SE521996C2 - Laser beam emitting head, light transmission device, means for adjusting it and preventive maintenance / repair device - Google Patents

Abstract

A laser emission head which applies a laser beam outputted from a laser device (624) to an operation object part, comprising an emission head main part having an in-head lightguide member (625) which guides the laser beam, a condensing lens (677) which condenses the laser beam from the in-head lightguide member, a reflective mirror (678) which applies the condensed laser beam to the operation object part, a mirror turning means (684) which holds the reflective mirror rotatably around a laser beam axis, a distance adjusting means (674) which adjust a relative distance between the reflective mirror and the condensing lens and a transfer means (665) which transfers the reflective mirror and the condensing lens in a laser beam axis direction while the relative distance between the reflective mirror and the condensing lens is maintained. The in-head lightguide member, the condensing lens and the reflective mirror can be carried into/from the operation object part which is formed in, for instance, a small gap between the structural units. With this constitution, the preventive maintenance/repair work by a laser beam in, for instance, a small gap between structures in the nuclear reactor can be performed automatically, and further, safely, and more efficiently.

Description

521 996 * - Q q -. . - .. u o 2 during welding operations and the effect of tensile stress.

In recent years, surface modification techniques for many materials have been developed for preventive maintenance in and for safe operation of the nuclear power plant. Among other techniques, techniques for modifying the surface by irradiating the material surface with laser beams have been proposed, for example, in Japanese Patent Laid-Open Publication No. HEI 7-246483 and Japanese Patent Laid-Open Publication No. HEI 8-20689.

The prior art is thus a laser cold hammering method, by means of which a pulsating laser beam is oscillated from a pulse laser unit via a reflecting mirror applied to the surface of a member, which must be machined (a surface which must be machined). Although the position, which is irradiated with the pulsating laser beam, is displaced on the surface to be machined, the residual tensile stress of the surface to be machined is converted to compressive stress.

The latter technique, on the other hand, is an underwater laser processing method and apparatus which uses short pulse laser beams, each having a visible wavelength, to irradiate the surface to be machined and is immersed in cooling water. Residual stresses, cracks or roughness are thus reduced or removed.

The above underwater laser processing apparatus and method comprises an optical fiber for supplying the laser beam from an oscillator to the portion intended for processing. When the optical fiber is used, the power or energy for supplying the laser beam into the optical fiber has a limitation. The laser beam emitted from the optical fiber must therefore be minimally converged to achieve light output and an energy density required for surface modification. Q Since an ordinary optical fiber for transmitting a power laser beam has a high diffusion coefficient for emitted laser beams, the laser beams must converge at a large angle. As a result, a converging lens with a very small focal depth must be used. This leads to the fact that a The laser emitting optical system, which includes the optical fibers and the converging lens, must be located exactly with respect to the surface to be machined.

To eliminate the need for precise localization of the laser emitting optical system, the inventors of the present invention have used a machine for preventive maintenance / repair according to Japanese Patent Application No. HEI 8-256532. This device can eliminate the need for precise locating of the optical fibers and the laser emitting optical system. The apparatus is of such a construction that a laser beam emitted from a laser oscillator, which is located on an operating surface or an upper surface of the body of a sweep, is transmitted through the air, so as to be introduced into the laser emitting optical system. The laser-emitting optical system then emits laser beams, which have a high energy density and the like for parallel beams.

The conventional structure of the apparatus for preventive maintenance / repair in the core will now be described with reference to Fig. 39.

As shown in Fig. 39, the conventional core maintenance / repair apparatus processes a core structure, such as a sweep 602, which is installed in a pressure vessel in a boiling water reactor. The core maintenance / repair apparatus has a laser beam source 604 located on an operating floor 603, a laser oscillator 605, a light transmission unit 606 having a light conducting means 606, and a laser emitting head 608 disposed on the front end. of the light conducting means 606. In the core maintenance / repair apparatus, the laser beam L emitted from the laser oscillator 605 is sent in the air to the laser emitting head 608, so that a portion intended for processing is irradiated with the laser beam L. Therefore, 521 996 = II; = II§. 'å:' = '- ï. 4 the necessity of an exact location of the laser emitting head 608 is eliminated. As a result, the laser beam, which has a high energy density, can be used in an operation for preventive maintenance / repair, for example a laser pen operation, a melting operation, a plating operation or a welding operation. Thus, the reliability and safety of the nuclear reactor can be improved.

A light transmission device with a plurality of mirrors for transmitting laser beams is usually arranged for manual adjustment of the angle of the mirrors while the positions of the mirrors are determined in a sequential order from a mirror adjacent to the laser unit in the direction of the transmission of the laser beam. When adjustment must be performed at a remote location, such as in a radioactive environment or in a high temperature environment that humans cannot approach, an optical monitoring device, such as a CCD camera, is placed in a location that must be monitored. The mirrors are thus adjusted automatically while the operator looks at the image.

As described above, the device for preventive maintenance / repair shown in Fig. 39 is arranged to process a portion of the inner wall of the housing 602, which is the inner structure of the pressure vessel 601 or some other structure of the core. However, a difficulty arises when a vertical weld (a weld on the inside of the V5) in the lower half of the intermediate body of the housing or a horizontal weld (a weld on the inside of the H6a) at the lower end of the inner part of the housing intermediate frame is welded. In the foregoing case, the laser beam must be transmitted to a small cylindrical portion held between the intermediate body of the housing and the core support plate 609 and having a width of about 30 mm and a depth of about 400 mm.

However, the laser emitting head 608 can not send a laser beam to the above-mentioned small cylindrical portion. When the voltage is eliminated from the surface of the small cylindrical portion of the intermediate body of the housing into the weld by using the laser beam, when the surface of a sensitized metallographic structure is modified or when a repair operation is performed a large angle of incidence must be made on the surface to be irradiated when the points which must be irradiated are scanned to realize an energy density which allows a machining operation to be performed using a laser beam.

The above method is structured so that the laser emitting optical system is placed on the core plate 609 for irradiating the bottom portion of the small cylindrical portion with laser beams. The above method encounters an undesirable reduction of the angle of incidence, which means that a problem arises in that a sufficiently high energy density, which is required for performing the machining operation, cannot be realized. Another problem arises from the fact that an exact locating mechanism must be provided for scanning the points which must be irradiated, because the distance intended for irradiation is excessively elongated.

As a result, the problem arises that the device for preventive maintenance / repair becomes too complicated, thereby deteriorating the reliability.

When the above light transmission device is used to perform a preventive inspection operation or a repair in a nuclear power plant, the following problems arise in an operation for transmitting and supplying laser beams to the nuclear structure of a nuclear reactor.

Since a sufficiently large working space can not be allowed in the nuclear reactor and the structures in the core are located in the core, the light transmission device has a complicated transmission passage. Therefore, the distance along which the laser beam must be transmitted is elongated. As a result, errors often occur during transmission and a large number of locations must be monitored and 521 996g.:=;::g'=.__.= '"E22 ua nu f.., 6 a large number of optical monitoring devices, such as CCD cameras, must be used.

If the environment changes during the transmission of the laser beam in the light transmission device, there is a risk that the optical axis of the light transmission passage will be misaligned during the environmental change. Therefore, the light transmission device must be adjusted to be able to adapt to the environmental change when required.

When the light transmission device has to transmit laser beams over a long distance, air fluctuations affect the laser beam. The effect of vibrations of peripheral devices is exerted on the laser beams over the transmission mirrors. As a result, the laser beam is brought into undesired swaying and thus problems arise in that the laser beam cannot be stably transmitted to a required transmission point.

If a large number of CCD cameras are provided for the light transmission device, a long time is required for adjusting the CCD cameras. In addition, electronic elements, such as the CCD camera, cannot be used in an environment in which high intensity radioactive rays are present.

The device for transmitting laser beams according to Japanese Patent Application No. HEI 8-256532 is a preferred device for performing preventive maintenance / repair of the inner surface of the housing and a welded optical fiber in the core structure in the housing of the boiling water reactor. However, this device can not be used for machining the outside of the housing body, i.e. the outer wall of the housing body, the inner surface of the pressure chamber and a space, called an annular portion, in the form of a small cylindrical shape placed between baffle plates and having a plurality of jet pumps. , which is upright in between. The reason for this is that no specific mechanism and construction has been revealed which introduces and brings closer a light-conducting tube, through which the laser beams are transmitted, to the annular space which must be processed, while the light-conducting tube 521 7 is displaced around obstacles, such as the jet pumps. . In addition, no specific mechanism and construction has been revealed, which can be effectively displaced from the core in any of all 360 ° horizontal directions.

The inventors of the present invention have found that the method of transmitting laser beams by using light-conducting tubes for transmitting light to the annular portion can effectively perform a preventive maintenance / repair operation of a structure in the core. Thus, a specific processing device and structure may be provided.

An object of the present invention is therefore to provide a laser beam emitting head which can effectively perform preventive maintenance / repair using laser beams even if a portion intended for processing is a narrow portion, a light transmitting device, comprising the laser beam emitting head, and a device for preventive maintenance / repair of a structure in the core.

Another object of the present invention is to provide a laser beam emitting head which can effectively perform preventive maintenance / repair of a cylindrical, narrow portion held between an intermediate body of the housing of an inner wall of a housing body, which is a structure in the core. and connectable / detachable with respect to the core support plate in an underwater environment by using the laser beam, a preventive maintenance / repair device for a structure in the core having the laser beam emitting head, and a method of performing the operation.

Another object of the present invention is to provide a device for preventive maintenance / repair of a structure in the core, which device can effectively improve the stress of a surface layer adjacent to a weld, modify the surface of an activated (deactivated) ) metal structure and repair a welded portion by means of a laser beam in an underwater environment, 10 521 996 - nouc -... o uao u 8 so that the weld joint or joints in the inner wall of the body of the housing, which is a structure in the core, occurs in a cylindrically narrow portion, held by an intermediate body of the casing and the core-bearing plate, is brought into the object.

A further object of the present invention is to provide a light transmission device which can automatically and stably adjust the optical axis in a light transmission passage formed by a combination of mirrors from a remote location and an adjustment method therefor.

A further object of the invention is to provide a light transmission device which can easily and easily adjust the optical axis to a desired position, which must be irradiated with light when the light is transmitted in the light transmission passage, correct deflection of the optical axis caused by fluctuation of air and mechanical vibrations of peripheral equipment and stably supplying light to the irradiation site and an adjustment method therefor.

A further object of the present invention is to provide a light transmission device which can automatically adjust the optical axis to the final irradiation point and adjust the optical axis of the light transmission passage from a remote location to enable the use of the device in a portion such as a structure in the core, to which a person can not easily approach, as well as an adjustment method therefore.

A further object of the present invention is to provide a light transmission device which does not require an electronic device, for example a CCD camera, which has unsatisfactory resistance to radioactive radiation, even if light is transmitted to a portion in which the intensity of the radioactive the beams are high, and adjust the optical axis of a light transmission passage and an adjustment method accordingly. -van. Another object of the present invention is to provide a device for preventive maintenance / repair in a core, which device is adapted to a laser method, which in an underwater environment, such as cooling water in a reactor pressure vessel, can improve the stress in a surface layer adjacent to the weld joint, so that a residual stress caused by the action of heat generated during a welding operation is transferred to pressure stress, modification of the activated surface of a metal structure and performing a repair operation of a welded portion so that the surface of the welded structure, which extends between an outer wall of a casing body and a baffle plate, which are structures in the core, and in a space separated from the reactor pressure vessel inner wall.

DESCRIPTION OF THE INVENTION To achieve the above objects, according to the present invention, a laser beam emitting head is provided for irradiating a portion for processing with laser beams emitted from a laser unit, the laser beam emitting head comprising a light emitting means having a light emitting means. for guiding the laser beams, a converging lens for converging the laser beams, which is controlled from the light guide means in the head, a reflecting mirror for irradiating the portion to be processed with the converged laser beams, a mirror rotating means for rotatably holding the mirror the optical axis of the laser beam, a distance adjusting means for adjusting the relative distance between the reflecting mirror and the converging lens, a displacing means for displacing the reflecting mirror and the converging lens so that the relative distance is maintained, thereby introducing the light control means in the head, the converging lens and the reflecting mirror 'to and from a portion, which must be machined and which is formed in a narrow gap, are allowed. 10 01 ND _; To achieve the above objects, the laser beam emitting head has a structure, the body of the laser beam emitting head is provided with a flat and elongate lifting support mechanism, which is displaceable by means of a frame lifting unit, the lifting support mechanism is provided with a radiation-scanning optical system, consisting of a converging lens and a reflecting mirror, and the frame lifting unit forms a movable means for displacing the converging lens and the reflecting mirror so that the relative distance is maintained.

To achieve the above objects, the laser beam emitting head has a structure such that light beam means in the head comprises a cylindrical means and an optical means for causing the inner portion of the cylindrical portion to be an air state, and the light beam means in the head is joined to the body of the emitting head, so that the laser beams are guided to the converging lens.

To achieve the above objects, the laser beam emitting head has a structure and the light guide means in the head is made of glass, so that the laser beams are guided to the converging lens.

To achieve the above objects, the laser beam emitting head has a structure and an optical path from the light guide means in the head to the converging lens, and an optical path from the converging lens to the reflecting mirror is exposed to the environment and the optical paths are formed in spatial transmission. passages, which are realized by the environment.

