KR102444433B1 - Boring apparatus for repairing reactor lower head - Google Patents

Abstract

The present invention relates to a boring apparatus for boring a nozzle provided in a reactor lower head and a pad formed on an outer surface of the reactor lower head. The apparatus includes: an attachment unit attached to the outer surface of the reactor lower head; a boring unit connected to the attachment unit and boring-processing the nozzle and pad; a posture detection unit connected to the boring unit and detecting a posture of the boring unit for the nozzle; and a tilting unit selectively tilting the boring unit for the attachment unit based on a signal detected from the posture detection unit. The present invention can acquire an advantageous effect of performing boring for repairing the reactor lower head accurately and safely.

Description

Boring device for repairing the lower head of a nuclear reactor

An embodiment of the present invention relates to a boring apparatus for repairing a lower head of a nuclear reactor, and more particularly, to a boring apparatus for repairing a lower head of a nuclear reactor capable of accurately and safely performing boring for repairing a lower head of a nuclear reactor.

A BMI nozzle (Bottom Mounted Instrumentaion Nozzle) is provided in the lower head of the reactor, and various measuring devices are inserted into the reactor through the BMI nozzle to perform measurement while the nuclear power plant is in operation.

The nozzle (BMI nozzle) is provided to pass through the reactor lower head, and the nozzle and the reactor lower head may be joined (welded) by a J-groove type welding part.

On the other hand, if fatigue (or corrosion) and Primary Water Corrosion Cracking (PWSCC) occur in the welding part of the nozzle due to long-term operation of the nuclear power plant, the primary coolant inside the nuclear power plant contaminated with radioactivity leaks to the outside. This will impair the safe operation of the nuclear power plant. Therefore, in the event of an abnormality in the welding part, the welding part should be repaired quickly.

Repair of the welding part of the nozzle is performed by removing the nozzle at the leaked part (removing the nozzle part protruding from the outer surface of the reactor lower head), and then welding ( It can be done by forming a pad by overlay welding, cutting and boring the pad, inserting a new nozzle, and forming a weld on the pad again.

However, since the lower space of the lower head of the nuclear reactor is very narrow, there is a problem in that it is difficult for an operator to access and work, and when the operator directly approaches, there is a problem in that there is a high risk of exposure to radiation.

In addition, if the position of the nozzle with respect to the boring unit is changed according to the deflection and deformation of the nozzle (for example, if the nozzle and the boring unit are non-coaxially disposed), the stability and accuracy of the boring process by the boring unit is lowered, The alignment of the position of the boring unit with respect to the nozzle should be possible, but when the operator manually performs the alignment of the position of the boring unit directly, there is a problem in that the operator is exposed to radiation high risk.

Accordingly, in recent years, various studies have been made to more easily and accurately perform the repair of the welding part of the nozzle, but the development thereof is still insufficient.

SUMMARY OF THE INVENTION An object of the present invention is to provide a boring apparatus for repairing a lower head of a nuclear reactor capable of accurately and safely performing a boring unit alignment operation and a boring process for repairing the lower head of a nuclear reactor.

In particular, an embodiment of the present invention aims to accurately and stably perform a boring unit alignment operation and boring processing for repairing a nozzle welding part provided in a lower head of a nuclear reactor.

In addition, an embodiment of the present invention aims to simplify the structure and improve space utilization and design freedom.

In addition, an embodiment of the present invention aims to improve boring processing precision while minimizing damage to a lower head of a nuclear reactor.

In addition, an embodiment of the present invention aims to minimize the radiation exposure of workers, and to improve safety and reliability.

The problem to be solved in the embodiment is not limited thereto, and it will be said that the purpose or effect that can be grasped from the solving means or embodiment of the problem described below is also included.

According to a preferred embodiment of the present invention for achieving the above-described objects of the present invention, a boring apparatus for boring a nozzle provided in a lower nuclear reactor head and a pad formed on an outer surface of the lower nuclear reactor head, the outer surface of the lower nuclear reactor head An attachment unit attached to the attachment unit, a boring unit connected to the attachment unit and boring a nozzle and a pad, a posture sensing unit connected to the boring unit and detecting the posture of the boring unit with respect to the nozzle, and a signal detected by the posture detecting unit and a tilting unit for selectively tilting the boring unit with respect to the attachment unit.

This is to improve the stability and accuracy of the boring process by the boring unit.

That is, when the position of the nozzle with respect to the boring unit is changed according to the deflection and deformation of the nozzle (for example, when the nozzle and the boring unit are arranged non-coaxially), the stability and accuracy of the boring process by the boring unit is lowered. There is this.

However, in the embodiment of the present invention, by selectively tilting the boring unit with respect to the attachment unit based on the signal sensed by the posture sensing unit, even if sagging and deformation of the nozzle occurs, the position of the center of the nozzle and the boring unit is Since the position of the boring unit with respect to the nozzle can be corrected (aligned) to match, it is possible to obtain an advantageous effect of improving the stability and accuracy of the boring process by the boring unit.

According to a preferred embodiment of the present invention, the tilting unit aligns the center position of the boring unit based on the central position of the nozzle (based on straightness), and the boring unit is arranged coaxially with the nozzle along the longitudinal direction of the nozzle. can

The tilting unit may be provided in various structures capable of selectively adjusting the posture (position) of the boring unit with respect to the nozzle by tilting the boring unit with respect to the attachment unit.

For example, the tilting unit includes a base member to which the attachment unit is connected, a tilting member provided under the base member and connected to a boring unit, a gimbal part for supporting the tilting member to be rotatably relative to the base member, and a plurality of moving parts for independently moving the tilting member to a predetermined target position with respect to the base member at positions spaced apart from each other.

The gimbal unit may be provided in various structures capable of supporting the tilting member to be rotatably relative to the base member.

As an example, the gimbal part is provided with a hemispherical gimbal groove concavely formed on one surface of the tilting member facing the base member, and convexly provided on one surface of the base member to face the hemispherical gimbal groove and rotatably accommodated in the hemispherical gimbal groove. It may include a hemispherical gimbal shaft.

Preferably, the hemispherical gimbal shaft may be provided to have a curvature corresponding to the hemispherical gimbal groove. As described above, by making the hemispherical gimbal shaft and the hemispherical gimbal groove have curvatures corresponding to each other, the hemispherical gimbal shaft can rotate relative to the hemispherical gimbal groove in close contact with the hemispherical gimbal groove, thereby increasing rotational stability and the tilting of the tilting member with respect to the base member. An advantageous effect of stably maintaining the tilting state can be obtained.

In addition, since the hemispherical gimbal shaft and the hemispherical gimbal groove have curvatures corresponding to each other, the hemispherical gimbal shaft and the hemispherical gimbal groove can maintain close contact with each other, so during the boring process of the nozzle 22 and the pad 30 An advantageous effect of minimizing the occurrence of vibration and reaction force can be obtained.

According to a preferred embodiment of the present invention, the tilting member is provided to have at least two or more corner portions, and the moving unit can individually adjust the relative height of the corner portion of the tilting member with respect to the base member.

The moving part may be provided in various structures capable of adjusting the relative height of the corner portion of the tilting member with respect to the base member.

For example, the moving unit includes a driving unit providing a driving force, one end rotatably connected to the tilting member and the other end connected to the driving unit and rotated by the driving unit, and the base member is rotatably provided to rotate the transfer screw. In response, it may include a transfer guide that moves linearly along the transfer screw.

