increases worker fatigue and requires a lot of manpower, and since the worker must work in a high-radioactive area, radiation exposure may occur during inspection.

Therefore, there is a need for a reactor head inspection device capable of reducing the radiation exposure of workers and shortening the working time to increase the convenience of work.

The present invention has been devised to solve the above problems, and there is no need to install a structure in advance for measuring the height of the reactor head penetration tube and visually inspecting the inside, and it is possible to work in a state where the reactor head is installed, so that the working time is shortened. An object of the present invention is to provide a head inspection device.

In addition, an object of the present invention is to provide a reactor head inspection apparatus in which inspection stability and inspection precision are improved by preventing sagging and overturning of the inspection apparatus by the installed weight and rail support.

Another object of the present invention is to provide a reactor head inspection device that minimizes the operator's radiation exposure by performing the inspection by operating the inspection device outside the reactor head.

In order to achieve the above object, a nuclear reactor head inspection apparatus according to the present invention includes a moving bogie that is provided movably and disposed under the reactor head, and a first virtual rotation axis mounted on the moving bogie and perpendicular to the ground. A rotation support unit including a rotation stage rotatably provided with a rotatable position and a guide rail coupled to an upper portion of the rotation stage and extending in a first direction parallel to the ground, and a first movement provided to move linearly along the guide rail It includes a unit, a second moving unit rotatably connected to the first moving unit and having a variable length, and an inspection unit connected to an end of the second moving unit to inspect the nuclear reactor head.

The moving bogie may include a main body to which the rotation support unit is mounted, and a traveling unit mounted to the main body to move the main body.

The moving bogie may further include an outrigger coupled to the main body, supporting the main body with respect to the ground, and adjusting a horizontal level of the main body.

The outrigger includes a base frame installed on at least a pair of side surfaces facing each other among a plurality of side surfaces provided in the main body, a pair of link members provided at both ends of the base frame, and the link member. and a pair of cylinder members coupled to both ends of the base frame and provided to be approached or spaced apart from each other by the link member, each of the plurality of cylinder members being independently driven to adjust the horizontal level of the main body can be provided.

Among both ends of the guide rail in the longitudinal direction, a side to which the first moving part moves for the inspection of the nuclear reactor head based on the first rotational axis is referred to as one end, and the opposite side of the one end is referred to as the other end. , The rotation support portion may further include a weight provided at the other end of the guide rail.

The rotation support unit may further include a rail support having one end coupled to the rotary stage and the other end coupled to a lower surface of the guide rail to support the guide rail.

The rail support may include a first support coupled to one end of the guide rail and the rotary stage, and a second support coupled to the other end of the guide rail and the rotary stage.

The first moving part is provided to move in a first direction along the guide rail and includes a horizontal stage having a link insertion groove that is opened upward, and a lower part of the horizontal stage and connected to the guide rail to move the horizontal stage. It may include a rail connection block to guide.

The guide rail, a pair of end plates provided at both ends in the first direction, extending in the first direction, coupled between the pair of end plates, and supporting the rail connection block from the bottom It includes a lower rail and an upper rail spaced apart from the upper part of the lower rail, extending in the first direction and coupled between a pair of the end plates, wherein the rail connection block is inserted into the upper rail. A rail insertion hole may be formed.

The second moving unit is rotatably coupled to the horizontal stage and rotates about a second virtual axis of rotation that is perpendicular to the first axis of rotation and passes through the horizontal stage, and a vertical stage elongated in the second direction, and the vertical stage It is installed in the vertical stage and is provided to be movable in the second direction, and may include a lifting unit to which the inspection unit is coupled to an end.

The vertical stage includes: a vertical body extending in the second direction; a rotation link formed at one end of the vertical body in the second direction and inserted into the link insertion groove and rotating about the second rotation axis; and a guide plate protruding from the other end of the vertical body in the second direction and having a guide hole through which the lifting unit passes to guide the movement of the lifting unit in the second direction.

The lifting unit includes a lifting body extending in the second direction, and a stopper provided at one end of the lifting body in the second direction to move between the rotary link and the guide plate to limit the movement of the lifting body. and a rotational mounting member provided at the other end of the lifting body in the second direction, on which the inspection unit is mounted, and rotatably provided around a virtual third rotational axis extending the central axis of the lifting body. .