To achieve the above objects, a preventive maintenance / repair device for a structure in the core is provided, comprising a laser unit for discharging laser beams, a laser beam control means for guiding the laser beams discharged from the laser unit, into a nuclear reactor and a laser reactor. head for irradiating a portion of a structure in the core, which must be processed with the laser beams, which are guided into the reactor. ._i- vu .. 521 996 1-.nn v ...- 1- ~ nunnan ll tower, which device for preventive maintenance / repair of a structure in the core comprises a frame locating unit, which is suspended in the reactor so as to be placed in a core portion, a head displacement mechanism which displaces the laser beam emitting head accommodated in the body locating unit forward and backward with respect to the portion to be machined, and a laser beam transmission means for receiving the laser beams in the nuclear reactor so as to direct the laser beam to the laser beam emitting head, which laser beam emitting head is so located that it extends towards the portion of a casing inner wall intended for processing.

To achieve the above objects, the apparatus for preventive maintenance / repair of a structure in the core has a construction and the body locating unit comprises an elongate cylindrical body housing, the laser beam emitting head and the laser beam transmission means being received in the body housing, so that and the frame locating unit is suspended in a truss on an upper truss plate so as to be able to be placed in a handlebar guide tube in a busy condition.

To achieve the above objects, the device for the structure of the core for preventive maintenance / repair has such a structure that the frame locating unit comprises a clamping unit with an upper portion attached to an upper truss plate, a rotating unit for determining a direction in which the laser beam emitting , which is received in the body casing, a main displacement mechanism for projecting the laser beam emitting head and the laser beam transmission means to the portion to be machined, and a base lifting unit for upward and downward displacement of the body base for supporting the main displacement mechanism. To achieve the above objects, the structure of the core for preventive maintenance / repair has such a structure that the laser beam transmission means forms a movable transmission passage for receiving laser beams in a water environment in the nuclear reactor for sending laser beams to the laser beam emitting head in the air.

To achieve the above objects, according to the present invention, a light transmission device is provided, which has light transmission means, forming a light transmission passage through a combination of mirrors and a mirror adjusting unit for controlling the tilt angle of at least one mirror, forming said light transmission means , which light transmission device comprises an electronic optical image pickup means coaxially arranged with the optical axis of the light transmitted in the light transmission passage, an image processing unit for calculating image information supplied from the electronic optical image pickup means for measuring the magnitude of the deviation of the angle of the mirror from a normal position and a control unit for receiving the magnitude of the deviation of the angle of the mirror so as to affect the mirror adjustment unit.

To achieve the above objects, the light transmission device has such a structure that the light transmission means includes targets for an image process arranged next to the mirrors and the targets have light transmission openings.

To achieve the above objects, the light transmission device has such a structure that the light transmission means comprise a lighting unit which illuminates portions adjacent to the mirror or the targets of the image process.

To achieve the above objects, the light transmission device has a structure such that the image processing unit comprises a pattern matching unit, which compares a previously recorded image pattern and an image, which is photographed when the mirror is adjusted, with each other so as to detect the magnitude of the deviation in position. tion of the photographed image.

To achieve the above objects according to the invention, there is provided a light transmission device comprising light transmission means for forming a light transmission passage through a combination of mirrors and a mirror adjusting unit for controlling an oblique angle of the mirrors forming the light transmission means for transmitting the light transmission means. takes half mirrors or wavelength separation mirrors, which are parts of the mirrors in the light transmission passage, a light position detecting unit, which is arranged on a sampling optical path, to which light separated by the half mirrors or wavelength separation mirrors is transmitted and the control unit information about the deviation in light position output from the light position detection unit for influencing a mirror adjustment unit in a direction to such an extent that the deviation of the light position is eliminated.

The light transmission device has such a structure that one or more types of control laser beam units for arranging incident control laser beams on the light transmission passage are arranged.

To achieve the above objects, according to the invention, a light transmission device is provided, comprising light transmission means for forming a light transmission passage by combining mirrors and a mirror adjusting unit for controlling the inclination angle of at least one mirror forming light transmission means. for discharging laser beams for machining, inspection or preventive maintenance / repair of a portion intended for machining, a control laser unit for discharging a control laser beam, which differs from the main laser beam, a half-mirror control means for supporting the control laser beam, which emitted from the control laser beam unit, to the light transmission passage, sampling separation mirror means, which are arranged in an intermediate position in the light transmission passage, parallel, reflecting optical means, which are arranged on an optical path separated by said separation mirror means, a light position detecting unit, on which light reflected by the parallel reflecting optical means is caused to be incident via the half-mirror control means and a control unit for receiving position deviation information of the light detected by the light position detecting unit for processing information to thus operating the mirror adjustment unit.

To achieve the above objects, the light transmission device has such a structure that the parallel reflection optic means is a retroreflector, comprising a corner cube prism or a hollow corner cube or a cat eye optical system.

To achieve the above objects according to the present invention, a light transmission device is provided, which comprises a light transmission means for forming a light transmission passage through a combination of mirrors and a mirror adjusting unit for controlling the inclination angle of at least one mirror, forming the light transmission passage, which light transmission device comprises a main laser unit for discharging laser beams for processing, inspection or preventive maintenance / repair of a portion intended for processing, a control laser unit for discharging an unpolarized or circularly polarized control laser beam, which differs from the main laser beam control means for guiding the control laser beam output from the control laser beam unit to the light transmission passage, sampling separation mirror means arranged in two portions differing in one direction of the optical axis in the light transmission passage, parallel reflection optical means arranged for optical paths separated by the sampling separation mirror means polarizing optical means provided for both the separated optical paths by the two parallel reflecting optical means, separation polarizing optical means to which light reflected by each of said parallel reflecting optical means via the half-mirror control means, first and second light position detecting units each of which is supplied with reflected light, separated by said separating, parallel optical means, and a control unit for receiving information about the deviation in light position detected by the two light position detection units for processing information for influencing the mirror adjustment unit.

To achieve the above objects, according to the present invention, a light transmission device is provided, which has light transmission means for forming a light transmission passage by combining mirrors and a mirror adjusting unit for controlling the inclination angle of at least one mirror, forming the light transmission transmission light transmission device. comprises a main laser unit for discharging laser beams for machining, inspection or preventive maintenance / repair of a portion intended for processing, a plurality of control laser units for discharging control laser beams having wavelengths different from that of the main laser beam, and oscillating wave different from each other, a plurality of path length separating mirror means arranged on the light transmission passage for responding to the control laser units, parallel reflecting optical means arranged on optical paths of the control laser beams, which are separated by path length separation reflection mirror means, path length separation mirror means for reflected light for separating control laser beams, which are reflected by each of the parallel reflecting optical means for each path length for controlling the control laser beams, a plurality of light position detecting units for individual receiving receivers. laser beams, separated by the wavelength-separating mirror means and a control unit for receiving information | o ø a. .nu u »16 information about the deviation in light position, detected by each light position detection unit for processing the information in and for influencing the mirror adjustment unit.

To achieve the above objects, there is provided according to the invention a method of adjusting the light transmission device, in which an electronic optical image pickup means is arranged on an extension line to the optical axis of a light transmission passage formed by a combination of mirrors adjacent a light source, the electronic the optical image pickup means is caused to observe a mirror image of a target for an image processing by a first automatic adjustment mirror adjacent to the light source, the first automatic adjustment mirror is adjusted so that the observed mirror image is placed in the central portion, and the optical axis of the light transmission passage is adjusted by Sequential adjustment of automatic adjustment mirrors by a similar mirror adjustment method after the first automatic adjustment mirror has been adjusted.

To achieve the above objects, the present invention provides a method of adjusting a light transmission device in which a light position detecting unit is placed on an extension line of a light transmission passage formed by a combination of mirrors adjacent a light source, a parallel organ reflecting in an intermediate position of the light transmission passage or adjacent to a laser beam emitting head, the light position detecting unit is caused to detect light reflected by the parallel reflecting optical means for controlling the laser beam incident from the light transmission passage to the light source and control source. angle of an automatic adjustment mirror is adjusted so that the magnitude of the deviation in the light position detected by the light position detecting unit is eliminated. lO 521 996 u u -. In order to achieve the above objects, according to the present invention there is provided a method of adjusting a light transmission device, in which an electronic optical image pickup means is arranged on an extension line of a light transmission passage formed by a combination of mirrors adjacent to a light source, the electronic optical image pickup means is caused to observe a mirror image of a target for an image process via a first automatic adjustment mirror adjacent to the light source, the first automatic adjustment mirror is adjusted so that the observed mirror image is placed in the central portion of the image, coarse adjustment of the light transmission passage is performed by sequentially adjusting the automatic adjustment mirrors on the light transmission passage by a method similar to the method of adjusting the first automatic adjustment mirror after the first automatic adjustment mirror is adjusted, an exact adjustment a The light transmission passage is performed by using a light position detecting unit which is located on an extension line of the light transmission passage adjacent a light source and a parallel reflecting optical means arranged in an intermediate position of the light transmission passage and adjacent a laser beam emitting head. the adjusting operation is performed so that a light position detecting unit detects the reflected light of the control laser beam which is caused to fall from the light source of the light transmission passage and which is reflected by the parallel reflecting optical means and the adjustment of the angle of the automatic adjustment mirror. that the magnitude of the deviation in the light position detected by the light position detection unit is canceled, so that precise adjustment of the light transmission passage is performed and an effect of external vibration is corrected. To achieve the above objects, the device of the present invention comprises a laser oscillator. . . . . . . . . . ... - - - - - -g. . . . . . . . . . . . . . . ..._:. . . . . .. .. ... n ... . ..... _. . . ... .

I I I I II II II V '.' . 18, which is arranged on an operating floor, a control panel, a support column, which is temporarily arranged above a pressure vessel, a light guide tube, which is held by the support column, a reflecting mirror drawer, which has one end connected to an emission opening of the laser oscillator and a another end position at an intermediate location of the support column and a reflecting mirror having an automatic alignment mechanism for modifying the angle of reflection, a mast-like light guide tube having an upper end connected to the reflecting mirror drawer and a lower end separated by flat glass so as to sending laser beams into the reactor into the air, a reflecting mirror drawer having an upper surface to which the lower end of the light guide tube mast is connected and one of the side surfaces is connected to a horizontal light guide tube, consisting of one or more mirrors and provided with a automatic alignment mechanism for modifying the angle, a rotary vehicle, which has a rotary function, which allows rotating and temporarily arranging on the upper body of the sleeve, the horizontal light guide tube being included in the rotating vehicle and a plurality of types of annular laser processing units, each of which has a construction by which connection / detachment with respect to the rotating vehicle is allowed in the reactor. receiving laser beams emitted from the end face of the horizontal light guide tube to process each weld in a structure in a space surrounded by the outer wall of the sleeve body in the pressure vessel of the digester core reactor, an inner wall of the reactor pressure vessel and a baffle plate and a baffle has a mechanism and a construction, which is specified to be able to adapt to each batch, which must be machined.

A structure may be used in which the device includes a support pillar on the operating floor, a light guide tube mast for coupling the apparatus and the rotating vehicle to each other, the rotating vehicle and the annular laser processing units being separated in the reactor by connecting the connecting portion of the light guide portion for each element is separated. Change and assembly operations of a plurality of types of annular laser processing units can thus take place in the reactor from a location remote therefrom. The end face of each of the connecting portions of the light guide tube mast, the horizontal light guide tube, which is included in the rotary vehicle and the light guide tube in the annular laser processing unit are separated by flat glass, so that individually closed spaces are maintained. In addition, the end face of each of the connecting portions of the light guide tube mast is characterized in that one or more water nozzles are arranged to spray water on the liquid side of the flat glass, the horizontal light guide tube, which is included in the rotary vehicle, and the annular laser guide working. separated by flat glass, so that individual, enclosed spaces are maintained. In addition, one or more water nozzles are arranged to spray the liquid side of the flat glass. The end surface of each of the connecting portions of the light guide tube mast, the horizontal light guide tube, which is included in the rotary vehicle and the light guide tube in the annular laser processing unit, are separated by flat glass, so that individual, closed spaces are maintained. An air pressure tube is further connected to each light guide tube.

The rotary vehicle has a rotary vehicle clamping mechanism with a link, a hydraulic piston and a pad, a rotary mechanism comprises a rotating bearing with a base, which is the rotary vehicle clamping mechanism and which allows rotation of the entire rotary vehicle body around the center of the reactor pressure vessel. and wheels for turning and a horizontal light guide tube, which is arranged on the turning mechanism and which has a slide mechanism comprising a linear guide, a ball screw, gears and a servomotor. The laser processing unit for the annular member comprises a coupling mechanism, which can be connected to or detached from a horizontal light guide tube, which is included in the rotary vehicle, an expandable light guide tube for transmitting the laser beam transmitted from the light guide tube to the 540 521 996 nonuouaouuon un .nu. , perpendicularly coupled downwards, so that the coupling mechanism serves as a base, a laser emitting head, which is arranged in the front end of the light guide tube and performs preventive maintenance machining of the environment of each weld in the diffuser in the lower part of the jet pump, repair machining or the like by laser emission and a fixing portion for fixing at the center of the shaft the laser emitting head at an arbitrary height of a jet pump diffuser arranged in the diffuser.

Prior to installation of the device of the present invention, a head bolt, a 180 ° knee tube, a nozzle, a sleeve, an adapter, etc. are removed from the elements of the jet pump to allow access to the inside of the diffuser for processing.

The annular laser processing unit comprises a coupling mechanism which can be connected to or detached with respect to a horizontal light guide tube mounted on the rotary vehicle, a rotatable light guide tube for transmitting the laser beam to be transmitted from the horizontal light guide tube, which is downwardly perpendicular, so that the coupling mechanism serves as a base and has a shape and dimensions allowing the placement of the upper end of the diffuser, a coupling portion for a machining arm, which is included in the lower end portion of the rotatable light guide tube and can be connected to or detached from a remote location, and a machining arm, which is arranged to be connected or detached with respect to the coupling portion in the reactor pressure vessel from a remote location for performing a laser irradiation operation of the outer surface of the diffuser. -. Prior to installation of the device according to the present invention, a head bolt, a 180 ° knee tube, a nozzle, a sleeve, an adapter, etc. are removed. of the radiator pump elements to allow the rotating light beam tube to be arranged for the upper end of the diffuser.