According to a preferred embodiment of the present invention, the driving unit may include a driving motor for generating a driving force, and a reducer for decelerating and outputting the driving force of the driving motor.

According to a preferred embodiment of the present invention, the boring apparatus for repairing the lower head of a nuclear reactor may include a support member provided on the base member and supporting the driving unit.

According to a preferred embodiment of the present invention, the boring apparatus for repairing the lower reactor head may include a flexible coupler provided at the other end of the transfer screw, and the driving unit may be connected to the transfer screw via the flexible coupler.

In this way, by connecting the driving unit and the transfer screw through the flexible coupler, even if the output shaft of the driving unit and the transfer screw are displaced (non-coaxially arranged) by the rotation of the transfer guide with respect to the base member, the driving force of the driving unit is transferred It can be transmitted stably to the screw.

According to a preferred embodiment of the present invention, the boring apparatus for repairing the lower head of a nuclear reactor may include a clamping unit for selectively restricting rotation of the tilting member with respect to the base member.

The clamping unit may be provided in various structures capable of constraining rotation of the tilting member with respect to the base member.

For example, the tilting unit includes a clamping member provided to be movable in a direction approaching and spaced apart from the other surface of the tilting member, and a clamping driving unit that provides a driving force so that the clamping member moves in a direction approaching the other surface of the tilting member. In addition, when the clamping member moves in a direction approaching the other side of the tilting member, the rotation of the hemispherical gimbal groove with respect to the hemispherical gimbal shaft may be restricted by the pressing force acting on the tilting member with respect to the base member.

In this way, after the alignment of the boring unit with respect to the nozzle is completed, the clamping unit moves the clamping member in a direction approaching the other surface of the tilting member so that the tilting member is constrained to the base member by the pressing force applied to the tilting member. Accordingly, since rotation of the tilting member with respect to the base member can be suppressed during the boring process of the nozzle and the pad, it is possible to obtain an advantageous effect of improving the stability and accuracy of the boring process by the boring unit.

Preferably, a curved seating portion having a curvature corresponding to the hemispherical gimbal groove (or hemispherical gimbal shaft) may be provided on the other surface of the tilting member, and the inner surface of the clamping member facing the tilting member has a curvature corresponding to the curved seating portion A curved portion having a curved surface may be formed.

In this way, by providing a curved seating part on the tilting member and making the curved part of the clamping member closely adhere to the curved seating part, the pressing force acting on the tilting member based on the base member is uniformly formed in the entire section of the hemispherical gimbal groove. Therefore, it is possible to obtain an advantageous effect of more stably maintaining the constrained state of the tilting member with respect to the base member.

According to a preferred embodiment of the present invention, a boring apparatus for repairing a lower head of a nuclear reactor is provided to be capable of remote communication with an attitude sensing unit and the tilting unit, and based on a signal sensed by the attitude sensing unit, the tilting unit is remotely operated. It may include a control unit to control.

For reference, since the lower space of the lower head of the reactor is very narrow, there is a problem in that it is difficult for an operator to access and work, and when the operator directly approaches, there is a high risk of exposure to radiation.

However, in the embodiment of the present invention, by remotely tilting the boring unit with respect to the attachment unit based on the signal sensed by the posture sensing unit, the boring process of the nozzle and the pad can be accurately performed while minimizing the radiation exposure of the operator. The advantageous effect of correcting the position of the boring unit can be obtained

The attachment unit may be provided in various structures capable of being attached to the outer surface of the lower head of the nuclear reactor.

For example, the attachment unit may include a frame portion and a magnetic portion provided in the frame portion so that an attractive force acts with the lower head of the nuclear reactor, and may be detachably attached to the lower head of the nuclear reactor.

According to a preferred embodiment of the present invention, the frame unit may include a base frame seated on the base member, and a connecting frame having one end connected to the base frame and the other end disposed adjacent to the outer surface of the lower head of the nuclear reactor, and the magnetic The part may be provided at the other end of the connection frame.

According to a preferred embodiment of the present invention, the magnetic unit includes a magnet attached to the lower reactor head by mutual attraction with the reactor lower head, a magnet holder supporting the magnet, and a connecting member for rotatably connecting the magnet holder to the frame portion. may include.

As such, the embodiment of the present invention allows the attachment unit to be attached to the lower reactor head by mutual attraction between the magnetic part and the lower reactor head, so that a welding process is performed to attach the attachment unit to the lower nuclear reactor head, or a bolt Since it is not necessary to form a fastening hole for fastening, the attachment state of the attachment unit can be stably maintained without damage to the lower reactor head and structural rigidity deterioration, and advantageous effects of simplifying the attachment process of the attachment unit can be obtained.

In addition, according to an embodiment of the present invention, by connecting the magnet holder and the frame portion through the connecting member, the position and posture of the magnet holder can be changed regardless of the curvature of the outer surface of the lower nuclear reactor head. An advantageous effect of optimizing the position and posture of the magnet holder (magnet) in response to the curvature of the outer surface can be obtained.

Preferably, the magnet may include a seating surface to which the outer surface of the lower reactor head is in close contact, and the seating surface may be provided as a curved surface having a curvature corresponding to the outer surface of the lower reactor head.

As described above, by providing a seating surface made of a curved surface on the magnet and making the outer surface of the lower reactor head in close contact with the seating surface, magnetic flux leakage between the lower reactor head and the magnet can be minimized, so that the contact between the lower reactor head and the magnet An advantageous effect of maintaining the state more stably can be obtained. Therefore, even if vibration and reaction force occur during the boring process of the nozzle and the pad, it is possible to obtain an advantageous effect of stably maintaining the position of the boring unit.

More preferably, a plurality of magnetic parts may be provided to be spaced apart from each other, and the plurality of magnetic parts may be attached to the lower reactor head at different positions and in different postures.

In this way, by allowing the attachment unit to be attached to the lower head of the nuclear reactor via the plurality of magnetic parts, it is possible to obtain an advantageous effect of maintaining the attachment state of the attachment unit more robustly and stably.

As described above, according to the embodiment of the present invention, it is possible to obtain an advantageous effect of accurately and safely performing a boring unit alignment operation and boring processing for repair of a lower head of a nuclear reactor.

In particular, according to an embodiment of the present invention, it is possible to obtain an advantageous effect of accurately and stably performing a boring unit alignment operation and boring processing for repairing a nozzle welding part provided in a lower head of a nuclear reactor.

In addition, according to the embodiment of the present invention, it is possible to obtain advantageous effects of simplifying the structure and improving space utilization and design freedom.

In addition, according to the embodiment of the present invention, it is possible to obtain an advantageous effect of improving the boring processing precision while minimizing damage to the lower head of the nuclear reactor.

In addition, according to an embodiment of the present invention, it is possible to obtain advantageous effects of minimizing radiation exposure of workers and improving safety and reliability.

1 is a side view for explaining a boring apparatus for repairing a lower head of a nuclear reactor according to an embodiment of the present invention.
2 is a plan view illustrating a boring apparatus for repairing a lower head of a nuclear reactor according to an embodiment of the present invention.
3 is a view for explaining an attachment unit as a boring apparatus for repairing a lower head of a nuclear reactor according to an embodiment of the present invention.
4 is a boring apparatus for repairing a lower head of a nuclear reactor according to an embodiment of the present invention, and is a view for explaining an attitude sensing unit.
5 and 6 are views for explaining a tilting unit as a boring apparatus for repairing a lower head of a nuclear reactor according to an embodiment of the present invention.
7 is a boring apparatus for repairing a lower head of a nuclear reactor according to an embodiment of the present invention, and is a view for explaining an alignment state of a boring unit with respect to a nozzle.
8 is a view for explaining a repair process of a lower head of a nuclear reactor.