When the reactor head inspection apparatus according to an embodiment of the present invention is used, there is no need to install a structure in advance for measuring the height of the reactor head penetration tube and visually inspecting the inside, and the reactor head is Since it can work in the installed state, the effect of shortening the working time can be obtained.

In addition, according to an embodiment of the present invention, the sagging and overturning of the inspection device is prevented by the weight and the rail support installed on the guide rail, thereby improving inspection stability and inspection accuracy.

In addition, according to an embodiment of the present invention, the operator can minimize the radiation exposure of the operator by operating the inspection device outside the reactor head to perform the inspection.

1 is a perspective view illustrating a nuclear reactor head inspection apparatus according to an embodiment of the present invention.
2 is a perspective view illustrating a side surface of a nuclear reactor head inspection apparatus according to an embodiment of the present invention.
3 is a view showing a state in which the cylinder member is lowered in FIG. 1 .
FIG. 4 is a view illustrating a state in which the first moving part and the second moving part are moved in FIG. 3 .
5 is an enlarged perspective view illustrating a guide rail and a first moving part according to an embodiment of the present invention.
6 is a perspective view illustrating a second moving unit and an inspection unit according to an embodiment of the present invention.
7 is a view for explaining the operation of the nuclear reactor head inspection apparatus according to an embodiment of the present invention, and is a view showing a state in which the nuclear reactor head inspection apparatus enters the reactor head.
8 is a view for explaining the operation of the nuclear reactor head inspection apparatus according to an embodiment of the present invention, and is a diagram illustrating a state in which the nuclear reactor head is inspected.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, the embodiments described below are suitable for understanding the technical characteristics of the nuclear reactor head inspection apparatus according to the present invention. However, the present invention is not limited to the embodiments described below, or the technical features of the present invention are not limited by the described embodiments, and various modifications are possible within the technical scope of the present invention.

1 is a perspective view showing a nuclear reactor head inspection apparatus according to an embodiment of the present invention, FIG. 2 is a perspective view showing a side of the nuclear reactor head inspection apparatus according to an embodiment of the present invention, and FIG. It is a view showing a state in which the cylinder member is lowered, and FIG. 4 is a view showing a state in which the first moving part and the second moving part are moved in FIG. 3 . 5 is an enlarged perspective view showing a guide rail and a first moving part according to an embodiment of the present invention, FIG. 6 is a perspective view showing a second moving part and an inspection part according to an embodiment of the present invention, FIG. 7 is a view for explaining the operation of the nuclear reactor head inspection apparatus according to an embodiment of the present invention, and is a view showing a state in which the nuclear reactor head inspection apparatus enters the inside of the nuclear reactor head, Figure 8 is an embodiment of the present invention It is a diagram for explaining the operation of the reactor head inspection apparatus according to the embodiment, and is a diagram illustrating a state of inspecting the reactor head.

1 to 8 , the nuclear reactor head inspection apparatus 100 according to an embodiment of the present invention includes a moving bogie 200 , a rotating support unit 300 , a first moving unit 400 , and a second 2 It includes a moving unit 500 and an inspection unit 600 .

The nuclear reactor head inspection apparatus 100 according to an embodiment of the present invention is a device for inspecting the inside of the nuclear reactor head 10 . For example, the reactor head 10 may be provided with a control rod driving device 20 for controlling the nuclear reaction of the nuclear reactor, and a through tube 21 penetrating through the reactor head 10 to guide the movement of the control rod, according to the present invention. The reactor head inspection apparatus 100 according to an embodiment of the present invention may be used to inspect the height of the through tube 21 and the inside of the through tube 21 . Here, when the internal inspection of the through pipe 21 is performed, various inspections such as visual inspection, crack inspection, foreign material inspection, and soundness inspection may be included.

The mobile bogie 200 is It is provided movably and is disposed under the reactor head 10 . Specifically, the moving bogie 200 may include a rotation support unit 300 , a first moving unit 400 , a second moving unit 500 , and an inspection unit 600 , and may be installed outside the nuclear reactor head 10 . It may be movably provided in order to enter the inside of the reactor and to be positioned at an inspection position in the lower portion of the reactor head 10 .

The moving bogie 200 may include a main body 210 , a traveling unit 230 , and an outrigger 250 .

The body part 210 may be equipped with a rotation support part 300 . Here, the shape and structure of the main body 210 may be variously changed according to required conditions and design specifications.