An annular laser processing unit comprises a coupling mechanism, which can be connected or detached with respect to the horizontal light guide tube, which is included in the rotary vehicle, a light guide tube mast, which is perpendicularly connected downwards, so that the connecting mechanism serves as a base, a diffraction mechanism sleeve intermediate portion, which has a hydraulic piston and a parallel link mechanism, an insertion mast having a shape which allows insertion into a space between the jet pump and the wall of the sleeve body, and a laser emitting head.

According to the present invention, the laser emitting head comprises a converging lens unit, a reflecting mirror or a prism for scanning, a horizontal scanning mechanism, a pivoting scanning mechanism, a step transfer mechanism, a focal distance adjusting mechanism, a dust removal unit surface for processing, at least a small microphone, a half-mirror, a retroreflector and a surveillance camera, the structure of the optical system in the laser emitting head being designed so that the laser beam, which is transmitted from the headlamp connected to the head, is guided through a bellows tube for insertion into the half mirror, after which the laser beam of the half mirror is divided into the retroreflector and the converging lens, the laser beam transmitted to the retroreflector being polarized by the polarizing filter and then returned to the half mirror and returned to the laser oscillator. The lens is passed through a bellows tube and a converging lens and then through a separating flat glass, after which the laser beam is inserted into water and then reflected by the reflecting mirror for scanning in and for 521 996 ao nu oaaanav »oo .nya a Q u _ 22 to a machining portion, and the drive mechanism of the laser emitting head includes a step translation mechanism which allows stepwise displacement of the entire body of the optical system of the head and includes a linear guide, a ball screw , gears and a rotary actuator, a converging lens unit which can change the focal length from a place remote therefrom and includes gears, screws and a rotary actuator, a pivotable scanning mechanism, allowing pivoting of the reflecting mirror of the reflecting laser and shaft and comprises a bearing, gear and a rotary actuator as well as a horizontal scanning mechanism, which Allows the entire body of the converging lens unit and the pivotable scanning mechanism to move laterally and stepwise and includes a linear guide, a ball screw, a gear and a rotary actuator.

The laser emitting head has a light converging lens unit, a reflecting mirror (or a prism) for scanning, a pivoting scanning mechanism, a telescopic light guide tube mechanism, a focal distance adjusting mechanism, a dust removal unit from a surface intended for processing, a small microphone and a surveillance camera, the structure of the optical system of the laser emitting head being such that the laser beam transmitted from the light guide tube to which the head is connected is guided through a hollow piston type telescopic light guide tube mechanism, which mechanism is separated by two flat glass sheets so as to be inserted into the converging lens unit, passed through the separating flat glass, inserted into water and reflected by the reflecting mirror for scanning so as to be supplied with a portion for processing and the The laser emitting head drive mechanism has a telescopic light guide tube mechanism which allows the entire The optical system of the head is to be extended vertically or retracted stepwise and comprises two flat glass sheets, a linear position sensor, an O-ring, a piston mechanism, a return spring and an air pressure tube, a converging lens unit having a focal length, which can be changed from a location at a distance therefrom and which includes gears, screws and a rotary actuator as well as a pivotable scanning mechanism which allows pivoting and rotation of the reflecting mirror perpendicular to the optical axis of the incident laser beam and in a direction the shaft including the mirror surface and which has a bearing, a rotary actuator and an angle detector sensor.

The laser emitting head has a converging lens unit, a rotation mechanism for the converging lens, a reflecting mirror (or a prism) for scanning, a telescopic light guide tube mechanism, a focal distance adjusting mechanism, a pivotable scanning mechanism, a remote removal unit. , at least one small microphone and a surveillance camera, the structure of the optical system of the laser emitting head being designed so that the laser beam emitted from the light guide tube to which the head is connected is guided through a hollow piston-shaped telescopic light guide tube mechanism which is separated by two flat glass sheets, introduced into the converging lens unit which is so shaped and mounted that the position of the focal point is polarized by a certain displacement of the optical axis of the converging lens with respect to a light incident axis, guided through the separating flat glass, introduced into water and is reflected by the reflective the scanning mirror, so that a part for processing is irradiated with the laser beam, the drive mechanism of the laser emitting head comprises the telescopic light guide tube mechanism, which allows the complete body of the optical system of the head to be pushed out or retracted vertically stepwise and has two flat glass discs, a linear position sensor, an O-ring, a piston mechanism, a return spring and an air pressure tube, a converging lens unit having a focal length capable of. v 521 996§.: = ::: == -..- = = ::; = ::;. 24 is changed from a location remote therefrom and having a focal length adjustment mechanism, including gears, screws and a rotary actuator, a mechanism for rotating the converging lens, which allows the entire body of the converging lens unit to rotate about the optical axis of the laser beam and has gears, screws and a rotary actuator as well as a pivotable scanning mechanism which allows the reflecting mirror to rotate coaxially with the rotating shaft of the mechanism for rotating the converging lens and has a rotary shaft and a rotary actuator.

According to the present invention, the laser processing unit comprises an underwater propeller, consisting of a screw and a motor and arranged adjacent to the front end of the laser processing unit, the driving force of the underwater propeller preventing the application of an external force on the laser processing unit and reaction of a water flow or dust removal unit. the surface to be machined, so that the force for a stable retention of the laser-emitting head in the machined portion is obtained. According to the present invention, the laser oscillator is enclosed in a pressure-proof container so as to be temporarily placed on the rotary vehicle. Thus, the light guide tube from the laser oscillator to the rotary vehicle and the support column are not required to be formed into an emitting opening of the laser oscillator.

The laser oscillator has a locating pin and a locking mechanism to allow installation, mounting or separation with respect to the rotary vehicle in the reactor from a location remote therefrom. In addition, the light guide tube between the laser fiber optics and the rotary vehicle is divided by flat glass once.

According to the present invention, the laser beams emitted from the laser oscillator located on top of the reactor basin or on the operating floor are passed through the light guide tube or light guide tube of the multistage type type so as to be transmitted to a position immediately below the core of the space. When rotating the sleeve body and the light guide tube, which is arranged for the inner part of the slide mechanism, the laser beams bring in a lateral direction. The annular laser processing unit then irradiates with the laser beams a portion of the annular portion intended for processing, which is formed on the outer surface of the sleeve body and between the reactor pressure vessel and the sleeve body. The laser beams can thus be efficiently transmitted from the position above the reactor pool or the operating floor to the portion of the annular portion of the core to be machined.

The light guide tube for each element has end faces, each of which is separated by glass to allow separation and connection to or removal from a location remote therefrom. Therefore, any of the annular laser matching units required for the operation can be easily selected in the reactor.

The inner portion of the light guide tube for each element can be maintained in water or air. Since clean water is always sprayed from the water nozzle, the supply of dust in the water left in the gap of the separating glass plate and the generation of air bubbles on the surface of the glass plate can be prevented after the light guide tubes have been connected to each other for mounting.

Furthermore, dry air can replace air (or gas) in each light guide tube. Therefore, underwater dew condensation on the mirror in the light guide tube and on the glass is prevented.

The rotary vehicle can be fixed to the truss in the central part of the core on the upper truss plate.

The rotary vehicle can thus be rotated around the core. The included horizontal light guide tube can be placed in an arbitrary azimuth around the outer surface of the housing frame. In addition, the position of the annular laser processing unit, which is connected to the rotary vehicle by the slide mechanism, can be displaced and adjusted in radial direction. -. ...- v- ~ 521 996 «¿~ - 26 The laser beam can further be efficiently transmitted to the inner portion of the diffuser under the beam pump. Therefore, preventive maintenance / repair of a vertically or laterally welded portion can be performed from the inner portion.

According to the present invention, the annular laser processing unit is divided into two elements or sections, which are a rotating light beam tube and a processing arm. Thus, the outer surface of the diffuser can be machined. Upper elements which prevent the machining operation are thus removed from the main bolt, the nozzle, the sleeve and the adapter, which are portions of the elements of the jet pump and which are located above the diffuser. The rotating light beam tube is then removed. The laser beams are sent to the upper end of the diffuser through the rotatable light beam tube. The machining arm can then machin each place around the lower welded portion on the outer surface of the diffuser. The degree of freedom of the rotatable light beam tube for rotation of the central axis of the diffuser at the same time as the rotation of the machining arm and the degree of freedom of vertical extension / retraction of the machining arm realize the above operation.

In its entirety, the annular laser processing unit is formed into a flat or elongated shape. Therefore, the insertion of the annular portion into the core of the water spreader, the casing body, the casing main bolt bracket and the jet pump riser is not prevented. A flat open space between the jet pumps, which has a size of 110 mm x 10 mm and through which the baffle plate can be observed from a position above the reactor, was used to vertically support the annular laser processing unit. After the introduction is completed, the upper end of the unit is connected to a coupling mechanism on the rotary vehicle so as to be placed and attached to the inner part of the reactor. .o-v »_ n .. of 27 The parallel link mechanism is then actuated to bring the insertion mast closer to the outer wall of the intermediate body of the sleeve. In the position described, the parallel link mechanism is placed in a gap between the lower part of the upper body of the sleeve and the head of the jet pump. Furthermore, the insertion mast has such a shape and dimension that it can pass through a gap between the jet pump and the intermediate body of the sleeve.

Since the rotary vehicle is rotated, the annular laser processing unit can move over half of the outer surface of the body of the housing without the need for the annular laser processing unit to be displaced vertically. Therefore, preventive maintenance / repair of the horizontally welded portion on the outer surface of the housing body can be performed continuously.

According to the present invention, the laser beam is scanned once in the horizontal direction due to the oscillation of the reflecting mirror in the pivotable scanning mechanism. This operation and the vertical step movement of the whole body of the optical system of the head, caused by the step transmission mechanism, are combined with each other. Thus, a predetermined area adjacent to the molten weld to be machined may be irradiated with pulse laser beams or continuous laser beams to perform preventive maintenance, such as improving the voltage or modifying the material, or repairing using laser beam welding. The laser beam can also be focused by means of a mechanism for adjusting the focal length.

The retroreflector is mounted in the manner described above.

Therefore, if the light guide tube is vibrated and the optical axis is displaced due to disturbances, such as vibrations, information about position deviation between the current position of the optical axis and a required position of the optical axis can be returned to the laser emitting portion in real time by the retroreflector. In accordance with the above information, the automatic align- ... v- ..-- _...- n 521 996 'v; u »u: nu 28 ning unit control mechanism exactly the angles of the movable reflecting mirrors, which are located upstream of the laser beam emitting head. Thus, the optical axis can be automatically corrected. Therefore, deviation of the optical axis of the laser beam can always satisfy a predetermined area, so that the laser beam can be sent to the converging lens.

Conditions during the optical fiber and before and after the operation can be monitored by means of the surveillance camera and one or more small microphones, so that audio information can be analyzed. Since the dust removal unit from the surface to be machined is mounted, the supply of dust to the optical path of the laser beam can be prevented from evenly performing the machining operation.

According to the present invention, the laser beams are scanned in the vertical direction because the tilt of the pivotable scanning mechanism reflecting mirror pivots. This operation and the rotation of the reflecting mirror, which are caused by the horizontal scanning mechanism, are combined with each other. A predetermined area adjacent to the molten weld, which is to be machined, can thus be irradiated with pulse laser beams or continuous laser beams. As a result, preventive maintenance, such as improving the voltages or modifying the material or repairing, such as laser welding, can be performed.

The laser beam can be focused by the focal length adjustment mechanism. The modification and movement of the position to be machined is performed by the telescopic light guide tube mechanism. The retroreflector is mounted in the manner described above. Therefore, if the light guide tube is vibrated and the optical axis is displaced due to disturbances, such as vibrations, information about position deviation between the current position of the optical axis and a desired position of the optical axis .v-n. .-. ~ vv ... 521 996 av = jj¿ = jj¿_ -z 29 is returned to the laser emitting portion in real time by means of the retroreflector.

According to such information, the control mechanism of the automatic alignment unit accurately adjusts the angles of the movable reflecting mirrors, which are located upstream of the laser beam emitting head. The optical axis can thus be corrected automatically. Therefore, deviation of the optical axis of the laser beam can always satisfy a predetermined range. The laser beam can thereby be transmitted to the converging lens.

The condition of the fiber optics for processing and the conditions before and after operation can be monitored by means of the surveillance camera and one or more small microphones, so that sound information is analyzed. Since the unit for removing dust from the surface to be machined is mounted, the supply of dust to the optical path of the laser beam can be prevented for a smooth execution of the machining operation.

Since the central axis of the converging lens is eccentric with respect to the axis of rotation of the converging lens, the focal point occurs at a location which deviates laterally from the axis of rotation of the converging lens. When the converging lens is rotated, the focal point rotates about the axis of rotation. This fact is useful for realizing circular scanning, due to the deflection of the laser beam by the reflecting mirror and due to the oscillation of the reflecting mirror. As a result, the circular scan is pivoted horizontally to realize spiral and two-dimensional scans.

The driving force of the underwater propeller presses the annular laser processing unit against the surface to be machined. Thus, the laser beam emitting head can be stably placed. Since the laser oscillator is arranged in the reactor, elements, such as the light guide tube and the support column, are not required from the operating floor to the rotary vehicle. Thereby, a compact system can be realized.

Only the laser oscillator can be returned to the outside of the retro-reflector, which is why the rotary vehicle is left in the reactor. If adjustment must be made during the operation due to, for example, maintenance of the laser oscillator being required, the laser oscillator alone can be easily displaced upwards to the operating floor for direct supervision.