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

However, the technical idea of the present invention is not limited to some embodiments described, but may be implemented in various different forms, and within the scope of the technical spirit of the present invention, one or more of the components between the embodiments may be selected It can be combined and substituted for use.

In addition, terms (including technical and scientific terms) used in the embodiments of the present invention may be generally understood by those of ordinary skill in the art to which the present invention pertains, unless specifically defined and described explicitly. It may be interpreted as a meaning, and generally used terms such as terms defined in advance may be interpreted in consideration of the contextual meaning of the related art.

In addition, the terms used in the embodiments of the present invention are for describing the embodiments and are not intended to limit the present invention.

In this specification, the singular form may also include the plural form unless otherwise specified in the phrase, and when it is described as "at least one (or one or more) of A and (and) B, C", it is combined with A, B, C It may include one or more of all possible combinations.

In addition, in describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used.

These terms are only for distinguishing the components from other components, and are not limited to the essence, order, or order of the components by the terms.

And, when it is described that a component is 'connected', 'coupled' or 'connected' to another component, the component is not only directly connected, coupled or connected to the other component, but also with the component It may also include a case of 'connected', 'coupled' or 'connected' due to another element between the other elements.

In addition, when it is described as being formed or disposed on “above (above) or under (below)” of each component, the top (above) or bottom (below) is one as well as when two components are in direct contact with each other. Also includes a case in which the above another component is formed or disposed between two components. In addition, when expressed as "upper (upper) or lower (lower)", the meaning of not only an upper direction but also a lower direction based on one component may be included.

1 to 8, the nozzle 22 provided in the reactor lower head 20 according to an embodiment of the present invention and the pad formed on the outer surface of the reactor lower head 20 to cover the nozzle 22 ( The boring apparatus 10 for boring 30 is connected to the attachment unit 100 attached to the outer surface of the reactor lower head 20, the attachment unit 100, and boring the nozzle 22 and the pad 30. A signal detected by the boring unit 300 to be processed, the attitude sensing unit 70 connected to the boring unit 300 and sensing the attitude of the boring unit 300 with respect to the nozzle 22, and the attitude sensing unit 70 It includes a tilting unit 800 for selectively tilting the boring unit 300 with respect to the attachment unit 100 based on the.

The boring apparatus 10 for repairing the lower nuclear reactor head according to an embodiment of the present invention includes the nozzle 22 and the lower part of the nuclear reactor provided in the lower nuclear reactor head 20 in order to repair the welded portion of the nozzle 22 in which the leakage has occurred. It may be used for boring the pad 30 formed on the outer surface of the head 20 .

For reference, referring to FIG. 8 , the repair process for the J-groove leakage in the nozzle 22 of the reactor lower head 20 is (a) removing the lower end of the nozzle 22 (protruding to the outer surface of the lower reactor head) (b) Forming the pad 30 on the outer surface of the lower reactor head 20 to cover the cut part of the nozzle 22 by overlay welding → (c) Cutting around the pad 30 → (d) boring inside the nozzle and pad 30 → (e) attaching and welding a new nozzle 22 ′.

1 to 3 , the attachment unit 100 is attached to the reactor lower head 20 , and is provided to support the boring unit 300 with respect to the nozzle 22 and the pad 30 .

The attachment unit 100 may be provided in various structures attachable to the outer surface of the lower nuclear reactor head 20 , and the present invention is not limited or limited by the structure and attachment method of the attachment unit 100 .

For example, the attachment unit 100 may include a frame unit 110 and a magnetic unit 120 provided in the frame unit 110 so that an attractive force acts with the lower reactor head 20 and the frame unit 110 . and may be detachably attached to the reactor lower head 20 .

The frame unit 110 may be provided in various structures according to required conditions and design specifications.

For example, the frame unit 110 includes a base frame 112 seated on the upper surface of the base member 810 of the tilting unit 800 , and one end connected to the base frame 112 and the other end of the lower head of the nuclear reactor. It may include a connection frame 114 disposed adjacent to the outer surface.

For example, the base frame 112 may be formed in the form of a square plate having a predetermined size. According to another embodiment of the present invention, it is also possible to form the base frame in the form of a circular plate or in other forms.

The connection frame 114 may be connected through a common fastening member such as a bolt to form an approximately "L" shape (or "V" shape) in cooperation with the base frame 112 . As an example, the connection frame 114 may be provided adjacent to each of the four corners of the base frame 112, and the connection frames 114 adjacent to each other (or facing each other) are formed by a reinforcing frame (not shown). can be connected

The magnetic unit 120 may be provided in a variety of structures capable of mutual attraction with the reactor lower head 20 (eg, low-carbon steel material), and the structure of the magnetic unit 120 depends on required conditions and design specifications. It can be variously changed according to.

For example, the magnetic unit 120 includes a magnet 122 attached to the lower reactor head 20 by mutual attraction with the lower nuclear reactor head 20 , a magnet holder 124 supporting the magnet 122 , and a frame. A connection member 126 for rotatably connecting the magnet holder to the unit 110 may be included.

As the magnet 122 , a conventional magnetic material (eg, an electromagnet or a permanent magnet) that can be attached to the lower reactor head 20 by mutual attraction with the reactor lower head 20 may be used, and the type and characteristics of the magnetic material The present invention is not limited or limited by the For example, the magnet 122 may be formed in a substantially rectangular block shape.

The magnet holder 124 may be provided to support the magnet 122 , and the structure and shape of the magnet holder 124 may be variously changed according to required conditions and design specifications. For example, the magnet holder 124 may be provided to surround a portion of the circumference of the magnet 122 .

As the connecting member 126 , various members capable of rotatably connecting the magnet holder 124 to the frame 110 (eg, connecting frame) may be used. For example, as the connecting member 126, a ball link (a member having a spherical rotary connecting portion at one end) or a universal joint may be used.

As such, in the embodiment of the present invention, the attachment unit 100 is attached to the nuclear reactor lower head 20 by mutual attraction between the magnetic part 120 and the nuclear reactor lower head 20 . Since there is no need to perform a welding process or form a fastening hole for fastening the bolts to attach the reactor to the lower reactor head 20, the attachment state of the attachment unit 100 without damage to the lower reactor head 20 and structural rigidity deterioration can be stably maintained, and advantageous effects of simplifying the attachment process of the attachment unit 100 can be obtained.

In addition, according to an embodiment of the present invention, by connecting the magnet holder 124 and the frame unit 110 through the connecting member 126 , the magnet holder is not limited by the curvature of the outer surface of the lower nuclear reactor head 20 . Since the position and attitude of the 124 can be changed, it is possible to obtain an advantageous effect of optimizing the position and the attitude of the magnet holder 124 (magnet) in response to the curvature of the outer surface of the reactor lower head 20 .

Preferably, the magnet 122 may include a seating surface 122a to which the outer surface of the nuclear reactor lower head 20 is in close contact, and the seating surface 122a has a curvature corresponding to the outer surface of the nuclear reactor lower head 20 . It may be provided with a curved surface.