The traveling unit 230 may be mounted on the main body 210 to move the main body 210 . For example, the driving unit 230 may be formed in the form of a crawler as in the illustrated embodiment, and may include a driving motor (not shown) for driving. The operator may move the moving bogie 200 to the inspection position by operating the driving motor from the outside of the nuclear reactor head 10 . In addition, the driving unit 230 may be formed in the form of a crawler to correspond to the ground (floor) of various shapes, such as a stepped shape or an inclined shape.

However, the traveling unit 230 is not limited to the crawler type, and may be modified in various forms as long as the body unit 210 can be moved. For example, the driving unit 230 may be implemented in a form provided with a plurality of moving wheels.

The moving bogie 200 may further include a distance measuring device (not shown) attached to the front or side surface of the main body 210 . The operator can determine the exact position of the reactor head 10 and the moving bogie 200 and their distance through the distance measuring device, and through this, the moving bogie 200 can be positioned at an accurate inspection position.

In addition, the moving bogie 200 may further include an outrigger 250 (outrigger). The outrigger 250 may be coupled to the main body 210 , support the main body 210 with respect to the ground, and adjust the horizontal level of the main body 210 .

Specifically, the outrigger 250 may serve to stably support the body 210 so that the position of the moving bogie 200 is fixed when the moving bogie 200 moves to the inspection position. A gradient may be formed on the ground at the inspection position, and the outrigger 250 may serve to adjust the horizontal level of the main body 210 . For example, the moving bogie 200 may include a tilt sensor installed on the main body 210, and the operator checks the inclination value through the tilt sensor and then uses the outrigger 250 to move the bogie 200. can be adjusted to be horizontal.

The outrigger 250 may include a base frame 251 , a link member 253 , and a cylinder member 255 . The base frame 251 may be installed on at least a pair of side surfaces facing each other among a plurality of side surfaces provided in the body unit 210 . For example, the base frame 251 may be mounted on the front and rear surfaces of the main body 210 in the moving direction, but is not limited thereto.

The link members 253 may be provided as a pair, and the pair of link members 253 may be provided at both ends of the base frame 251 . The cylinder member 255 is coupled to both ends of the base frame 251 through the link member 253 and may be provided to be approached or spaced apart from each other by the link member 253 .

As shown in the illustrated embodiment, the cylinder member 255 is provided at both ends of the base frame 251 installed on the front and rear surfaces of the main body 210, so that a plurality (eg, four) is provided on the edge of the main body 210 . ) can be provided. Here, each of the plurality of cylinder members 255 may be independently driven to adjust the horizontal level of the main body 210 . The cylinder member 255 can be raised and lowered by electric drive or hydraulic drive, and when the moving bogie 200 is moved, it maintains an elevated state, and when it is located in the inspection position, it descends to place the main body 210 on the ground. can support for At this time, the plurality of cylinder members 255 may be individually driven to adjust the horizontal level of the main body 210 and the height of the moving bogie 200 may be adjusted.

In addition, the outrigger 250 includes extended frames 252 provided at both ends of the base frame 251 , and one end of the link member 253 is connected to the base frame 251 and the other end of the link member 253 . may be connected to the extension frame 252 . The cylinder member 255 is coupled to the expansion frame 252 to change a position when the link member 253 is operated, so that the size of the moving bogie 200 can be expanded or reduced. As the size of the moving bogie 200 is expanded by the link member 253 and the cylinder member 255 as described above, the moving bogie 200 can stably support other components during inspection.

Meanwhile, the rotation support unit 300 includes a rotation stage 310 and a guide rail 330 . In addition, the rotation support unit 300 may further include a support block 320 , a weight 340 , and a rail support 350 .

The rotation stage 310 is mounted on the moving bogie 200 and may be rotatably provided about a first virtual rotation axis R1 perpendicular to the ground. Specifically, the rotation stage 310 may be rotatably coupled to the upper surface of the main body 210 , and the virtual first rotation axis R1 that is the central axis of the rotation stage 310 may be formed perpendicular to the ground. .

The guide rail 330 may be coupled to the upper portion of the rotation stage 310 and extend in a first direction D1 parallel to the ground. For example, the support block 320 may be mounted on the upper surface of the rotation stage 310 , and the guide rail 330 may be seated on the upper surface of the support block 320 . Accordingly, the guide rail 330 may rotate together when the rotation stage 310 rotates. Here, the longitudinal direction of the guide rail 330 is defined as a first direction D1. The guide rail 330 may guide the movement of the first moving part 400 in the first direction D1.