As a result, a deterioration in work efficiency can be prevented.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 schematically shows a laser beam emitting head according to the present invention and a state in which a preventive maintenance / repair device for the structure of the core is placed in a nuclear reactor.

Fig. 2 shows from the side an embodiment of the device for preventive maintenance / repair for a structure in the core according to the present invention.

Fig. 3 shows from the front the laser beam emitting head arranged for the device for preventive maintenance / repair shown in Fig. 2.

Fig. 4 shows schematically from the side the laser beam emitting head shown in Fig. 3 in a state in which its outer frame has been removed.

Fig. 5 shows in cross section an upper rotatable joint part in a frame locating unit arranged for the device for preventive maintenance / repair shown in Fig. 2.

Fig. 6 is a diagram illustrating a lower rotatable joint portion disposed above the laser beam emitting head.

Fig. 7 is a partial side cross-sectional view showing an upper main portion of the laser beam emitting head.

Fig. 8 (A) is a diagram showing the location of a laser beam in a portion to the right of the vertical weld in a housing and Fig. 8 (B) schematically shows from above a state of laser beam irradiation in a portion to the right of the vertical the weld in the housing. Fig. 9 is a basically structural view showing a first embodiment of a light transmission device according to the present invention.

Fig. 10 is a basically structural view showing a second embodiment of a light transmission device according to the present invention.

Fig. 11 shows in perspective an execution of preventive maintenance / repair for a structure in the core.

Fig. 12 shows in cross section an essential portion of the present invention according to Fig. 11.

Fig. 13 shows in vertical section an embodiment of the present invention.

Fig. 14 is a vertical sectional view showing an embodiment of the present invention.

Fig. 15 shows in perspective an embodiment of the present invention.

Fig. 16 shows in perspective an embodiment of the present invention.

Fig. 17 (A) is a side view showing an example of a fixed portion, and Fig. 17 (B) is a vertical cross-sectional view showing the laser beam emitting head illustrated in Fig. 17 (A).

Fig. 18 is a side view of another example of a fixed portion according to the present invention.

Fig. 19 shows in perspective an embodiment of the present invention.

Fig. 20 is a vertical cross-sectional view showing an embodiment of the present invention.

Fig. 21 shows on a larger scale and vertical cross-section a portion with the coupling mechanism shown in Fig. 20.

Fig. 22 shows in perspective an annular laser processing unit according to an embodiment of the invention, which is stated in claims 13 and 15.

Fig. 23 is a side view, including a partial cross-sectional view, of the connection type light guide tube shown in Fig. 22. Fig. 24 (A) is a perspective view of an insertion mast according to the present invention, and Fig. 24 (B) is a vertical cross-sectional view showing the portion A illustrated in Fig. 24 (A).

Fig. 25 (A) shows in perspective an annular laser processing unit according to an embodiment of the present invention and 25 (B) shows on a larger scale and vertical cross-section the portion A damaged in Fig. 25 (A).

Fig. 26 is a projection view showing the connection relationship between the laser beam emitting head and the light guide tube according to an embodiment of the present invention.

Fig. 27 is a schematic projection view, including a partial cross-sectional view, showing an embodiment of the present invention.

Fig. 28 is a projection view, including a partial cross-sectional view, showing an embodiment of the present invention.

Fig. 29 is a projection view, including a partial cross-sectional view, showing an embodiment of the present invention.

Fig. 30 is a block diagram showing the entire body of a control system according to an embodiment of the present invention.

Fig. 31 is a graph illustrating sound generated from a converged point shown in Fig. As time passes.

Fig. 32 (A) is a side view, including blocks, showing a unit for removing dust from a surface to be machined, according to an embodiment of the present invention, Fig. 32 (B) shows Fig. 32 (A) from above, Fig. 32 (C) shows on a larger scale and vertical cross-section a portion comprising the water jet nozzle shown in Fig. 33 (A) and Fig. 33 (D) is a view B-B 'shown in Fig. 33 (C).

Fig. 34 (A) shows in perspective an essential portion of an embodiment of the present invention and Fig. 521 996 | ~. - a ~~ n ou 33 34 (B) shows on a larger scale a portion (A) shown in Fig. 34 (A).

Fig. 35 is a perspective view showing an essential portion of an embodiment of the present invention, Fig. 36 (A) is a perspective view showing an essential portion of an embodiment of the present invention, and Fig. 36 (B) is a top view , including a partial cross-sectional view, showing the portion A illustrated in Fig. 36 (A) in the direction indicated by an arrow.

Fig. 37 (A) is a perspective view of an essential portion of an embodiment of the present invention, and Fig. 37 (B) is a top view, including a partial cross-sectional view, showing the portion A illustrated in Fig. 37 (A) in the an arrow specified direction.

Fig. 38 is a vertical cross-sectional view, including a partial side view, showing an embodiment of the present invention, and Fig. 39 schematically shows a conventional device for preventive maintenance / repair in a structure in the core.

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a laser emitting head and a device for preventive maintenance / repair of the structure of the core comprising an emitting head according to the present invention will now be described with reference to the accompanying drawings.

Fig. 1 schematically shows an embodiment in which the device for preventive maintenance / repair of the structure in the core according to the present invention is applied to a small portion in a nuclear reactor.

In Fig. 1, 610 denotes a pressure vessel 610 of a (nuclear) reactor in, for example, a boiling water reactor. The reactor pressure vessel 610 houses a cylindrical housing 611, a core support plate 612 and an upper truss plate 613. A core portion 614 is thus formed. The housing 611, the currant plate 612 and the upper truss plate 613 form a structure oo ooo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oooooooo oo oo oo oo oo oo 34 615 in the core. In addition, a plurality of control rod guide tubes 616 are arranged below the core support plate 612. Fig. 1 shows only one control rod guide tube 616. 617 denotes a jet pump.

The structure 615 of the core of the nuclear reactor pressure vessel 610 is checked or inspected when a periodic inspection or the like is performed. Fuel in a predetermined amount is replaced to perform the next operation of the nuclear reactor. The periodic inspections are carried out so that an area above the pressure vessel 610 of the nuclear reactor is covered with water. When performing the periodic inspection or the like, a preventive maintenance / repair device 620 according to the present invention is used.

The preventive maintenance / repair device 620 uses laser beams to perform the preventive maintenance / repair operation on a small portion of the reactor pressure vessel 610, which operation is performed in an underwater environment. A number of small portions are present in the reactor pressure vessel 610. For example, a sleeve-shaped or bracket-shaped portion held between the cylindrical sleeve 611 and the core support plate 612 in the reactor pressure vessel 610 is a cylindrical small portion 621 having a width of about 30 mm. depth of 400 mm. A portion of a vertical weld or lateral weld in the sleeve 611 corresponds to the cylindrical portion 621.

The sleeve 611 has been formed into a cylindrical shape by integrating plate-like or annular sleeve component means (an upper body, an intermediate body and a lower body) with each other along the vertical and lateral welds by welding. A part of the vertical weld (a weld on the inside of the V5), which is located in the lower half on the inside of the middle body of the sleeve, or a horizontal weld (a weld on the inside of H6a) at the lower end of the inner part of the sleeve's intermediate body are located in the cylindrical small portion 621 of the sleeve 611 and the core carrier plate 612. Since each weld in the sleeve 611 is subjected to a thermally difficult lO I n ooo un oo no o on on o: o oo oo onooo ouoo | oo: av u; n. uno 1 a n .. of o o n ao o o o o o o o o o o o o n u no: rn on oo environment during the operation of the nuclear reactor there is a risk of deterioration after use for a long period of time.

The preventive maintenance / repair device 620 performs a preventive maintenance / repair operation on the small portion of the structure 615 in the core. Voltage removal from the surface layer of the cylindrical small portion 621 in the structure 615 in the core, which cannot be easily processed, surface modification of an activated (deactivated) metallographic structure in it and repair (maintenance) by execution of a welding operation can thus be performed easily and efficiently.

The device 620 for preventive maintenance / repair of the structure of the core of a nuclear reactor comprises, as shown in Fig. 1, a laser emitting unit 624, which is arranged on an operating floor 623 above the reactor pressure vessel 610, a laser beam transmission device 625 for introducing laser , which are emitted from the laser emitting unit 624, into the reactor pressure vessel 610 and a laser control connecting / scanning device 627, which serves as a laser beam transmission means for supplying the transmitted laser beam to the laser emitting head 626. The laser control connecting the laser device connecting / scanning device 27. transmission means for transmitting in the air the laser beam L, which is transmitted from the laser beam transmission means 625, to the laser emitting head 626. The laser control connecting / scanning device 627 forms a light transmission means in an underwater environment for supplying laser L to the laser emitting head 626. water environment.

As shown in Fig. 2, the preventive maintenance / repair device 620 includes a box-shaped main body locating unit 629 disposed between the upper truss plate 613 and the core support plate 612 in the core portion 614. The main body locating unit 629 "includes a cylindrical main body housing 30. The laser emitting head 626 is uu v00 I n oo u: v to oo I n nu uo Ir I o 0 v: o an: Ho en n »u 4 us A s: cvaoorc 36 occupied in the housing of the main body 630, so that insertion and removal are permitted by a head displacement mechanism 631. The laser emitting head 626 is supported so that movement between a receiving position in the body casing 630 and a position extending laterally from a side opening in the body casing 630 is permitted.

The laser emitting head 626 includes a laser emitting head body 632 in a planar frame structure or a flat structure, and a lifting support frame mechanism 633 serves as a lifting support mechanism, which is supported by the laser emitting head body 632, so that lifting is allowed, and is formed into an elongate member. and flat shape. A reflecting mirror (to be described in more detail below), which serves as an emission mirror for emitting the laser beam L, is arranged next to the lower end of the lifting support frame mechanism 633. The laser emitting unit 624 is arranged on the operating floor 623 above the reactor pressure vessel. as shown in Fig. 1, and has a laser oscillator 635 and a laser beam source 636 for supplying a high voltage required to perform the emission of laser beams. A guide plate and an operation plate 634 for controlling the operation of the preventive maintenance / repair device 620 and influencing the same are further placed on the operating floor 623.

The laser beam L emitted from the laser oscillator 635 is directed to a position adjacent the upper truss plate 613 by means of an upper light transmission unit 625 in the core, which is a laser beam transmission means.

The laser beam L is then sent to the casing housing 630 of the main body locating unit 629. The laser beam transmission means 625 in the core is an L-shaped means formed by connecting an air light transmission means 625a to an underwater light transmission means 625b. The front end of the underwater light transmission means 625b is arranged on the upper truss plate 613 so as to be supported therefrom.

As shown in Fig. 2, the main body locating unit 629 includes a cylindrical member 638 in an upper portion in the axial direction thereof, the main body locating unit 629 being integrally connected to the main body housing 630 in the axial direction. A housing flange 639 for the main body housing 630 is provided at the front end in the axial direction. The housing flange 639 is rotatably supported by an upper end of the guide rod guide tube 616. The cylindrical member 638 above the main body housing 630 is positioned to correspond to a truss portion of the upper truss plate 613. on the upper truss plate 613 by means of a clamping unit 640.

The clamping unit 640 has a sleeve-shaped clamping cylinder 641 for rotatably covering the cylindrical member 638, a clamping pad 642 which is brought into contact with the truss wall of the upper truss plate 613 so as to be stopped, a pad movement support mechanism 643 for supporting and clamping of the clamp pads 642 to and from the clamp cylinder 641 is allowed, and a clamp operating mechanism 644 for actuating the pad movement support mechanism 643. The number of clamp pads 642 is four so as to correspond to the rectangular truss wall on the upper truss plate 613.

The clamp operating mechanism 644 includes, for example, an air cylinder attached to a stationary light transmission tube 645 disposed in the housing 630 of the main body. When the air cylinder is actuated, an operating rod 644a is displaced up / down (up and down). Thus, the clamping pads 642 are supported to be movable between a clamping position, in which the clamping pads 642 are pressed against the truss wall on the truss wall of the upper truss plate 613 so as to be stopped and a release position separated from the truss wall. A rotating unit 646 for rotating the clamping unit 640 is further arranged so as to correspond to the clamping unit 640. The rotating unit 646 is arranged for the stationary light transmission tube 645. The rotating unit 646 has, for example, a rotary motor 647. When the engine operation is performed, the power transmitting member 648 rotates the cylindrical member 638 via a motor shaft. The housing of the main body 630 is thus rotated about the center axis. A support bolt 649 is provided adjacent the upper end of the stationary light transmission tube 645. The support bolt 649 is used so that a support unit (not shown) supports and disposes of the main body housing 630 in the preventive maintenance / repair device 620. The support unit is connected to a fuel exchange machine, which is arranged in the building of the nuclear reactor or an operating carriage or vehicle.

In the housing 630 of the main body, on the other hand, a telescopically lifting light transmission tube 650 is provided for the stationary light transmission tube 645. The lifting light transmission tube 650 is supported by the stationary light transmission tube 645, so that lifting and rotation are allowed. The integrated rotation with the main body housing 630 was thus allowed. An elongate main body base 651 is integrally connected to the lower end of the lifting light transmission tube 650. The upward and downward movement of each lifting light transmission tube 650 and the main body base 651 is performed by a lifting base unit 653 disposed in the lower portion of the main body 6.