In this way, by providing a seating surface 122a having a curved surface on the magnet 122 and making the outer surface of the reactor lower head 20 closely contact the seating surface 122a, the reactor lower head 20 and the magnet ( Since leakage of magnetic flux between the 122 ) can be minimized, it is possible to obtain an advantageous effect of more stably maintaining a contact state between the lower nuclear reactor head 20 and the magnet 122 . Therefore, even if vibration and reaction force occur during the boring process of the nozzle 22 and the pad 30 , it is possible to obtain an advantageous effect of stably maintaining the position of the boring unit 300 .

More preferably, a plurality of magnetic units 120 may be provided to be spaced apart from each other, and the plurality of magnetic units 120 may be attached to the lower reactor head 20 at different positions and in different postures.

In this way, by allowing the attachment unit 100 to be attached to the reactor lower head 20 via the plurality of magnetic parts 120 , advantageous effect of maintaining the attachment state of the attachment unit 100 more robustly and stably can get

For example, the magnetic unit 120 may be provided adjacent to each of the four corners of the base frame 112 , and the magnet 122 of each magnetic unit 120 has a curvature of the outer surface of the lower nuclear reactor head 20 . Correspondingly, it may be attached to the outer surface of the lower reactor head 20 in different postures.

According to a preferred embodiment of the present invention, the boring device 10 for repairing the lower reactor head is provided to be selectively detachable from the attachment unit 100 and includes a support unit 200 for supporting the attachment unit 100 . can

The support unit 200 may be formed in various structures capable of supporting the attachment unit 100 , and the present invention is not limited or limited by the structure and shape of the support unit 200 . For example, the support unit 200 may be configured by combining a plurality of frame members, and may be configured to partially support a portion of the rear surface of the attachment unit 100 .

Here, the attachment unit 100 is detachably provided on the support unit 200 means that the attachment unit 100 is combined with the support unit 200 to form a single device, or as two independent parts. can be understood as separate. For example, the attachment unit 100 and the support unit 200 may be maintained in a coupled state or released (separated) through a common fastening member (eg, a bolt).

Preferably, the attachment unit 100 and the support unit 200 (including, for example, a boring unit) are provided in a state separated from each other, and the attachment unit 100 is first attached to the outer surface of the reactor lower head 20. After that, the support unit 200 may be assembled to the attachment unit 100 . In this way, by allowing the attachment unit 100 and the support unit 200 to be separated from each other, assembly and mountability are improved, and the assembly and An advantageous effect of performing the transfer more smoothly can be obtained.

The boring unit 300 is provided for boring the nozzle 22 and the pad 30 (refer to FIG. 8 ), and is connected (supported) to the attachment unit 100 .

As the boring unit 300 , various cutting means capable of boring the nozzle 22 and the pad 30 may be used, and the present invention is not limited or limited by the structure and type of the boring unit 300 .

As an example, the boring unit 300 is connected to the attachment unit 100 and provided to rotate by a boring driving unit 310 (eg, a motor) providing a driving force, and a boring driving unit 310 Spindle 320 ) , and a machining tool (eg, an end mill or a ball end mill) (not shown) rotating by the spindle 320 and boring (cutting) the nozzle 22 and the pad 30 .

For reference, in the embodiment of the present invention shown above and shown, the boring unit 300 is described as an example of boring the nozzle 22 and the pad 30, but by replacing the processing tool of the boring unit 300 It is also possible to form a J-groove around the nozzle.

According to a preferred embodiment of the present invention, the boring apparatus 10 for repairing the lower reactor head may include a transfer unit 400 for selectively moving the position of the boring unit 300 with respect to the nozzle 22 .

Preferably, the transfer unit 400 moves the position of the boring unit 300 with respect to the nozzle 22 in the three-axis (eg, X-axis, Y-axis, Z-axis or R-axis, θ-axis, Z-axis) direction. configured to move.

According to a preferred embodiment of the present invention, the transfer unit 400, the first transfer unit 410 for transferring the boring unit 300 along the Y-axis direction with respect to the nozzle 22, the X-axis with respect to the nozzle 22 It may include a second transfer unit 420 for transferring the boring unit 300 along the direction, and a third transfer unit 430 for transferring the boring unit 300 along the Z-axis direction with respect to the nozzle 22 .

The first transfer unit 410 may be provided in various structures capable of transferring the boring unit 300 along the Y-axis direction with respect to the nozzle 22 , and the present invention is limited by the structure of the first transfer unit 410 . is not limited or limited.

As an example, the first transfer unit 410 includes a first base member 412 connected to the attachment unit 100, and a first moving member 414 that moves with respect to the first base member 412 in the Y-axis direction. , and a first driving unit 416 that provides a driving force for moving the first moving member 414 .

The first base member 412 may be fixed to the frame unit 110 , and the structure and shape of the first base member 412 may be variously changed according to required conditions and design specifications.

The first moving member 414 is provided to move linearly with respect to the first base member 412 along the Y-axis direction. Preferably, a sliding guide (eg, a linear guide) (not shown) for guiding the linear movement of the first moving member 414 may be provided on the first base member 412 .

The first driving unit 416 is provided to provide a driving force for moving the first moving member 414 , and the present invention is not limited or limited by the type and structure of the first driving unit 416 . For example, a servo motor may be used as the first driving unit 416 , and the first moving member 414 moves linearly along the lead screw rotated by the driving force of the first driving unit 416 (in the Y-axis direction). can be configured to According to another embodiment of the present invention, it is also possible to apply other conventional linear motion system (Linear Motion System) such as a linear motor as the first driving unit.

The boring unit 300 may be connected to the first moving member 414 (eg, connected via the second transfer unit and the third transfer unit), and based on the movement of the first moving member 414 , the Y-axis direction can be moved.

The second transfer unit 420 may be provided in various structures capable of transferring the boring unit 300 along the X-axis direction with respect to the nozzle 22 , and the present invention is limited by the structure of the second transfer unit 420 . is not limited or limited.

As an example, the second transfer unit 420 includes a second base member 422 connected to the first moving member 414, and a second moving member moving with respect to the second base member 422 in the X-axis direction ( 424 ), and a second driving unit 426 providing a driving force for moving the second moving member 424 .

The second base member 422 may be fixed to the first moving member 414 , and the structure and shape of the second base member 422 may be variously changed according to required conditions and design specifications.

The second moving member 424 is provided to move linearly with respect to the second base member 422 along the X-axis direction. Preferably, a sliding guide (not shown) for guiding the linear movement of the second moving member 424 may be provided on the second base member 422 .

The second driving unit 426 is provided to provide a driving force for moving the second moving member 424 , and the present invention is not limited or limited by the type and structure of the second driving unit 426 . For example, a servo motor may be used as the second driving unit 426 , and the second moving member 424 moves linearly along the lead screw rotated by the driving force of the second driving unit 426 (along the X-axis direction). can be configured to According to another embodiment of the present invention, it is also possible to apply other conventional linear motion system such as a linear motor as the second driving unit.

The boring unit 300 may be connected to the second moving member 424 , and may move in the X-axis direction based on the movement of the second moving member 424 .

The third transfer unit 430 may be provided in various structures capable of transferring the boring unit 300 along the Z-axis direction with respect to the nozzle 22 , and the present invention is limited by the structure of the third transfer unit 430 . is not limited or limited.

For example, the third transfer unit 430 includes a third base member 432 connected to the second moving member 424 , and a third moving member that linearly moves with respect to the third base member 432 in the Z-axis direction. 434 , and a third driving unit 436 providing a driving force for moving the third moving member 434 may be included.