The rotation support unit 300 may further include a weight 340 . Among both ends of the guide rail 330 in the longitudinal direction, the side on which the first moving part 400 moves for the inspection of the nuclear reactor head 10 with respect to the first rotation axis R1 as the center is referred to as one end, and one end When the opposite side of the portion is referred to as the other end, the weight 340 may be provided at the other end of the guide rail 330 .

Specifically, the weight 340 is coupled to the side opposite to the side on which the first moving part 400 moves in the guide rail 330 , thereby preventing the nuclear reactor head inspection apparatus 100 from overturning in advance. Since the central region of the guide rail 330 is supported by the upper portion of the rotation stage 310 , that is, when the first moving part 400 moves to one end of the guide rail 330 , the center of gravity moves and the device overturns. can In this case, the weight 340 may prevent the device from overturning by applying a weight to the guide rail 330 at a position opposite to the first moving part 400 . The weight of the weight 340 may be changed according to installation conditions, and may be provided so that the weight can be adjusted.

Meanwhile, the rotation support unit 300 may further include a rail support unit 350 .

One end of the rail support 350 may be coupled to the rotation stage 310 to support the guide rail 330 , and the other end may be coupled to the lower surface of the guide rail 330 . The rail support 350 can prevent the guide rail 330 from overturning by stably supporting both ends of the guide rail 330 when the first moving part 400 is moved or the rotation stage 310 is rotated. .

For example, the rail support 350 may include a first support 351 and a second support 352 .

The first support 351 may be coupled to one end of the guide rail 330 and the rotation stage 310 . The second support 352 may be coupled to the other end of the guide rail 330 and the rotation stage 310 . Specifically, the first support 351 may extend obliquely from one end of the guide rail 330 in the rotation stage 310 , and the second support 352 is the other end of the guide rail 330 in the rotation stage 310 . can be extended obliquely.

The guide rail 330 is installed on the support block 320, and both ends are provided in the form of free ends, whereby deflection may occur when the first moving part 400 moves to one end. The first support 351 and the second support 352 are provided to support both ends of the guide rail 330 , so that when the first moving part 400 moves to one end of the guide rail 330 , the guide rail 330 . ) to prevent sagging. Accordingly, the rotation support unit 300 can support the first moving unit 400 more stably.

The first moving unit 400 is It is provided to move linearly along the guide rail 330 . Specifically, the first moving unit 400 may include a horizontal stage 410 and a rail connection block 430 (refer to FIG. 5).

The horizontal stage 410 is provided to move in the first direction D1 along the guide rail 330 , and a link insertion groove 411 opened upward may be formed. The horizontal stage 410 is a member on which the second moving unit 500 and the inspection unit 600 are mounted, and by moving along the guide rail 330 , the inspection unit 600 may be positioned adjacent to the inspection object. The second moving part 500 may be connected to the link insertion groove 411 .

The rail connection block 430 may be provided under the horizontal stage 410 and connected to the guide rail 330 to guide the movement of the horizontal stage 410 . The rail connection block 430 may be integrally formed or combined with the horizontal stage 410 , and may serve to guide the movement of the horizontal stage 410 by being connected to the guide rail 330 .

For example, the guide rail 330 may include a pair of end plates, an upper rail 332 and a lower rail 333 .

A pair of end plates 331 may be disposed at both ends of the guide rail 330 in the first direction D1 . The lower rail 333 extends in the first direction D1 and is coupled between a pair of end plates 331 , and may support the rail connection block 430 from the lower side. The upper rail 332 is provided to be spaced apart from the upper portion of the lower rail 333 , extends in the first direction D1 , and may be coupled between a pair of end plates 331 .

And the rail connection block 430 may be formed with a rail insertion hole 431 into which the upper rail 332 is inserted. Since the lower surface of the rail connection block 430 is supported by the upper surface of the lower rail 333, and the upper rail 332 is inserted into the rail insertion hole 431, the horizontal stage 410 is more stably moved. can be moved However, the connection form of the guide rail 330 and the rail connection block 430 is not limited to the above bar, and if it can stably support the first moving part 400 and guide the movement, it can be transformed into various forms. can

The second moving unit 500 is It is rotatably connected to the first moving unit 400 and is provided to have a variable length. The second moving unit 500 is configured to vertically move the inspection unit 600 in a vertical direction so as to position the inspection unit 600 adjacent to the inspection object (through tube 21 ) (see FIG. 4 ).