The lifting base unit 653 has a lifting motor 654, which is attached to the lower end of the main body housing 630 and which can rotate reversibly, a screw shaft 655, which is rotated by the lifting motor 654 over a power transmission means and which serves as a lifting ball screw, and a lifting nut 656, which engages the screw shaft 655 by means of a thread. The lifting nut 656 is attached to the base 651 of the lifting main body, so that the lifting nut 656 .... vv 39 is displaced upwards and downwards by rotation by means of the lifting motor 653. To follow the upward and downward movement of the lifting nut 656, the base 651 and the lifting main body are displaced the lifting light transmission tube 650 in one piece upwards and downwards. The base 651 of the lifting head body movably supports the laser emitting head 626 via the head displacement mechanism 631, which serves as a head projecting mechanism. The main displacement mechanism 631 consists of, for example, parallel link mechanisms 655 with four joints and a link operation mechanism 656. The parallel link mechanisms 655 with four joints form a pair and are placed opposite each other in places between the laser emitting head 626 and the lifting base 652 of the main body. housing 630. The parallel mechanisms 655 with four joints are actuated by a link drive mechanism 656, such as an air cylinder. The parallel four-link link mechanisms 655 are thus supported movably between the projecting position, in which the link mechanisms 655 are pressed with four joints against the inner wall of the housing 611 and the receiving position in the casing 630 of the main body. The mechanism 656 for the link operation comprises, for example, an air cylinder. One end of the air cylinder 656 is connected to the lifting base 652 and an operating rod at the other end of the cylinder is connected to an intermediate location on the component link in the parallel link mechanism 655 with four joints, so that rotations are allowed by means of hinges.

As shown in Fig. 3, the laser emitting head 626 includes a body 632 for the laser emitting head, which is coupled to the four-link link mechanism 655 and which is the main displacement mechanism 631 and formed into a planar and rectangular frame shape. The body of the laser emitting head 632 comprises, in a central portion thereof, a light transmission means 658 on the inside of the head, which serves as a laser beam transmission tube, which is arranged in the longitudinal direction. On the other hand, the body 632 of the laser emitting head comprises a ... vv - ~ »10 521 996,. ~ u possibly 40 swivel link in the front end of the link mechanism 655 with four joints. The frame of the laser emitting head 632 is formed in a frame structure formed by an outer frame 600 which forms a pivot link and forms a pair of a first frame 61 supported by the outer frame 60 so that "rotation about a pivot pin is allowed and is formed to a rectangular, intermediate frame and a second frame 62, which are rotatably supported about the vertical axis of the first frame 61 and serve as a rectangular inner frame.

The first frame 61 and the second frame 62, shown in Figures 3 and 4, form a rectangular, biaxial cardan mechanism. When the four-joint parallel mechanism 655 is actuated to press the laser emitting head 626 against the housing 611, pressing portions 663 provided for the four corners of the second frame 662 serve when the inner frame is stably brought into contact with the inner wall of the housing 611. Thus, the laser emitting head 626 can be stably and reliably placed in the housing 611. Although the preventive maintenance / repair device 620 is placed diagonally, the gimbal mechanisms 661 and 662 absorb deviation in the directions of the horizontal axis and the vertical axis to press the laser emitting. 626

A light transmission means 658 located on the inside of the head (in the head) is longitudinally connected to the second frame 662, which is the inner frame of the laser emitting head body 632. The lifting frame mechanism 633 is arranged below the second frame 662, so that upward movement and downward is allowed. Furthermore, the lifting support frame mechanism 633 is formed into a flat and rectangular frame shape so as to be stably displaced upwards and downwards along the guide rail 666 by the action of the frame lifting unit 665.

The frame lifting unit 665 is arranged between the second frame 662 and the lifting support frame mechanism 633. More specifically, the frame lifting unit 665 comprises, for example, a lifting motor 668, which is arranged for a horizontal bridge frame 667 for reinforcing the second frame 662, a screw shaft 669, 521 996 41 which serves as a output shaft, which is rotated by the lifting motor 668, and a frame lifting nut 670, which is connected to the screw shaft 669 by means of a thread. The frame lift nut 670 is attached to the lift frame mechanism 633.

When the frame lifting unit 665 is actuated, guide shoes 671, which are arranged on both sides of the lifting support frame mechanism 633, are displaced and guided along the guide rails 666 in the second frame 662, so that the lifting frame frame mechanism 633 moves stably and evenly up and down.

The lifting support frame mechanism 633 in the laser emitting head 626 is reinforced by the bridge frames 672, which are arranged on the upper and lower portions of the lifting support frame mechanism 633. On the other hand, a sliding frame 673 which moves up and down is arranged between the upper and lower bridging frames 672. and downwardly along the lifting frame 675 in the lifting support frame mechanism 633 by means of a lens motion adjusting unit 674. The sliding frame 673 comprises sliding means 676, which are arranged on both sides thereof and which are guided along the lifting frame 675. A converging lens 677 is arranged in the central portion 67 of slide.

The lens motion adjusting unit 674 serves as a distance adjusting means for adjusting the distance from the converging lens 677, which is provided for the sliding frame 673, and a reflecting mirror 678 in the lower end of the lifting support frame mechanism 633. The lens movement adjusting unit 674 includes an adjusting motor 67 attached to the lifting frame 675, an adjusting screw shaft 681, which is rotatable by the motor 680, and an adjusting nut 682, which is connected to the screw shaft 681 by means of a thread. The adjusting motor 682 is connected to the sliding frame 673.

The converging lens 677 and the reflecting mirror 678 form an irradiation scanning optical system 679 in the laser emitting head 626. The irradiating scanning optical system 679 is arranged in a lifting support frame mechanism 633 formed in an elongate planar frame structure. The radiation scanning optical 10 521 996 n ... a 42 system 679 can be freely inserted, removed together with the lifting frame mechanism 633 with respect to a number of small portions, such as the cylindrical small portion 621 of the structure 615 in the core. The optical path between the converging lens 677 in the radiation scanning optical system 679 and the reflecting mirror 678 and the optical path from the light transmission means 658 on the inside of the head to the converging lens 677 are exposed to the ambient environment so as to form a space of escape. Each light transmission means 658 on the inside of the head, the converging lens 677 and the reflecting mirror 678 are independently connected to the laser emitting head 626. The freedom of connection can thus be improved.

The reflecting mirror 678, which is arranged in the central portion of the lower end of the lifting frame mechanism 633, is supported so that oscillation is allowed (rotation is allowed) about the optical axis of the laser beam L by means of an oscillation unit 684, which serves as a mirror rotating member. The oscillation unit 684 comprises an oscillation motor 685, 672 in the lifting frame 675, which is arranged for the bridge frames and a power transmission means 686 for transmitting rotational force of the motor to the reflecting mirror 678. A drive pulley 687 has a drive pulley 687 attached to a motor outlet and an output driven pulley 689, which is connected to the drive pulley 687 by means of a timing control belt 688 so as to be rotated. The driven pulley 689 is rotatably supported by the bridge frames 672 in the lifting support frame mechanism 633. The driven pulley 689 is integrated or integrally connected to a support cylinder for supporting the reflecting mirror 678.

The driven pulley 689 is larger than the drive pulley 687 to be able to precisely adjust the oscillation angle of the reflecting mirror 678. Note that the power transmission member 686 may be designed as a gear mechanism instead of a pulley mechanism. 521 996; ~ = z "== .__.- 'nv' now I. ~, I, -... O ~ .o 43 The 684 motor 685 of the oscillation unit and the motor 680 of the lens motion adjustment unit 674 are arranged to the right and left of the upper bridge frames 672 of the lift support frame mechanism 633. Thus, the weight of the right and left portions of the lift support frame mechanism 633 may be balanced on both sides of the light transmission means 658 within the head.Instead of arranging the lens movement adjustment frame 6 the motor 680 can support the lifting frame. the motor 680 is provided for the sliding frame 673. In the foregoing case, a ferrite indicator 682 is provided for the lifting frame mechanism 633.

As an alternative to the arrangement of the motor 68 in the frame lifting unit 65 for displacing the lifting support frame mechanism 633 up and down for the second frame 62 in the frame 632 of the laser emitting head, the motor 68 may be provided for the lifting support frame mechanism 633. In this case, the frame lifting unit 65 may also displacing the converging lens 677 and the reflecting mirror 678 in the direction of the optical axis of the laser beam, so that a predetermined distance from the converging lens 677 to the reflecting mirror 678 is maintained.

The lifting frame mechanism 633 in the laser emitting head 626 is provided with a visual surveillance camera 680, which serves as a head position detecting means for detecting the position of the laser emitting head 626 with respect to the place to be machined. The visual surveillance camera 680 allows recognition of the position of the laser emitting head 626, the weld joint and a condition for machining from a position remote therefrom. For example, a plurality of, for example, three, supersonic microphones 681 for recognizing and measuring the radiation state of the portion to be processed by laser beams may be connected to the lifting support frame mechanism 633. A ferrite indicator 682, which serves as a means for detecting a laser beam. application position (weld joint) is provided for the lifting support frame mechanism 633. The ferrite indicator 682 detects - vu u-vv 521 996 n nu en o 0. av no oo,. oun- -6 _ - n .oo u 44 the position of the laser emitting head 626 with respect to the weld joint to align the position of the laser emitting head 626 so that position adjustment is allowed.

Referring to Figs. 5 and 6, a laser beam transmission device for transmitting the laser beam L introduced into the reactor pressure vessel 610 to the laser emitting head 626 will now be described.

The laser beam L, which is supplied to the position adjacent the upper truss plate 13 in the reactor pressure vessel 610 by means of the laser beam transmission means 625, is inserted into the main body 630 of the preventive maintenance / repair device 620. More specifically, the laser beam frame 6 is inserted into the laser beam forms the locating unit 629 of the main body, whereupon it is inserted into the lifting light transmission tube 650 from the stationary light transmission tube 645.

A first angled (curved) scanning mechanism 695, which can scan the laser beam L during rotation in a curved shape, is arranged below the lifting light transmission tube 650.

The first angled scan mechanism 695 forms an upper rotary joint scan mechanism. The first angled scanning mechanism 695 has a pair of inclined mirrors 696 and 697 (see Fig. 5) for scanning the laser beam in angled form. The first angled mirror 696 is a half-mirror, which is arranged diagonally to the cylinder 698 of the main body, which is fixed in a position below the lifting light transmission tube 650. The laser beam L, which is inserted from an upper portion into the lifting light transmission tube 650, is reflected laterally at an angle of 90 ° of a first angled mirror 696. The laser beam L is reflected again laterally at an angle of 90 ° by means of the second angled mirror 697 so as to be scanned in the angled shape for insertion into the projecting light transmission tube 699. ' The main body cylinder 698 of the first angled scanning mechanism 695 forms a connector for n 0 '"u 4 no'" gn v., 1 s øu.v. 'f ... fn 2' tinn: = ".: 'v -» ~ o: en n: - «-; HJ-H' ::. --- °: - ny: 10- '0 .nf The knee member 700 is rotatably supported on the side of the cylinder 698 by the upper body by means of an upper rotatable joint 701. The knee member 700 is provided with the second angled mirror 697, the noana is now integrally connected to the lift beam transmission tube 650 and the base body 651. The projecting light transmission tube is telescopically and slidably supported by means of the sliding joint 702 by means of the knee member 700. Even if the projecting light transmission tube 699 is rotated, the laser beam L can be transmitted to the other side. a portion of the laser beam L, which penetrated the half-mirror, is passed through the polarizing means 703 and then caused to fall against a retroreflector 704, which serves as a means for detecting ring of an optical axis. The retroreflector 704 is an optical means for reflecting the laser beam L towards the central portion while the laser beam L is transmitted through the axis of the lifting light transmission tube 650. If the laser beam L is caused to deviate from this axis, the retroreflector 704 reflects the laser beam L in a direction which is opposite to the deviation direction. Although the optical axis of the laser beam L deviates from this axis, the retroreflector 704 enables correction of the optical axis of the laser beam L by detecting light reflected at the incident portion (adjacent the laser output portion) by the retroreflector 704.

The laser beam L, which is guided from the lifting light transmission tube 650 to the light transmission tube 699 over the first angled scanning mechanism 695, is inserted into a second angled (deflected) scanning mechanism 706, which is arranged at the other end of the projecting light transmission 6. 6, the second angled scanning mechanism 706 has a pair of angled mirrors 707 and 708 for scanning the laser beam in the angled shape. The first angled mirror 707 is viewed diagonally at the other end of the projecting light transmission tube 699 to reflect the laser beam L, which is guided through the projecting light transmission tube 699 to the side portion at an angle of 90 °. . For example, the laser beam L is reflected in the horizontal direction. The laser beam L is reflected downwards at an angle of 90 °, for example to the vertical direction, by means of a second angled mirror 708 so as to be scanned in angled form.

A holding cylinder 709 for holding the second angled mirror 708 is supported by the lower horizontally rotatable connection 710 on the holding cylinder 711 for the first angled mirror 707, so that rotation about the axis is allowed.

An extendable cylinder 712 serves as a housing for an upper portion of the head and is rotatably supported at 710 on the second angled mirror 708 by the lower vertically rotatable connection 713. The extendable cylindrical member 712 is connected to the body of the laser emitting head. 632 in the laser emitting head 26 via a connection bracket 714 to form an upper portion 715 in the head.

As shown in Fig. 7, the upper mirror 716 of the emitting head is arranged diagonally in an intermediate position in the extendable cylinder 712. The upper mirror 716 is a half-mirror. The laser beam L, which is inserted into the extendable cylindrical portion 712 by the second, angled scanning mechanism 706, is reflected forward at an angle of 90 ° by the upper mirror 716 of the emitting head so as to be guided through a sealing glass 717. The laser beam L is then inserted into the cylindrical portion 712. , the head light transmitting means 658 in the laser emitting head 26 so as to be transmitted through the head light transmitting means 658 in air. The upper mirror 716 of the emitting head is a half mirror. A part of the laser beam L penetrates the upper mirror 716 so that it is inserted into the polarizing means 521 996 and is now 47 718. The part of the laser beam L is guided through the polarizing means 718 so as to strike a retroreflector 719, which serves as a means for detecting deviation from the optical axis. In the same way as the retroreflector 714 (see Fig. 5), which is accommodated in the housing 630 of the main body, the retroreflector 719 forms a means for detecting and correcting deviation of the optical axis of the laser beam L.