The third base member 432 may be fixed to the second moving member 424 , and the structure and shape of the third base member 432 may be variously changed according to required conditions and design specifications.

The third moving member 434 is provided to move linearly with respect to the third base member 432 along the Z-axis direction. Preferably, a sliding guide (not shown) for guiding the linear movement of the third moving member 434 may be provided on the third base member 432 .

The third driving unit 436 is provided to provide a driving force for moving the third moving member 434 , and the present invention is not limited or limited by the type and structure of the third driving unit 436 . For example, a servo motor may be used as the third driving unit 436 , and the third moving member 434 moves linearly along the lead screw rotated by the driving force of the third driving unit 436 (in the Z-axis direction). can be configured to According to another embodiment of the present invention, it is also possible to apply other general linear motion system such as a linear motor as the third driving unit.

The boring unit 300 may be connected to the third moving member 434 , and may move in the Z-axis direction based on the movement of the third moving member 434 .

Preferably, the third base member 432 is provided along a vertical line perpendicular to the ground (along the Z-axis direction), and the third moving member 434 and the boring unit 300 are the third base member 432 . It can move in a direction approaching and separating from the nozzle 22 along (along a vertical line).

In this way, by allowing the boring unit 300 to move in a direction approaching and spaced from the nozzle 22 along the third base member 432 disposed along a vertical line, during the boring process by the boring unit 300 An advantageous effect of reducing the generated processing reaction force can be obtained.

According to a preferred embodiment of the present invention, the boring apparatus 10 for repairing the lower head of the nuclear reactor may include a lifting unit 500 that selectively elevates the support unit 200 in the vertical direction.

The lifting unit 500 may be provided in various structures capable of selectively elevating the attachment unit 100 supported by the support unit 200, and the present invention is limited by the structure and method of the lifting unit 500 or It is not limited.

For example, the lifting unit 500 may be configured to selectively lift the support unit 200 in the vertical direction in a scissors lifting method.

According to a preferred embodiment of the present invention, the lifting unit 500, the base table 510, is provided to be spaced apart from the upper portion of the base table 510, the lifting table 520 on which the support unit 200 is seated, one end is The first link member 530 is rotatably connected to the base table 510 and the other end is rotatably connected to the lifting table 520 , and the first link member 530 to intersect the first link member 530 . ) is rotatably coupled to one end rotatably connected to the base table 510 and the other end may include a second link member 540 rotatably connected to the lifting table 520 .

For example, the first link member 530 and the second link member 540 are rotatably coupled in an approximately X-shape, and one end (eg, lower end) and the second link of the first link member 530 . As one end (eg, a lower end) of the member 540 moves in a direction to approach and spaced apart from each other, the vertical position of the lifting table 520 may be adjusted.

Preferably, in order to increase the lifting height of the support unit 200 by the lifting unit 500, the plurality of first link members 530 and the plurality of second link members 540 are continuous X along the vertical direction. They can be connected to form a ruler.

For example, when one end (the lower end) of the first link member 530 moves in a direction approaching the one end (lower end) of the second link member 540 , the lifting table 520 may move in the upper direction.

Conversely, when the one end (the lower end) of the first link member 530 moves in a direction spaced apart from the one end (lower end) of the second link member 540 , the lifting table 520 may move in the lower direction.

For example, when the attachment unit 100 is attached to the lower reactor head 20, the magnet 122 is moved to the lower reactor head 20 while slightly increasing the height of the support unit 200 (lifting table is raised). can be attached to On the other hand, while the boring process by the boring unit 300 is performed, the lifting unit 500 descends (lifting table descends), thereby suppressing interference between the surrounding parts and the lifting unit 500 .

The relative movement between the first link member 530 and the second link member 540 may be implemented using a conventional motor or a lead screw, and the first link member 530 and the second link member 540 . The present invention is not limited or limited by the driving method.

According to a preferred embodiment of the present invention, the boring apparatus 10 for repairing the lower head of the nuclear reactor may include a rolling member 210 provided in the support unit 200 to be able to roll along the ground.

As the rolling member 210, a conventional roller or ball capable of rolling may be used, and the present invention is not limited or limited by the type and structure of the rolling member 210.

For example, a total of four moving rollers may be mounted on the upper and lower portions of the side surface of the support unit 200 (the bottom surface in the lying state of the support unit), two each. The number and mounting position of the rolling member 210 may be variously changed according to required conditions and design specifications.

For example, during boring of the nozzle 22 and the pad 30 , the rolling member 210 may be positioned on the side surface of the support unit 200 . On the other hand, when the support unit 200 is transported, the support unit 200 is laid on its side so that the rolling member 210 provided on the side of the support unit 200 is in contact with the ground through the rolling member 210 as a medium. The support unit 200 may be moved by rolling.

The posture detecting unit 70 is connected to the boring unit 300 to detect the posture of the boring unit 300 with respect to the nozzle 22 .

Here, detecting the posture of the boring unit 300 with respect to the nozzle 22 means that the central position of the boring unit 300 (for example, the central position of the processing tool) with respect to the central position of the nozzle 22 is It can be understood as detecting the degree of deviation.

The posture detecting unit 70 may be configured to detect the posture of the boring unit 300 with respect to the nozzle 22 in various ways according to the required conditions and design specifications, and according to the sensing method by the posture detecting unit 70 The present invention is not limited or limited by the

For example, the posture detecting unit 70 may be provided to be able to be lifted up and down by the spindle 320, and measures the central position of the nozzle 22 at the first measurement position inside the nozzle 22, After measuring the central position of the nozzle 22 at a second measuring position inside the nozzle 22 spaced upward from the first measuring position (for example, a position spaced 50 mm from the first measuring position), the second The attitude of the boring unit 300 with respect to the nozzle 22 can be detected by calculating the deviations (eg, X-direction eccentricity and Y-direction eccentricity) of the measured center positions at the first measurement position and the second measurement position, respectively. can

For reference, various sensors capable of detecting the posture of the boring unit 300 with respect to the nozzle 22 may be used as the posture detecting unit 70 , and the present invention may vary depending on the type and structure of the posture detecting unit 70 . It is not limited or limited.

For example, a non-contact sensor (eg, a non-contact sensor using an optical signal) or a probe using a contact sensor may be used as the posture detecting unit 70 .

1 and 5 to 6 , the tilting unit 800 is provided to selectively tilt the boring unit 300 with respect to the attachment unit 100 based on the signal detected by the posture detecting unit 70 . do.

This is to improve the stability and accuracy of the boring process by the boring unit 300 .

That is, when the position of the nozzle 22 with respect to the boring unit 300 is changed according to the deflection and deformation of the nozzle 22 (for example, when the nozzle and the boring unit are non-coaxially disposed), the boring unit 300 There is a problem in that the stability and accuracy of the boring process by the

However, in the embodiment of the present invention, by selectively tilting the boring unit 300 with respect to the attachment unit 100 based on the signal detected by the posture detection unit 70, the sag and deformation of the nozzle 22 is Even if issued, the position of the boring unit 300 with respect to the nozzle 22 can be corrected (aligned) so that the nozzle 22 and the boring unit 300 coincide with each other, so the stability of the boring process by the boring unit 300 and An advantageous effect of improving the accuracy can be obtained.