Specifically, the second moving unit 500 may include a vertical stage 510 and a lifting unit 530 .

The vertical stage 510 is rotatably coupled to the horizontal stage 410 and rotates about a virtual second rotational axis R2 perpendicular to the first rotational axis R1 and penetrating the horizontal stage 410, the second direction (D2) may be formed long. Here, the second rotation axis R2 is a virtual axis and may be disposed in a direction perpendicular to the first rotation axis R1 , that is, parallel to the ground, and may be a central axis when the vertical stage 510 rotates. In addition, the second direction D2 means the longitudinal direction of the vertical stage 510, and when the vertical stage 510 is vertically arranged by rotation, the second direction D2 may be a direction perpendicular to the ground. .

The vertical stage 510 may include a vertical body 511 , a rotation link 513 , and a guide plate 516 .

The vertical body 511 may extend in the second direction D2. The vertical body 511 constitutes the body of the vertical stage 510 and may serve to guide the movement of the inspection unit 600 in the vertical direction.

The rotary link 513 is formed at one end of the vertical body 511 in the second direction D2, is inserted into the link insertion groove 411, and can rotate about the second rotary shaft R2. Specifically, the rotary link 513 is inserted into the link insertion groove 411, and the shaft provided in the rotary link 513 is rotatably mounted on the vertical stage 510 and disposed on the same axis as the second rotary shaft R2. can be The rotation link 513 may further include a rotation motor 514 connected to the shaft to provide a driving force for rotating the shaft.

The guide plate 516 protrudes from the other end of the vertical body 511 in the second direction D2, and the elevating unit 530 passes through to guide the movement of the elevating unit 530 in the second direction D2. A guide hole 517 may be formed. The guide plate 516 may extend to the other end of the vertical body 511 in the second direction D2, in a direction perpendicular to the second direction D2, and the guide hole 517 includes the elevating part 530. The elevating body 531 may be penetrated.

The lifting unit 530 is installed on the vertical stage 510 and is provided to be movable in the second direction D2 along the vertical stage 510 , and the inspection unit 600 may be coupled to an end thereof.

Specifically, the lifting unit 530 may include a lifting body 531 , a stopper 532 , and a rotation mounting member 533 .

The elevating body 531 may extend long in the second direction D2 . For example, the lifting body 531 may be formed in a rod shape, but is not limited thereto.

The stopper 532 is provided at one end of the elevating body 531 in the second direction D2, and is provided to move between the rotary link 513 and the guide plate 516 to limit the movement of the elevating body 531. can

For example, a seating surface 515 on which the stopper 532 can be seated may be formed on the rotation link 513 . The stopper 532 may be integrally formed with one end of the lifting body 531 in the second direction D2 , and be formed to be caught by the seating surface 515 and the guide plate 516 . Accordingly, the stopper 532 can prevent the lifting body 531 from being separated from the vertical body 511 . In addition, the stopper 532 may guide the vertical movement of the elevating body 531 by maintaining a state in contact with the vertical body 511 when the elevating unit 530 moves. Here, the size of the stopper 532 may be formed larger than the size of the guide hole 517 .

The rotation mounting member 533 is It is provided at the other end of the elevating body 531 in the second direction D2 and the inspection unit 600 is mounted, and is rotatably rotatable about a third virtual axis of rotation R3 extending the central axis of the elevating body 531 . may be provided (see FIG. 6 ).

Here, the third rotation shaft R3 is a virtual shaft located on the same axis as the central axis of the lifting body 531 , and the rotation mounting member 533 may be rotatably provided around the third rotation shaft R3 . Various methods may be applied without limitation to the method in which the rotation mounting member 533 is rotatably coupled to the elevating body 531 . In addition, a motor (not shown) may be provided on the rotation mounting member 533 , and the operator may operate the motor to be driven from the outside.

Accordingly, the inspection unit 600 mounted on the rotation mounting member 533 may be provided to rotate 360 degrees around the third rotation axis R3. For example, when the inspection unit 600 inspects the inside of the through tube 21 , the inspection unit 600 rotates while being inserted into the through tube 21 to more accurately inspect the inspection object.