The retroreflector 704 is arranged in the manner described above. Thus, if the optical axis of the laser beam L deviates in a downstream position because the laser beam L, the optical axis of which is corrected before being passed through the light transmission tube 609, is guided through the first and second angled scanning mechanisms 695 and 706, the laser beam L may be corrected toward axeln.

The laser beam L, which is inserted from the sealing glass 717, which is the optical means in the projecting cylinder 712, to the main inside of the light emitting head 658 of the laser emitting head 626, is transmitted in the air through the light transmitting means 658 in the head. Thus, as shown in Figs. 3 and 4, the laser beam L is emitted into the water from the lower end of the light transmission means 658 in the head. The laser beam L is then passed through the converging lens 677 so that the cylindrical small portion 621 intended for processing is irradiated with the laser beam by means of the reflecting mirror 678. As a result, the preventive maintenance / repair operation of the lower portion of the laser is performed. intermediate part of the casing intended for processing. Since the portion to be machined is irradiated with the laser beam, voltage can be removed to convert residual tensile stress to compressive stress. The modification of the stress in the surface layer next to the weld joint can also be performed. In addition, modification of the surface of the activated metallographic structure and welding operation can be performed.

As described above, the light transmitting means 658 in the laser emitting head 626 is attached to the second frame 662 by the connecting means 720, which forms the gimbal mechanism of the body 632 of the laser emitting head. Also, the light transmitting means 658 in the head is displaced vertically around the horizontal axis. axeln. Since the second frame 662 and the projecting cylinder 712 are connected to each other by the connecting bracket 714, the laser beam receiving portion of the laser emitting head 626 does not deviate.

The light transmission means 658 in the head comprises a light transmission tube having an upper portion to which a prism (not shown) is connected, and a lower portion to which an optical means, such as sealing glass, is connected to transmit the laser beam L into the air. of the same. Further, the reference numeral 721 represents a position adjusting mechanism for the light transmission means 658 in the head.

At this time, the displacement with respect to the horizontal axis and the vertical axis of the gimbal mechanism in the second frame 662 of the laser emitting head 626 is taken up by rotation (rotation) and sliding operations of the upper rotatable connection 701, the sliding connection 702, the lower horizontally rotatable connection 710 and the lower vertically rotatable connection 713. The optical axis L of the laser beam L therefore does not deviate.

The laser beam L, which is passed through the light transmission means 658 in the head, is converged by the converging lens 677, so that the portion to be processed is irradiated with the laser beam L by means of the reflecting mirror 678. If the distance from the reflecting mirror 678 to that for the processing is 678. (the position to be irradiated with the laser beam) changes allows the change of the distance from the converging lens 677 to the reflecting mirror 678 by means of the lens movement4 adjusting unit 674 aligning the focal point of the laser beam L with the portion to be machined. The deviation of the laser emitting head 626, which occurs CH BJ ... x \ O \ O O \ 49 when the installation operation is performed, can be adjusted as described above. As a result, the energy density of the laser beam L, with which the machining operation can be performed, can be efficiently achieved.

The laser beam L emitted from the laser oscillator 635 is thus applied to the position adjacent to the upper truss plate 613 by means of the laser beam transmission means 625, which is the light transmission means. The supplied laser beam L is inserted into the casing 630 of the main body of the preventive maintenance / repair device 620.

The laser beam L inserted into the housing 630 housing of the main body locating unit 629 is inserted into the lifting light transmission tube 650 from the stationary light transmission tube 645. The laser beam L is then guided from the stationary light transmission tube 645 through the first angular projection. 699. The stationary light transmission tube 645, the lift light transmission tube 650, the first deflecting scan mechanism 695, the projecting light transmission tube 699, the second angled scanning mechanism 706 and the projecting cylinder 712 form the laser guide / connecting rod. The scanning means 627 serve as the laser beam transmission means for inserting the laser beam L, which is supplied to the position adjacent to the upper truss plate 613 in the reactor pressure vessel 610, into the laser emitting head 626.

An operating method using the preventive maintenance / repair device for a structure in the core according to the embodiment of the invention will now be described.

In a condition in which the laser emitting head 626 is received in the housing 630 of the main body, the preventive maintenance / repair device 620 is suspended so that it can be displaced downwards by use which is provided for the roof, by a crane (not shown) , or a lifting unit (not shown), provided with the fuel change machine. Thus the device is led ..._ vån '521 996 n, - - | ~~ - -. ø u 50 620 for preventive maintenance / repair by the truss in the upper truss plate 613 so as to be placed on the guide rod 616 of the central rod. At this time, the inner portion of the reactor pressure vessel 610 is covered with water. The main body locating unit 629 is suspended and displaced downwardly in a state in which the laser emitting head 626 and the laser beam transmission means are received in the main body housing 630.

The main body locating unit 629 in the preventive maintenance / repair device 620 is placed on the control rod guide tube 616. The clamp unit 640 is then actuated to press the clamp pads 642 to the four positions in the upper truss plate 613 truss.

The main body locating unit 629 is thus secured between the upper truss plate 613 and the core support plate 612. The main body housing 630 in the main body locating rotation motor 647 is then activated to rotate unit 629 about the longitudinal axis so that the direction in which the laser emitting head 6 is determined.

The base lifting unit 653 is then actuated so that the base 651 of the main body is displaced upwards and downwards, so that the laser emitting head 626 is displaced upwards and downwards, whereby the position which is subjected to laser machining is determined. In addition, the mechanism of head movement 631 is actuated to slide the laser emitting head 626 over the housing 630 of the main body. The laser emitting head 626 is thus pressed against the inner wall of the housing 611, which is the structure 615 of the core, for attachment. The above fastening operation is stably performed by means of gimbal mechanisms provided for the laser emitting head 626, in which the laser emitting head 626 is pressed against the inner wall of the housing 611 and attached thereto, the lower projecting the portion of the laser emitting head 626 in the cylindrical small portion 621 between the housing 611 and the core support plate 612. More specifically, the flat frame shape having the lifting support frame mechanism 633 in the laser emitting head 621 51 is displaced downward with respect to the laser emitting the body 632 of the head by actuating the frame lifting unit 665, the cylindrical one shown in Fig. 3, so as to be inserted into the small portion 621. The laser emitting unit 624 is further arranged on the operating floor 623 above the reactor pressure vessel 610.

In addition, the lower end of the laser beam transmission means 625 for transmitting the laser beam L, which is emitted from the laser emitting unit 624 into the reactor pressure vessel 610 in the air, is placed on the upper truss plate 613. The preparation for the preventive maintenance / repair the operation is thus terminated.

When the laser emitting unit 624 is operated, so that the preventive maintenance / repair operation of the cylindrical small portion 621 of the structure 615 in the core is performed in a water environment.

When the laser emitting unit 624 is actuated, the laser beam L is emitted from the laser oscillator 635. The emitted laser beam L is passed through the laser beam transmission means 625 (the air light transmission means 625a and the water light transmission means 625b). The laser beam L is then inserted into the position adjacent to the upper truss plate 613 in the reactor pressure vessel 610 and then inserted into the main body locating unit 629 of the preventive maintenance / repair device 620.

The laser beam L is inserted via the stationary light transmission tube 645 into the casing housing 630 of the main body locating unit 629 so as to be inserted into the lift light transmission tube 650. The laser beam L is transmitted from the lift light transmission tube 650 to the first transmission transmission shaft. the air. The laser beam L is guided from the light transmission tube 699 through the second angled scanning mechanism 706 so as to be inserted into the projecting cylinder 712, which is in the upper main body housing of the laser emitting head 626. The laser beam L, which introduced in a position adjacent to the upper truss 521 996 - un | 52 The plate 613 in the pressure vessel 610 of the nuclear reactor by means of the transmission means 625 of the laser beam is transmitted by means of the connecting / scanning means 627 of the laser control, which is the laser beam transmission means, to the laser emitting head 626 in the air. The laser beam is then inserted into the light transmission means 658 in the laser emitting head 626.

The laser beam L inserted into the laser emitting head 626 is transmitted into the air via the light transmitting means 658 in the head so as to converge by the converging lens 677 shown in Fig. 3. The portion of the cylindrical small portion 621 to be processed is thus irradiated. with the laser beam L by means of the reflecting mirror 678. As a result, a number of machining operations can be performed.

The irradiation by means of the laser beam L emitted from the laser emission head 626 is performed in the procedures illustrated in Figs. 8 (A) and 8 (B). The irradiation procedure using the laser beam L emitted from the laser emitting head 626 will now be described.

Fig. 8 (A) shows the location of the laser beam L, with which the right portion of a thermally actuated portion is irradiated, is realized in an example of vertical welds 123 in the housing 611 in the cylindrical portion 621 of the structure 615 in the core. (vertical welds V5) risk, the laser beam L is applied from the reflection point 0 of the reflecting mirror 678 in the direction diagonally downwards, as shown in Fig. 4, so as to be applied to the laser irradiation point A on the inner wall of the housing 611. In the irradiated state shown with the laser beam, the lens motion adjusting unit 674 is actuated to adjust the distance between the converging lens 677 and the reflecting mirror 678. After the adjustment is performed in a state, the converging lens 677 and the reflecting mirror in the relative position 678 the frame lifting unit 65 is caused to displace 521 996 ;;; ¿; ç; * .fo n »53 (upward and downward movement) the lifting support frame mechanism 633. Due to sliding downward of the lifting support frame mechanism 633, the irradiation point A is displaced to the point B. Since the sliding of the lifting support frame mechanism 633 is performed in the axial direction of the light transmission means 658 in the head, the laser beam is scanned parallel to the optical axis reaching the converging lens 677. The length of the optical path from the converging lens 677 to the laser irradiation point over the reflecting mirror 678 is constant during the scanning operation. Therefore, unlike the operation in which the reflecting mirror 678 is rotated about an axis perpendicular to the optical axis of the laser beam, the energy density of the laser beam becomes uniform. As a result, the machining quality can be improved.

After a laser beam scan over a distance S has been performed, the oscillation unit 684 is actuated, so that the movement of a pitch P is performed. More specifically, the reflecting mirror 678 is rotated by the oscillation motor 685 to displace the laser irradiation point a pitch P. The frame lifting unit 65 is then actuated for displacement upward by the lifting support frame mechanism 633 a distance S. The above operation is repeated sequentially. An irradiation point 724 of the laser beam L is formed into a zigzag shape, as shown in Fig. 8 (A).

When the reflecting mirror 678 is sequentially rotated by operation of the oscillation unit 684, the distance from the reflecting point 0 of the reflecting mirror 678 to the laser irradiation point changes. If the change in distance causes the laser energy density required to perform the machining operation not to be achieved due to the focal point of the laser beam L not being aligned with the laser irradiation point, the lens motion adjusting unit 674 is thus affected. 678 so that the laser beam L focal- 521 996 u. u v u ø o II. u. 54 point can be aligned with the machining point (laser irradiation point).

In the preventive maintenance / repair device 620 according to the present embodiment, the laser emitting head 626 shown in Fig. 7 has an optical path formed from the sealing glass 717 in the projecting cylinder 712 to the light transmission means 658 in the head, which from the light transmission means 658 in the head to the converging lens 677 and which from the converging lens 677 to the reflecting mirror 678 are exposed to the environment, so that the laser beam L is transmitted under water. After the laser beam L is not transmitted through a light transmission tube for transmitting the laser beam L into the air, the light transmission means 658 in the head, the converging lens 677 and the reflecting mirror 678 can be individually combined. As a result, the connection freedom of the laser beam 26 can be improved. optical axis easily adjusted.

The relative distance from the converging lens 677 to the reflecting mirror 678 can be easily adjusted by the lens motion adjusting unit 674. In a state where the relative distance from the converging lens 677 to the reflecting mirror 678 is maintained, further upward and downward movements can be performed. The unit 665. The adjustment of the relative distance from the converging lens 677 to the reflecting mirror 678 and the lifting in the state in which the relative distance is maintained do not require the above two elements to be connected to each other by means of a fluid-tight light transmission tube. Therefore, the thickness of the light transmission tube can be used as a light transmission area for insertion of the laser beam, and thus the reliability of light transmission to the reflecting mirror 678 can be improved. The laser beam L is applied from the laser emitting head 626 by being pressed against a point and attached to o a u oo o .v-o I 0 'v - - v "' '". - "-> - ~ '' 'I ... V: nu a I ,,.. V I' _,,, -na» 'U un.. || .a ... ». A. .O 1 I * f H u nu u, u 55 point in the above procedure by means of the laser emitting head 626. The above laser beam application procedure is performed for the vertical weld (inner weld V5). 723 by displacing the laser emitting head 626 vertically and horizontally.

To displace the laser emitting head 626, the ejection force of the main displacement mechanism 631 of Fig. 2 is reduced by actuating the air cylinder in the link operation mechanism 656. The base lifting unit 653 and the rotating unit 47 are actuated so that the laser emitting head 626 is displaced.

The horizontal welds (welds on the inside of H6a) in the cylindrical, small portion 621 are irradiated with laser beams by displacing the laser emitting head 626. Thus, a similar machining operation can be performed.

The preventive maintenance / repair device 620 can process a portion of the cylindrical, small portion 21, which is held between the intermediate body of the housing, which is the structure 615 in the core, and the core support plate 612, and which can not be easily machined. . Thus, an improvement of the tension in the surface layer adjacent to the weld joint can be performed automatically using the laser beams as well as modifying the surface of the activated metallographic structure as well as repairing using welding.