For reference, in the embodiment of the present invention, aligning the position of the boring unit 300 with respect to the nozzle 22 means that the processing tool of the nozzle 22 and the boring unit 300 may be disposed on the same line with each other. It is defined as adjusting the position and posture of the boring unit 300 so that the

For example, adjusting the position of the boring unit 300 with respect to the nozzle 22 may be defined as adjusting any one or more of the left and right positions or the front and rear positions of the boring unit 300 with respect to the nozzle 22 . can

Preferably, the tilting unit 800 aligns the central position of the boring unit 300 based on the central position of the nozzle (based on straightness), and the boring unit 300 is a nozzle along the longitudinal direction of the nozzle 22 . (22) may be disposed coaxially.

The tilting unit 800 tilts the boring unit 300 with respect to the attachment unit 100 to selectively adjust the posture (position) of the boring unit 300 with respect to the nozzle 22. It can be provided in a variety of structures. , the present invention is not limited or limited by the structure of the tilting unit 800 .

For example, the tilting unit 800 includes a base member 810 to which the attachment unit 100 is connected, a tilting member 820 to which the boring unit 300 is connected, which is provided under the base member 810, and a base member. A gimbal part 830 for supporting the tilting member 820 to be rotatably relative to the 810, and the tilting member 820 with respect to the base member 810 at positions spaced apart from each other independently of the determined target It may include a plurality of moving parts 840 for moving to the position.

The base member 810 may be provided in various structures according to required conditions and design specifications.

For example, the base member 810 may be provided in the form of a substantially square plate, and the attachment unit 100 may be connected to the upper portion of the base member 810 .

The tilting member 820 may be tilted with respect to the base member 810 by rotating through the gimbal part 830 .

The structure and shape of the tilting member 820 may be variously changed according to required conditions and design specifications, and the present invention is not limited or limited by the structure and shape of the tilting member 820 .

For example, the tilting member 820 may be provided in the form of a substantially rectangular plate corresponding to the base member 810 .

The gimbal part 830 is provided to support the tilting member 820 relative to the base member 810 rotatably, and the structure of the gimbal part 830 may vary depending on required conditions and design specifications. can be changed.

As an example, the gimbal unit 830 includes a hemispherical gimbal groove 832 concavely formed on one surface (the upper surface of FIG. 5 ) of the tilting member 820 facing the base member 810, and a hemispherical gimbal groove ( It may include a hemispherical gimbal shaft 834 convexly provided on one surface (a bottom surface of FIG. 5 ) of the base member 810 to face the 832 and rotatably accommodated in the hemispherical gimbal groove 832 .

Preferably, the hemispherical gimbal shaft 834 may be provided to have a curvature corresponding to the hemispherical gimbal groove 832 . In this way, by making the hemispherical gimbal shaft 834 and the hemispherical gimbal groove 832 have curvatures corresponding to each other, the hemispherical gimbal shaft 834 can rotate relative to the hemispherical gimbal groove 832 in close contact with it. , it is possible to obtain advantageous effects of increasing rotational stability and stably maintaining the tilting state of the tilting member 820 with respect to the base member 810 .

In addition, by making the hemispherical gimbal shaft 834 and the hemispherical gimbal groove 832 have curvatures corresponding to each other, the hemispherical gimbal shaft 834 and the hemispherical gimbal groove 832 can maintain close contact with each other, so the nozzle It is possible to obtain an advantageous effect of minimizing the occurrence of vibration and reaction force during the boring process of (22) and the pad (30).

According to another embodiment of the present invention, it is also possible to configure the gimbal unit 830 using a universal joint or a self-aligning bearing (self-aligning bearing).

The moving unit 840 is provided to independently move the tilting member 820 with respect to the base member 810 to a predetermined target position at positions spaced apart from each other.

For example, the tilting member 820 is provided to have at least two or more corner portions, and the moving unit 840 is configured to individually adjust the relative height of the corner portion of the tilting member 820 with respect to the base member 810. can

For reference, in the embodiment of the present invention, the moving part 840 adjusts the relative height of the corner portion of the tilting member 820 with respect to the base member 810 means that the base member 810 and the tilting member 820 are It may be understood as adjusting the interval (distance) between the corner portions.

Hereinafter, an example in which the moving parts 840 are provided in each of the four corners of the tilting member 820 having a substantially rectangular cross-sectional shape will be described. That is, according to a preferred embodiment of the present invention, the tilting unit 800 is provided at the first corner of the tilting member 820, the first moving part 840a provided at the second edge of the tilting member 820. The second moving part 840b provided, the third moving part 840c provided at the third corner of the tilting member 820, and the fourth moving part provided at the fourth corner of the tilting member 820 ( 840d).

According to another embodiment of the present invention, it is also possible for the tilting unit to include three or less moving parts or five or more moving parts. Alternatively, it is also possible for the tilting unit to include only one moving part.

The moving unit 840 (eg, the first moving unit, the second moving unit, the third moving unit, and the fourth moving unit) adjusts the relative height of the corner of the tilting member 820 with respect to the base member 810 . It may be provided in various possible structures, and the present invention is not limited or limited by the type and structure of the moving unit 840 .

For example, the moving unit 840 includes a driving unit 842 providing a driving force, one end rotatably connected to the tilting member 820 and the other end connected to the driving unit 842 and rotated by the driving unit 842 . A transfer screw 844 and a transfer guide 846 provided rotatably on the base member 810 and linearly moving along the transfer screw 844 in response to the rotation of the transfer screw 844 may be included.

As the driving unit 842 , a conventional driving means capable of providing a driving force for rotating the transfer screw 844 may be used, and the present invention is not limited or limited by the type and structure of the driving unit 842 .

For example, the driving unit 842 may include a driving motor 842a (eg, a thermomotor) that generates a driving force, and a reducer 842b that decelerates and outputs the driving force of the driving motor 842a. For example, the reducer 842b reduces the driving force of the driving motor 842a (eg, decelerates to 100:1) and outputs it, thereby increasing the rotational torque transmitted to the transfer screw 844 (eg, 100 times increase).

According to a preferred embodiment of the present invention, the boring apparatus 10 for repairing the lower head of the nuclear reactor may include a support member 843 provided on the base member 810 and supporting the driving unit 842 .

For example, the support member 843 may be provided on the upper surface (refer to FIG. 5 ) of the base member 810 , and the driving unit 842 may be fixed to the upper surface of the base member 810 via the support member 843 . can

Although the above and illustrated embodiments of the present invention have been described as an example in which the driving unit 842 is fixed to the base member 810 via the support member 843, according to another embodiment of the present invention, the support member or other It is also possible to fix the driving unit to another position (or part) by using another structure.

The transfer screw 844 is provided to rotate by the driving force of the driving unit 842 , and one end (the lower end of FIG. 5 ) of the transfer screw 844 is rotatably connected to the tilting member 820 .

For example, a ball link portion 844a may be provided at one end of the transfer screw 844 , and on one surface of the tilting member 820 facing the base member 810 , the ball link portion 844a is rotatably rotatable. A receiving groove to be accommodated may be formed. According to another embodiment of the present invention, it is possible to rotatably connect one end of the transfer screw to the tilting member using a universal joint or other member.

The transfer guide 846 is provided rotatably on the base member 810 to relatively move along the transfer screw 844 in response to the rotation of the transfer screw 844 .