The inspection unit 600 is It is connected to the end of the second moving part 500 to check the reactor head 10 . The inspection unit 600 may be formed in various structures capable of inspecting the inside of the nuclear reactor head 10 (eg, visual inspection, crack inspection, foreign material inspection, soundness inspection, etc.), for example, in the form of an end effector (End Effector). can be provided with

For example, the inspection unit 600 includes a camera rod 610 coupled to the rotation mounting member 533, a camera 630 mounted on the tip of the camera rod 610, and a camera rod adjacent to the camera 630 ( It may include a nozzle protection member 620 provided in the 610 (see FIG. 6). When the rotation mounting member 533 is rotated, the camera rod 610 may be rotated, whereby the inspection position inside the through tube 21 may be photographed while the camera 630 is rotated. The nozzle protection member 620 is a member for protecting the inside of the through tube 21 with respect to the inspection unit 600 when the inspection unit 600 is inserted, and various structures may be applied.

Hereinafter, a process of inspecting the inside of the nuclear reactor head inspection apparatus 100 according to an embodiment of the present invention will be described with reference to FIGS. 7 and 8 shown.

First, referring to FIG. 7 , an operator may move the reactor head inspection apparatus 100 from the outside to the inside of the reactor head 10 by driving the driving unit 230 . For example, the reactor head 10 may be placed on the ground (bottom surface) for inspection, and the reactor head inspection device 100 may enter the lower portion of the reactor head 10 while traveling along the ground and move to the inspection position. have. The operator may move the device by driving a motor provided in the driving unit 230 from the outside.

In this case, the second moving part 500 may be in a folded state adjacent to the guide rail 330 , the cylinder member 255 may be in a raised state, and the link member 253 may be in a non-expanded state.

When the reactor head inspection apparatus 100 reaches a set position (inspection position) under the reactor head 10 , the operator may operate the outrigger 250 to support the main body 210 with respect to the ground. That is, the cylinder member 255 may descend, and at this time, the horizontal level of the main body 210 may be adjusted by independently driving the plurality of cylinder members 255 . In addition, by operating the link member 253 when necessary for stable support to increase the distance between the cylinder members 255, the moving bogie 200 can be expanded.

When the horizontal level of the reactor head inspection apparatus 100 is adjusted, the operator may move the first moving part 400 in the first direction D1 along the guide rail 330 . At this time, if necessary, the rotating stage 310 may be rotated about the first rotating shaft R1.

Then, referring to FIG. 8 , the operator may drive the rotation motor 514 to rotate the second moving unit 500 about the second rotation axis R2 , and vertically arrange the vertical stage 510 . And the operator can move the lifting unit 530 to move the inspection unit 600 to the inspection height. At this time, if necessary, the rotation stage 310 may be rotated to move the inspection unit 600 to an accurate position.

Thereafter, the operator rotates the rotation mounting member 533 about the third rotation axis R3 to fit the inspection unit 600 to the inspection target surface inside the through tube 21 to inspect the through tube 21 .

When the inspection is completed, the above-described process may be performed in the reverse order to move the reactor head inspection apparatus 100 to the outside of the reactor head 10 .

As described above, when the reactor head inspection apparatus according to an embodiment of the present invention is used, there is no need to install a structure in advance for measuring the height of the reactor head penetration tube and visually inspecting the inside of the reactor by using the moving bogie provided with the traveling part. Since it can work with the head installed, the effect of shortening the working time can be obtained.

In addition, according to an embodiment of the present invention, the sagging and overturning of the inspection device is prevented by the weight and the rail support installed on the guide rail, thereby improving inspection stability and inspection accuracy.

Accordingly, according to an embodiment of the present invention, the operator can minimize the radiation exposure of the operator by operating the inspection device outside the reactor head to perform the inspection.

As mentioned above, although specific embodiments of the present invention have been described above, the spirit and scope of the present invention are not limited to these specific embodiments, and those described in the claims by those of ordinary skill in the art to which the present invention pertains Various modifications and variations are possible without changing the gist of the present invention.