As shown in Fig. 3, the camera 690 for visual surveillance, which is associated with the laser emitting head 626, allows monitoring and recording of the machining position and the machining state. Therefore, the processing quality can be improved. The supersonic microphone 691, which is connected to the inner portion of the laser emitting head 626, detects the supersonic wave, which is generated and transmitted at the laser irradiation point B, for detecting the relative position of the laser irradiation point B with respect to the laser emitting point. uua.

IN! I 'Ü .i I! .- ~ --- gu .., .-- gzu. H - 'zur .--- -' n .--- - n ~ 0, nu .I ........ - ~~, ... --- __-; , 0 nu _ _ .1 ß. . .. 56 tering head 626. The reliability of the machining position can thus be improved.

A modification of the preventive maintenance / repair device for a structure in the core of the present invention will now be described.

In the embodiment of the preventive maintenance / repair device 620, the structure includes the light transmission means 658 in the head for air transmission, as shown in Fig. 2. The light transmission means 658 in the head may comprise a rod-shaped glass means, which has excellent transparency. When the light transmission means 658 in the head is made of glass, the laser beam L, which is received in the upper portion of the laser emitting head 626, can be reflected by the side surface of the glass means for transmitting the laser beam even if the position of the camera changes. Therefore, the laser beam can be inserted into the converging lens 767 without exception. As a result, the preventive maintenance / repair device 620 can be improved and thus the machining quality can be improved.

The lifting support frame mechanism 633, which is in the form of a planar frame structure, is provided for the body 632 of the laser emitting head in the laser emitting head 626, so that upward and downward movement is allowed. In addition, the lens motion adjusting mechanism 674 is provided with the lift support frame mechanism 633, as shown in Fig. 3, to allow movement of the converging lens 677 to be adjusted. As an alternative to the lens motion adjusting unit 674, another distance adjusting unit may be used if the unit can adjust the relative distance between the converging lens 677 and the reflecting mirror (the emitting mirror) 678. The distance adjusting unit may be a unit which can adjust the movement of the reflecting mirror 678.

The preventive maintenance / repair device for a structure in the core of a nuclear reactor comprises the laser emitting head, which consists of the body of the emitting head and the lifting support frame mechanism, which can slide ..- v -> l0 - n u n; nl '.c v n nu I v ",, °', .u o I I '° _', '., | n: u u v c,.. n u en _ °"' ° '' UÉÜ-u. I '"' I:: I v u. ~. Fn - ~: H _ - ¿H. ~ - - n 1 57 on the frame of the emitting head. In addition, the lifting frame mechanism is formed into an elongate frame structure for insertion / removal in and from the cylindrical, small portion of the structure in the core.The lifting frame mechanism is not limited to the flat frame structure if the mechanism can be inserted into and removed from the small portion of the structure in the core.A elongated, box-like shape, an elongated cylindrical shape or other form can be used.

The preventive maintenance / repair device for the structure of the nuclear reactor can perform a preventive maintenance / repair operation on a structure in the core of a pressurized water reactor as well as in the core structure of the boiling water reactor.

According to the present invention, a light transmission device is provided as well as a method for adjusting the same. The embodiments will now be described with reference to the drawings.

Fig. 9 is a basic structural view showing a first embodiment of the light transmission device according to the present invention.

In Fig. 9, 810 denotes a light transmission device for transmitting laser beams in the air. The light transmission device 810 comprises a light transmission means 812, which serves as a laser beam transmission means, which is formed by a combination of mirrors for providing a light transmission passage 811, a laser emitting main unit 813, which serves as a light source for emitting laser beams, inspection or preventive maintenance / repair of the light transmission passage 811, and a laser emitting control unit 814 for emitting guided laser beams, which are guided laser beams for adjusting the optical axis of the light transmission passage 811. ' The laser beam emitted from the laser emitting head unit 813 passes through a dichroic mirror 815, which is a light synthesizer, so as to be introduced into the light transmission passage 811. The laser beam is transmitted through the light transmission passage 811 into the air so that the laser beam is emitted. the head 816. An object 817 is then irradiated with the laser beam, which is emitted from the laser beam emitting head 816, so that processing, inspection or preventive maintenance / repair of the object 817 can be performed.

Fig. 9 shows the laser emitting main unit 813, which includes a YAG laser unit. In this example, the laser beam emitted from the YAG laser unit is transmitted through the light transmission passage 811 by the light transmission device 810. Thus, the laser emitting main unit 813, which is, for example, a structure in the core of a radioactive environment, is irradiated with the laser beam. The laser emitting head unit 813 may be any of a plurality of laser units, which includes a carbon dioxide laser and a pulse laser in addition to the YAG laser unit.

The light transmission passage 811, which forms the light transmission means 812, is covered with a notched tube 818, for example a laser transmission tube or a light transmission tube. The laser beam is thus transmitted through the shielded tube 818 into the air. In the light transmission passage 811, the control laser beam emitted from the control laser emission unit 814 is inserted into the light transmission passage 811 upstream of the dichroic mirror 815 via the half-mirror control means 819. The control laser emitting unit 814 includes a He-Ne laser laser for emitting a circular laser. As an alternative to the He-Ne laser unit, each laser beam unit can be used if it can emit a laser beam having a wavelength which differs from that of the main laser beam. The control laser beam can be a non-polarized laser beam.

The dichroic mirror 815 forms a light synthesizing mirror. Thus, the dichroic mirror 815 has a high reflectance with respect to laser beams in the vicinity of the wavelength of the main laser beam and is arranged to be transmitted 521 996. . - n - o n .gu now 59 of a major part of laser beams with other wavelengths.

The half-mirror in the half-mirror guide means 819 has a reflectance of approximately 50% with respect to the guide laser beam and a high transmission characteristic with respect to laser beams with other wavelengths.

The light transmission passage 811 includes, for example, six automatic mirrors and a fixed mirror. Fig. 9 shows an example according to which four (first to fourth) automatically adjustable mirrors 821, 822, 823 and 824, two automatically angle-adjustable mirrors (automatic adjustment mirrors) 825 and 826 serve as exact angle-adjusting mirrors and a fixed mirror 827 is arranged for the light transmission passage 811. The inclination angles of the automatically adjustable mirrors 821, 822, 823 and 824 are adjusted by means of a mirror adjustment unit 830, which is actuated by a control unit 829. The automatic angle adjustment mirrors 825 and 826 inclination angle adjustment unit is adjusted by a mirror adjustment unit ) 831, which is operated by the control unit 829.

Each of the automatic angle adjustment mirrors 825 and 826, which form the light transmission passage 811, are arranged opposite each other at locations upstream of the first and second automatic adjustment mirrors 821 and 822. In addition, first to fourth targets 833, 834, 835 and 836 for image processing are provided in the light transmission passage 811 adjacent to the automatic adjustment mirror 826, the third and fourth automatic adjustment mirrors 823 and 824 and the fixed mirror 827.

Each of the first to fourth targets 833, 834, 835 and 836, which are arranged across the light transmission passage 811, are made of an aluminum plate having a surface which has been machined by blasting. Each of the first to fourth targets 833, 834, 835 and 836 for image processing has, for example, in a central portion thereof a light-transmitting aperture formed into a plurality of shapes, including beam shape, tray shape, ring shape and square shape and allows light transmission.

In addition, the light transmission passage 811 is provided 839, 840 and 841, lighting units, which can illuminate portions adjacent to the first to fourth targets 833, 834, 835 and 836 for image 839, 840 and 841 on and off individually by means of a lamp ignition with lamps 838 , which serves as treatment. Each of the lamps 838, control means 843 in accordance with a control command derived from the light transmission passage 811.

The third automatic adjustment mirror 824, which is arranged in an intermediate position in the light transmission passage 811, forms a sampling separation mirror means 824.

The separation mirror means 824 comprises a half mirror or a wavelength separating mirror for separating the control laser beam from the light transmission passage 811.

The separation mirror means 824 is a mirror which has a transmittance of about 50% in the vicinity of the wavelength of the guide laser beam and relatively high reflectance with respect to the main laser beam with the exception of the guide laser beam.

Arranged on the optical path 844, which is separated by the separation mirror means 824, a quarter-wavelength plate 845, which serves as a polarizing optical means, and a retroreflector 846, reflecting optical means, are provided. Quartz wavelength plate serving as a parallel refractor 845 polarizes the laser beam, which is inserted into the optical path 844. When the laser beam passes through the quartz wavelength plate 845, for example, a circularly polarized laser beam is converted into a linearly polarized laser beam and a laser beam. a circularly polarized laser beam.

The retroreflector 846 comprises a parallel-reflecting optical means, for example a corner cube prism or a hollow corner cube. A parallel-reflecting optical means formed by a combination of three mirrors. which is represented by an optical cat eye system, can be used. 1 f I I a o n 521 996. »A a. on 61 The retroreflector 846 reflects a laser beam which is caused to strike the central portion thereof, so that the incident laser beam is reflected to pass the same passage as the incident laser beam. When a laser beam is caused to strike a position deviating from the central portion of the retroreflector 846, the laser beam is reflected from a position symmetrical with the central portion parallel to the incident laser beam.

The fixed mirror 827, which is arranged in the light transmission passage 811 at a place next to the laser beam emitting head 816, forms the separation mirror means. The fixed mirror 827 is a mirror which has a high transmittance with respect to the main laser beam and a high reflectance with respect to the guide laser beam. A retroreflector 849, which serves as a parallel reflecting optical means, is arranged in the optical path 848, which is separated from the fixed mirror 827. The retroreflector 849 reflects an incident, circularly polarized laser beam so that polarization rotation direction. is inverted. The retroreflector 849 forms a detection means for the position of the laser beam.

A detecting optical guide path 851, which is supplied to the control laser beams reflected by the retroreflectors 846 and 849, is formed adjacent to the half-mirror control means 819 for supplying the control laser beam, which is the laser beam from the control laser emitting unit 814.

The detecting optical guide path 851 is formed as an extension from the optical axis of the light transmission passage 811 adjacent the light source. A CCD camera 852 serves as an electronic optical pickup means in the form of an intermediate body for forming a camera system and is located in the detecting optical guide path 851. The CCD camera 852 includes a notch filter. 853 to allow the transmission of laser beams having wavelengths other than the wavelengths of the main laser beam and the guide laser beam and also includes a lens 854 having a focal length and a focal point which can be electrically adjusted. the optical axis of the camera 852 is adjusted so that the direction of the optical axis, in which the shooting operation is the same axis as the main laser beam, is allowed. Image information detected by the CCD camera 852 is passed to an image processing unit 855 for processing.

The image processing unit 855 has images, registered to serve as references. Those previously recorded images and camera images observed by the CCD camera 852 are compared with each other in a pattern matching process. Information about position deviation of the target, observed in the image, is output to the control unit 829. The image processing unit 855 is provided with a pattern matching unit. The control unit 829 receives position deviation information for actuating the mirror adjustment unit 830 in a direction in which the position deviation is eliminated or minimized.

A dichroic sampling mirror 857 is arranged in an intermediate position in the detecting optical guide path 851. The diachronic sampling mirror 857 branches the sampling optical path 858. The sampling optical path 858 is formed as an extension of the optical axis of the light transmission passageway 811. The control laser beams reflected by the parallel reflecting optical means, 846 and 849, are inserted into the sampling optical path 858. as the parallel reflecting optical means provided for the light transmission apparatus, the sampling optical path 858 in which the reflected control laser beam is inserted. is provided with a quartz wavelength means 860, which serves as a polarizing optical means, an interference filter 861 for allowing transmission of only the reflected control laser beam and a polarizing beam splitter 862, which serves as a light separating means for dividing the reflected control laser beam, The interference filter 861. Each of the reflected control laser beams, which is divided by the polarizing radiator 862, is supplied to each of the light position detecting units 863 and 864, respectively. the light position detecting units 863 and 864 detect incident positions of the control laser beams for calculating the magnitude of the deviation of the optical axis.

The light position detecting units 863 and 864 include four quadrant detectors, point detectors or CCD devices. The four-quadrant detector converts an equilibrium state of incident force of the reflected control laser beam onto a photoelectric surface, which is divided into four quadrants as the incident position of the laser beam for detecting the magnitude of the position deviation of the light transmission passage 811. The magnitude deviation of the detected by the light position detecting units 863 and 864 is converted into an electrical signal by a signal processing unit 865 for supply to the control unit 829. The control unit 829 controls the operation of the mirror adjusting unit 30 or the mirror angle adjusting unit 31.

The automatically adjustable mirrors 821 to 824, the operation of which is controlled by the mirror adjusting unit 830, are automatic mirrors, each of which has such a structure that a mirror is provided for a biaxial deflection step which is displaced by means of a stepper motor.

The angles of the automatically adjustable mirrors 821 to 824 can be adjusted when the mirror adjusting unit 830 actuates a drive means (not shown) for each of the stepper motors in accordance with a control command originating from the control unit 829. The automatically adjustable mirrors 821 to 824 are displaceable by means of the stepper motors, which have such a characteristic that the operating speed is low and a wide operating range is allowed. As an alternative to the stepper motors, drive mechanisms, such as servomotors, can be used.

The automatic angle adjustment mirrors (automatic adjustment motor) 825 and 826, the movements of which are controlled by mirror angle adjustment units 831, are 521 996 64 automatic and precisely adjustable mirrors. The automatic angle-adjusting mirrors 825 and 826 are PZT-type automatic mirrors which have a structure in which a mirror is arranged for a biaxial deflection step which is displaced by means of an electrostrictive (PCT) device. In accordance with a control command derived from the control unit 829, the adjustment of the mirror angles can be precisely controlled by the mirror angle adjusting unit 831.