For example, the transfer guide 846 is formed to have a substantially hollow sphere (ball) shape, and is rotatably accommodated in a rotation groove (not shown) provided in the base member 810 (eg, rotated 360°). may be, and may move (relative linear movement) along the transfer screw 844 in response to the rotation of the transfer screw 844 passing through the inside of the transfer guide 846 .

Here, the relative movement of the transfer guide 846 along the transfer screw 844 in response to the rotation of the transfer screw 844 means that the transfer guide 846 (linear movement is performed in response to the rotation of the transfer screw 844) It is defined as including the relative linear movement of the transfer screw 844 with respect to the transfer guide 846 based on the limited transfer guide).

For example, when the transfer screw 844 rotates in a clockwise direction, the transfer screw 844 can move in a downward direction with respect to the transfer guide 846, and the transfer screw 844 with respect to the transfer guide 846 is Corresponding to the linear movement (movement in the downward direction), the interval (distance) between the corners of the base member 810 and the tilting member 820 may increase.

On the contrary, when the transfer screw 844 rotates counterclockwise, the transfer screw 844 can move linearly in the upward direction with respect to the transfer guide 846, and the transfer screw 844 with respect to the transfer guide 846 is Corresponding to the linear movement (movement in the upward direction), the interval (distance) between the corner portions of the base member 810 and the tilting member 820 may be reduced.

In this way, by adjusting the interval between the base member 810 and the corner portions (eg, four corner portions) of the tilting member 820 , the tilting member 820 with respect to the base member 810 . can be tilted in the left-right direction and the front-rear direction, so that the position of the boring unit 300 can be adjusted in response to a change in the position (posture) of the nozzle 22 due to deflection and deformation of the nozzle 22, as shown in FIG. Likewise, it is possible to coaxially dispose the processing tool (or the posture sensing unit) and the nozzle 22 of the boring unit 300 .

In the embodiment of the present invention shown above and shown, the moving part 840 is described as an example including a transfer screw 844 and a transfer guide 846, but according to another embodiment of the present invention, a cylinder (eg, For example, it is possible to configure the moving part using other conventional linear motion systems such as electric cylinders), solenoids, and linear motors.

According to a preferred embodiment of the present invention, the boring apparatus 10 for repairing the lower reactor head may include a flexible coupler 848 provided at the other end (the upper end with reference to FIG. 5 ) of the transfer screw 844 and , the driving unit 842 may be connected to the transfer screw 844 via the flexible coupler 848 .

The flexible coupler 848 is provided to allow rotation of the transfer guide 846 with respect to the base member 810 while transmitting the driving force (rotational force) of the driving unit 842 to the transfer screw 844 .

The flexible coupler 848 may be provided in a structure that can be freely bent while transmitting the driving force (rotational force) of the driving unit 842 to the transfer screw 844, and the present invention is provided by the type and structure of the flexible coupler 848. It is not limited or limited.

For example, the flexible coupler 848 may be configured to be freely bent using an elastic body (eg, rubber).

In this way, by connecting the driving unit 842 and the transfer screw 844 via the flexible coupler 848, the output shaft ( Although not shown) and the transfer screw 844 are displaced (arranged non-coaxially), the driving force of the driving unit 842 can be stably transmitted to the transfer screw 844 .

According to a preferred embodiment of the present invention, the boring apparatus 10 for repairing the nuclear reactor lower head may include a clamping unit 850 for selectively restricting rotation of the tilting member 820 with respect to the base member 810 . .

In a state in which alignment of the boring unit 300 with respect to the nozzle 22 is completed (a state in which the boring unit is disposed coaxially with the nozzle along the longitudinal direction of the nozzle), the clamping unit 850 is connected to the base member 810. By restricting the rotation of the tilting member 820 , the posture (alignment state) of the boring unit 300 with respect to the nozzle 22 may be fixed.

The clamping unit 850 may be provided in various structures capable of restricting the rotation of the tilting member 820 with respect to the base member 810, and the present invention is limited or limited by the structure of the clamping unit 850. not.

As an example, the tilting unit 800 is a clamping member 852 that is provided to be movable in a direction approaching and spaced apart from the other surface of the tilting member 820 (the bottom surface of the tilting member 820 with reference to FIG. 5); and a clamping drive unit 854 that provides a driving force so that the clamping member 852 moves in a direction approaching the other surface of the tilting member 820 , and the clamping member 852 is moved to the other side of the tilting member 820 . When moving in a direction approaching one surface, rotation of the hemispherical gimbal groove 832 with respect to the hemispherical gimbal shaft 834 is restricted by the pressing force P acting on the tilting member 820 with respect to the base member 810. can

For example, the clamping member 852 may be connected to the clamping driving unit 854 to pass through the base member 810 and the tilting member 820 . According to another embodiment of the present invention, it is also possible to configure the clamping member to constrain the side or other parts of the base member and the tilting member.

Preferably, the other surface of the tilting member 820 may be provided with a curved seating portion 820b having a curvature corresponding to the hemispherical gimbal groove 832 (or hemispherical gimbal shaft), and facing the tilting member 820 . A curved portion 852a having a curvature corresponding to the curved seating portion 820b may be formed on the inner surface of the clamping member 852 .

In this way, by providing the curved seating portion 820b on the tilting member 820 and making the curved portion 852a of the clamping member 852 come into close contact with the curved seating portion 820b, the base member 810 is Since the pressing force P acting on the tilting member 820 as a reference can be uniformly formed in the entire section of the hemispherical gimbal groove 832 , the restraint state of the tilting member 820 with respect to the base member 810 is more stable. It is possible to obtain the advantageous effect of maintaining

As the clamping driving unit 854, various driving means capable of linearly moving the clamping member 852 (linear movement in the vertical direction based on FIG. 5) may be used, and the present invention depends on the type and structure of the clamping driving unit 854. This is not limited or limited.

For example, a pneumatic cylinder may be used as the clamping driver 854 . Alternatively, it is also possible to configure the clamping drive unit using other conventional linear motion systems such as solenoids and linear motors.

In this way, after the alignment of the boring unit 300 with respect to the nozzle 22 is completed, the clamping unit 850 moves the clamping member 852 in a direction approaching the other side of the tilting member 820 in a direction approaching the other side of the tilting member 820 . By constraining the tilting member 820 to the base member 810 by the pressing force P applied to the member 820 , the nozzle 22 and the pad 30 are subjected to the base member 810 during the boring process. Since it is possible to suppress the rotation of the tilting member 820, it is possible to obtain an advantageous effect of improving the stability and accuracy of the boring process by the boring unit 300.

According to a preferred embodiment of the present invention, the boring device 10 for maintenance of the lower reactor head is provided so as to be capable of remote communication with the attitude sensing unit 70 and the tilting unit 800, and is detected by the attitude sensing unit 70. The control unit 600 may include a control unit 600 for remotely controlling the tilting unit 800 at a position spaced apart from the lower head of the nuclear reactor based on the signal.

As an example, the controller 600 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in a memory and/or storage. Memory and storage may include various types of volatile or nonvolatile storage media. For example, the memory may include read only memory (ROM) and random access memory (RAM).

The control unit 600 may be connected to the posture detecting unit 70 and the tilting unit 800 in a remote communication manner. For example, the control unit 600 may be connected to the posture detecting unit 70 and the tilting unit 800 by the Internet (or a cable). According to another embodiment of the present invention, the posture detection unit 70 and the tilting unit 800 and the controller ( 600) is also possible to remotely communicate.