10 : reactor head 20 : control rod driving device
21: penetration tube 100: reactor head inspection device
200: moving bogie 210: main body
230: driving unit 250: outrigger
251: base frame 252: extension frame
253: link member 255: cylinder member
300: rotation support 310: rotation stage
320: support block 330: guide rail
331: end plate 332: upper rail
333: lower rail 340: weight
350: rail support 351: first support
352: second support 400: first moving part
410: horizontal stage 411: link insertion groove
430: rail connection block 431: rail insertion hole
500: second moving part 510: vertical stage
511: vertical body 513: rotary link
515: seating surface 516: guide plate
517: guide hole 530: elevator
531: elevating body 532: stopper
533: rotation mounting member 600: inspection unit
610: camera rod 620: nozzle protection member
630: camera R1: first rotation axis
R2 : second axis of rotation R3 : third axis of rotation
D1 : first direction D2 : second direction

Claims (12)

a moving bogie that is movably provided and disposed under the nuclear reactor head;
A rotation stage mounted on the moving bogie and rotatably provided about a first virtual axis of rotation perpendicular to the ground, and a guide rail coupled to the upper portion of the rotation stage and extending in a first direction parallel to the ground a rotating support unit;
a first moving part provided to move linearly along the guide rail;
a second moving unit rotatably connected to the first moving unit and having a variable length; and
an inspection unit connected to an end of the second moving unit for inspection of the reactor head;
The moving balance unit
a body part on which the rotation support part is mounted; and
It is mounted on the main body and includes a traveling unit provided to move the main body,
The rotating support unit further includes a rail support having one end coupled to the rotating stage and the other end coupled to a lower surface of the guide rail to support the guide rail. delete The method of claim 1,
The moving bogie may further include an outrigger coupled to the main body, supporting the main body with respect to the ground, and adjusting a horizontal level of the main body. The method of claim 3,
The outrigger is
a base frame installed on at least a pair of side surfaces facing each other among a plurality of side surfaces provided in the main body;
a pair of link members provided at both ends of the base frame; and
A pair of cylinder members coupled to both ends of the base frame through the link member and provided to be approached or spaced apart from each other by the link member,
Each of the plurality of cylinder members is independently driven to adjust the horizontal level of the main body part. The method of claim 1,
Among both ends of the guide rail in the longitudinal direction, a side to which the first moving part moves for the inspection of the nuclear reactor head with respect to the first rotational axis is referred to as one end, and the opposite side of the one end is referred to as the other end. ,
The rotation support unit further comprises a weight provided at the other end of the guide rail. delete The method of claim 1,
The rail support
a first support coupled to one end of the guide rail and the rotation stage; and
A reactor head inspection apparatus comprising a second support coupled to the other end of the guide rail and the rotation stage. The method of claim 1,
The first moving part
a horizontal stage provided to move in a first direction along the guide rail and having an upwardly opened link insertion groove; And,
and a rail connection block provided under the horizontal stage and connected to the guide rail to guide the movement of the horizontal stage. The method of claim 8,
The guide rail is
a pair of end plates provided at both ends in the first direction;
a lower rail extending in the first direction and coupled between a pair of the end plates, the lower rail supporting the rail connection block from a lower portion; and
It is provided to be spaced apart from the upper part of the lower rail, and includes an upper rail that extends in the first direction and is coupled between a pair of the end plates,
The rail connection block is a reactor head inspection device in which a rail insertion hole into which the upper rail is inserted is formed. The method of claim 8,
the second moving part
a vertical stage that is rotatably coupled to the horizontal stage and rotates about a second virtual axis of rotation that is perpendicular to the first axis of rotation and passes through the horizontal stage, and is elongated in a second direction; and
and a lifting unit installed on the vertical stage, movable in the second direction along the vertical stage, and coupled to an end of the inspection unit. The method of claim 10,
The vertical stage
a vertical body extending in the second direction;
a rotation link formed at one end of the vertical body in the second direction and inserted into the link insertion groove and rotated about the second rotation axis; and
and a guide plate protruding from the other end of the vertical body in the second direction and having a guide hole through which the elevating unit passes to guide the movement of the elevating unit in the second direction. The method of claim 11,
The lifting unit
an elevating body elongated in the second direction;
a stopper provided at one end of the elevating body in the second direction and moving between the rotary link and the guide plate to limit the movement of the elevating body; and
A reactor head inspection apparatus including a rotational mounting member provided at the other end of the lifting body in the second direction, the inspection unit is mounted, and rotatably provided around a virtual third rotational axis extending the central axis of the lifting body .

Images