For reference, the control unit 600 may align the center position of the boring unit 300 based on the center position of the nozzle 22 by simultaneously controlling the plurality of moving units 840 .

As such, the embodiment of the present invention minimizes the exposure of workers during the process of correcting the position of the boring unit 300 (aligning the position of the boring unit with respect to the nozzle) by remotely controlling the tilting unit 800, and , the advantageous effect of improving safety and reliability can be obtained.

According to a preferred embodiment of the present invention, the boring apparatus 10 for maintenance of the reactor lower head includes monitoring means (eg, a camera and lighting) for monitoring the alignment state of the boring unit 300 with respect to the nozzle 22 . ) (not shown), while the operator checks in real time the alignment state of the position of the boring unit 300 with respect to the nozzle 22 through the monitoring means, Position alignment process can be controlled.

In the above, the embodiment has been mainly described, but this is only an example and does not limit the present invention, and those of ordinary skill in the art to which the present invention pertains are not exemplified above in the range that does not depart from the essential characteristics of the present embodiment. It will be appreciated that various modifications and applications are possible. For example, each component specifically shown in the embodiment can be implemented by modification. And differences related to such modifications and applications should be construed as being included in the scope of the present invention defined in the appended claims.

10: boring device
20: reactor lower head
22: nozzle
30: pad
100: attachment unit
110: frame part
112: base frame
114: connection frame
120: magnetic part
122: magnet
122a: seating surface
124: magnet holder
126: connecting member
200: support unit
210: cloud member
300: boring unit
310: drive unit
320: spindle
400: transfer unit
410: first transfer unit
412: first base member
414: first moving member
416: first driving unit
420: second transfer unit
422: second base member
424: second moving member
426: second driving unit
430: third transfer unit
432: third base member
434: third moving member
436: third driving unit
500: lifting unit
510: base table
520: lifting table
530: first link member
540: second link member
600: control unit
70: posture sensing unit
800: tilting unit
810: base member
820: tilting member
820a: receiving groove
820b: curved seating part
830: gimbal part
832: hemispherical gimbal groove
834: hemispherical gimbal axis
840: moving unit
842: drive unit
842a: drive motor
842b: Reducer
843: support member
844: transfer screw
844a: ball link part
846: transfer guide
848: flexible coupler
850: clamping unit
852: clamping member
852a: curved part
854: clamping drive unit

Claims (20)

A boring apparatus for boring a nozzle provided in a lower head of a nuclear reactor and a pad formed on an outer surface of the lower head of the nuclear reactor,
an attachment unit attached to an outer surface of the reactor lower head;
a boring unit connected to the attachment unit and boring the nozzle and the pad;
a posture sensing unit connected to the boring unit and configured to detect an attitude of the boring unit with respect to the nozzle; and
and a tilting unit for selectively tilting the boring unit with respect to the attachment unit based on the signal detected by the posture sensing unit,
The tilting unit is
a base member to which the attachment unit is connected;
a tilting member provided under the base member and to which the boring unit is connected;
a gimbal part for rotatably supporting the tilting member relative to the base member; and
A boring apparatus for repairing a lower reactor head comprising a plurality of moving parts for independently moving the tilting member to a predetermined target position with respect to the base member at positions spaced apart from each other.
According to claim 1,
The tilting unit aligns the central position of the boring unit based on the central position of the nozzle,
The boring unit is a boring apparatus for repairing a lower head of a nuclear reactor that is disposed coaxially with the nozzle in a longitudinal direction of the nozzle.
delete According to claim 1,
The moving unit,
a driving unit providing driving force;
a transfer screw having one end rotatably connected to the tilting member, the other end connected to the driving unit, and rotating by the driving unit; and
a transfer guide rotatably provided on the base member and linearly moved along the transfer screw in response to the rotation of the transfer screw;
A boring device for repairing the lower head of the reactor comprising a.
5. The method of claim 4,
Including a flexible coupler provided on the other end of the transfer screw,
The driving unit is a boring device for repairing the lower reactor head connected to the transfer screw via the flexible coupler.
5. The method of claim 4,
A boring device for repairing a lower head of a nuclear reactor provided on the base member and including a support member for supporting the driving unit.
5. The method of claim 4,
a ball link portion provided at the one end of the transfer screw; and
a receiving groove formed on one surface of the tilting member facing the base member and rotatably accommodating the ball link part;
A boring device for repairing the lower head of the reactor comprising a.
5. The method of claim 4,
The driving unit,
a driving motor for generating the driving force; and
a speed reducer for decelerating and outputting the driving force of the driving motor;
A boring device for repairing the lower head of the reactor comprising a.
According to claim 1,
The gimbal unit,
a hemispherical gimbal groove concavely formed on one surface of the tilting member facing the base member; and
a hemispherical gimbal shaft convexly provided on one surface of the base member to face the hemispherical gimbal groove and rotatably accommodated in the hemispherical gimbal groove;
A boring device for repairing the lower head of the reactor comprising a.
10. The method of claim 9,
The hemispherical gimbal shaft is provided to have a curvature corresponding to the hemispherical gimbal groove.
10. The method of claim 9,
and a clamping unit for selectively restricting rotation of the tilting member with respect to the base member.
12. The method of claim 11,
The clamping unit is
a clamping member provided to be movable in a direction approaching and spaced apart from the other surface of the tilting member; and
a clamping driving unit providing a driving force to move the clamping member in a direction approaching the other surface of the tilting member;
When the clamping member moves in a direction approaching the other surface of the tilting member, the rotation of the hemispherical gimbal groove with respect to the hemispherical gimbal axis is restricted by the pressing force applied to the tilting member with respect to the base member. Boring device for lower head repair.
13. The method of claim 12,
a curved seating part formed on the other surface of the tilting member to have a curvature corresponding to the hemispherical gimbal shaft; and
a curved portion formed on an inner surface of the clamping member facing the tilting member to have a curvature corresponding to the curved seating portion;
A boring device for repairing the lower head of the reactor comprising a.
According to claim 1,
and a control unit provided to be capable of remote communication with the attitude sensing unit and the tilting unit, and configured to remotely control the tilting unit based on a signal detected by the attitude sensing unit.
According to claim 1,
The tilting member is provided to have at least two or more corner portions,
The moving part is a boring device for repairing the lower reactor head for individually adjusting the relative height of the corner part with respect to the base member.
According to claim 1,
The attachment unit is
frame part; and
a magnetic part provided in the frame part so that an attractive force acts with the lower reactor head;
A boring device for repairing the lower head of the reactor comprising a.
17. The method of claim 16,
The frame part,
a base frame mounted on the base member; and
One end is connected to the base frame, the other end is a connection frame disposed adjacent to the outer surface of the lower head of the reactor;
The magnetic part is a boring device for repairing a lower head of a nuclear reactor provided at the other end of the connection frame.
17. The method of claim 16,
The magnetic part,
a magnet attached to the lower reactor head by mutual attraction with the lower reactor head;
a magnet holder for supporting the magnet; and
a connecting member rotatably connecting the magnet holder with respect to the frame part;
A boring device for repairing the lower head of the reactor comprising a.
19. The method of claim 18,
The magnet includes a seating surface to which the outer surface of the lower head of the reactor is in close contact,
wherein the seating surface is provided to have a curvature corresponding to an outer surface of the lower reactor head.
17. The method of claim 16,
A plurality of the magnetic parts are provided to be spaced apart,
The plurality of magnetic parts are attached to the lower reactor head at different positions and in different postures.

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