When the mirrors displaced by the electrostriction means are used as automatic angle adjustment mirrors 825 and 826, the mirror angles can be adjusted quickly and accurately despite unsatisfactorily small operating angles of the mirrors. As an alternative to the mirrors which are displaced by means of the electrostriction means, mirrors which are displaced by means of galvanometers can be used as automatic angle-adjusting mirrors to achieve a similar function.

The automatic angle adjustment mirrors 825 and 826 are mirrors that have high reflectance with respect to the main laser beam (eg the YAG laser beam), the control laser beam (eg the He-Ne laser beam) and light with a wavelength range that can be observed by the CCD camera 852.

The distance between the automatic angle adjustment mirror 825 and the first automatic adjustment mirror 821 and that between the automatic angle adjustment mirror 826 and the second automatic adjustment mirror 822 is maintained sufficiently short with respect to the transmission distance of the light transmission passage 811.

The operation of the first embodiment of the light transmission device according to the present invention will now be described.

Prior to performing laser machining, inspection or preventive maintenance / repair of any object by means of the light transmission device 810, the alignment of the light transmission passage 811 in the light transmission device 810 is adjusted. The alignment adjustment 521 996 65 includes a coarse adjustment operation to roughly maintain a light operation. after performing the coarse adjustment operation and using the retroreflectors 846 and 849, and a vibration correction operation for compensating for position deviation caused by vibrations or the like of the light transmission passage 811. To perform the operations, the light transmission device 810 is provided with a coarse adjustment means for the coarse adjustment means. of the light transmission passage 811 and a means for precisely adjusting the optical path for precisely adjusting the light transmission passage 811.

Each of the adjusting means can operate automatically by remote control. The means for precisely adjusting the optical path is a control means for rapid feedback control of the mirrors 825 and 826 for automatic angle adjustment. An operation for correcting vibrations, which is caused by external vibrations, can be performed.

[Operation for coarse adjustment of the light transmission path] The CCD camera 852 coincides with the optical axis of the laser beam, which is transmitted through the light transmission passage 811. Therefore, the optical axis of the laser beam is present in the central portion of an image photographed by the CCD camera. 852. Therefore, when the position of the focal point and the focal length of the CCD camera 852 are varied in photographic operations, a transmission position of the laser beams can be confirmed in an arbitrary position in the light transmission passage 811. The coarse adjustment of the light transmission passage 811 can be performed by sequentially adjustable sequential adjustment. 821 to 824. m ... 521 996 ê:. '. = Un n 66 [Auto Adjustable Mirror Adjustment Operation] First, a procedure for adjusting the first auto-adjustable mirror 821 will be described.

The light transmission passage 811 is covered with a shielded tube 818 to prevent light leakage to the outside. Therefore, target 833 for the image process cannot be observed if no illumination is present. The control unit 829 is therefore caused to actuate the lamp ignition control means 843 for switching on the lamp 838, which is arranged downstream of the first automatically adjustable mirror 821, so that only the target 833 for the image processing is illuminated. Since the target 833 is illuminated, the CCD camera 852 can selectively observe the target 833. Thus, a mirror image of the first automatic adjustment mirror 21 can be observed.

Simultaneously with the illumination by the lamp 838, the zoom position and the position of the focal point of the CCD camera 852 are adjusted to predetermined positions in accordance with a command issued by the signal processing unit so as to sufficiently recognize the shape of the target 833 for the image process. , i.e. the mirror image of the first adjusting mirror 821.

When the zoom position and the position of the focal point of the CCD camera 852 are adjusted, the target 833 can be observed through the CCD camera 852 over the automatic angle-adjusting mirrors 825 and 821. If the angle of the positioned first automatic adjustment mirror 821 deviates, the position deviates. of target 833 on the photographic image from the central portion of the photographic image.

The image processing unit 855 has a reference image corresponding to a case in which the case 833 was observed in the central portion and previously recorded therein. The recorded image and the observed camera image are compared with each other by performing a pattern matching process. The magnitude of the deviation of the position of the target from the central portion of the image is calculated based on the pattern matching process. A result Q u n "" f. ~ U o u: I c ",.". u h '': zu n n u n 1 n u s I ',,. . nn I .-,, u, q: unn OH 't ",, ._ zu: .. C, | r'r 2: _¿_; -.« ~ -' II * 67 of the calculation (size of the image deviation ) is output from the image processing unit 855 to the control unit 829. According to the image deviation information, the control unit 829 actuates the mirror adjustment unit 830 to adjust the mirror angle so that the magnitude of the image deviation is eliminated or minimized.As a result of the mirror angle adjustment, to shift to the center position of the image, photographed by the CCD camera 852.

Since the mirror angle of the first automatically adjustable mirror 821 has been adjusted, the target 833 can be observed in the central portion of the image photographed by the CCD camera 852. This fact indicates that the laser beam has passed through the central position of the target 833.

When the target 833 is placed in the central portion of the image photographed by the CCD camera 852, the coarse adjustment of the first automatically adjustable mirror 821 is completed.

After the coarse adjustment of the first automatically adjustable mirror 821 is completed, coarse adjustment of the next automatically adjustable mirror 822. Such coarse adjustment is performed in the same manner as the operation of adjusting the first automatically adjustable mirror 821.

After the coarse adjustment of the first automatically adjustable mirror 821 is completed, the lamp-lighting control means 843 is actuated in accordance with a command, originating from the control unit 829, to switch off the lamp 838. Only the next lamp 839 is then switched on.

Simultaneously with the operation of turning on the lamp 839, the zoom position and the position of the focal point of the CCD camera 852 are adjusted to predetermined positions so as to effectively recognize the shape of the target 834.

After adjusting the zoom position and the position of the focal point of the CCD camera 852, the image processing target 834 can be observed over the automatically adjustable mirrors 825, 821, 826 and 822. The mirror image of the also 521 996 unu | oo. - va: n: 68 The automatically adjustable mirror 822 can thus be observed.If the angle of the automatically adjustable mirror 822 deviates, the position of the target 834 on the image photographed by the CCD camera 852 deviates from the center of the photographed image.

The image processing unit 855 has a reference image, which is realized when the target 834 is observed in the central portion and which has been previously registered. The registered image is compared with the observed camera image (mirror image) by performing a pattern matching process.

As a result (the magnitude of the deviation of the image and the degree of deviation of the angle) of a calculation of the magnitude of the deviation of the position of the target 834 from the central portion of the image is fed from the image processing unit 855 to the control unit 829.

According to the image deviation information, the controller 829 actuates the mirror adjustment unit 830 to adjust the angle of the second automatic adjustment mirror 822, so that the target 834 is placed in the central portion of the image photographed by the CCD camera 852.

As the mirror angle of the second automatically adjustable mirror 822 is adjusted, the target 834 can be observed in the central portion of the image photographed by the CCD camera 852. This fact indicates that the laser beam is guided through the central portion of the target 834. When the target 834 is placed in the central portion of the image, which is photographed by the CCD camera 852, the coarse adjustment of the second automatically adjustable mirror 822 has been completed.

After the coarse adjustment of the second automatically adjustable mirror 822 is completed, a combination of the lamp 840, the target 835 and the automatically adjustable mirror 823 is subjected to a similar coarse adjustment process. Thus, the coarse adjustment of the automatically adjustable mirror 823. After the coarse adjustment of the automatically adjustable mirror 823 is completed, the combination of the lamp 841, the target 36 and the automatically adjustable mirror 824 is subjected to a similar coarse adjustment 104. Thus, coarse adjustment of the automatically adjustable mirror 824 is performed.

Since the automatically adjustable mirrors 821, 822, 823 and 824 are sequentially adjusted, the need for an operator to approach each point (each knee point) in the light transmission passage 811 can be eliminated. Thus, the coarse adjustment of the light transmission passage 811 can be performed automatically. Thus, the coarse adjustment of the light transmission passage 811 allows transmission of the main laser beam to the desired point via the light transmission passage 811.

[Operation for precise adjustment of the light transmission passage] An operation for precise adjustment of the light transmission passage 811 and a function of correcting vibrations of the light transmission passage shall be described below.

After the coarse adjustment of the light transmission passage 811 is completed, operations are performed to precisely adjust the light transmission passage 811 and correct vibrations.

Initially, for example, a He-Ne laser is used as the control laser emitting unit 814, as shown in Fig. 9. A pre-adjustment is performed so that the control laser beam being emitted is a clockwise circularly polarized beam.

The circularly polarized control laser beam is branched into two laser beams, consisting of a reflected beam and a transmitted beam in place of the automatically adjustable mirror 824, which serves as a sampling separation mirror means. The direction of the polarization of the control laser beam, which is guided through the automatically adjustable mirror 824, is converted after the control laser beam has passed through the quartz wavelength plate 845, the polarization direction being defined by the characteristic polarization axis of the quartz path length plate 845. The control laser beam is thus converted into a linearly polarized laser beam. The linearly polarized laser 1021 521 996. Q u o ~ n, I | n | now the beam is then reflected by the retroreflector 846 so as to be returned to the quartz wavelength plate 845.

The retroreflector 846 has an optical property, with which an incident laser beam is reflected parallel to the incident beam independent of the angle of incidence.

The laser beam incident on the central portion of the retroreflector 846 is thus reflected to pass through the same passage as that of the incident laser beam. A laser beam which is caused to fall into a position which deviates from the central portion is reflected in parallel with the incident laser beam from a position which deviates symmetrically from the central portion.

In this embodiment, the retroreflector 846 is formed by a parallel reflecting optical means in the form of a hollow corner cover, which is obtained by combining three mirrors.

The polarization of the laser beam, which is reflected by the retro-reflector 846, is a linear polarization in the same polarization direction as the incident laser beam.

The linearly polarized laser beam reflected by the retroreflector 846 is again made to fall against the quartz wavelength plate 845 from an opposite direction.

Therefore, this laser beam is formed into a circularly polarized, reflected laser beam, which has the same angle of rotation as the direction of the rotation, which is realized at the time of incidence. The returned laser beam passes in the opposite direction through the light transmission passage 811 so as to be returned to the control laser emitting unit 814 adjacent to the light source.

In the portion of the control laser emitting unit 814 adjacent to the light source, only the reflected control beam is reflected by the dichroic sampling mirror 857 to the sampling optical path 858 so as to be sampled.

The reflected control laser beam inserted into the sampling optical path 858 is converted into a linearly polarized laser beam by the quartz wavelength 860. The positional relationship between the quartz wavelength 860 and the .1-. »Wv- -ø-v. The polarizing beam splitter 862 is adjusted so that when the incident laser beam is polarized circularly, the direction of rotation of the circular polarization occurs, i.e., the laser beam is distributed to the position detecting unit 863 or 864. , depending on the fact, whether the polarization is a clockwise circular polarization or a counterclockwise circular polarization.

Since the interference filter 861 is arranged in an intermediate position in the sampling optical path 858, laser beams having wavelengths other than the control laser beam cannot reach the light position detecting units 863 and 864.

The laser beam reflected from the retroreflector 46 is formed into a clockwise circularly polarized laser beam with respect to the transmission direction, when the laser beam is reflected by the dichroic sampling mirror 857.

As a result, only the reflected beam of the control laser beams reflected by the retroreflector 846 is caused to fall only against the light position detecting unit 863.

The incident position of the laser beam, which is caused to fall towards the light position detecting unit 863, is converted into an electrical signal by means of the signal processing unit 865, so that control information is received by the control unit 829.

The control laser beam reflected by the automatic adjustment mirror 824 extends toward the fixed mirror 827. Only the He-Ne laser beam of the control laser beam is reflected by the fixed mirror 827 toward the retroreflector 49.

Residual laser beams penetrate the fixed mirror 827 so as to be inserted into the laser beam emitting head 816.

Like the retroreflector 846, the retroreflector 849 is formed by three planar mirrors. Therefore, the circularly polarizing incident laser beam is reflected so that the polarization rotation direction is inverted. The control laser beam, which is reflected by the retroreflector 849, is returned in \ _ \ f e -. .v- .. v ~ øqv. n 0- 0 '',. n. v ° '_ _ ", .fi. - - n. vf: n Q. .-»: _,,. vv:: zv.. _.... usa ... -qq- ::' .- ¿-::: n ~ ~ 72 Thus, the laser beam passes the light transmission passage 811 in a direction opposite to the direction of incidence, reaching the dichroic sampling mirror 857.

At this time, the circular polarization of the reflected control laser beam returned from the retroreflector 849 is opposite to the direction of the circular position of the reflected control laser beam returned from the second retroreflector 846.

The control laser beam reflected by the retroreflector 849 is therefore caused to strike the light position detecting unit 864. Information on position deviation of the control laser beam in the position of the retroreflector 849 is thus supplied to the control unit 829 via the signal processing unit 865.

In the operation of precisely adjusting the light transmission passage 811, information of positive deviation of each of the retroreflector 846 and the retroreflector 849 can be separated from each other by detecting the reflected control laser beam. The control unit 849 can therefore recognize information about the position deviation.

In accordance with the information on the positive deviation of those positions, the control unit 829 influences the mirror angle adjusting unit 831 so that the positive deviation of the reflected laser beam is canceled or minimized. Feedback control is thus performed so that the angles of the automatic angle adjustment mirrors 825 and 826 are adjusted.

The light position detection units 863 and 864, the signal processing unit 865, the control unit 829 and the automatic angle adjustment mirrors 825 and 826, which are to be used for precise adjustment of the light transmission passage 811, are units which exhibit rapid response. In accordance with the response of the feedback loop, the position deviation of the beam caused by vibrations of the automatic angle adjustment mirrors 825 and 826 can be corrected.

In accordance with the accuracy of each of the retroreflectors 846 and 849 and the light position detecting units 863 and 864 and the control accuracy of each of the automatic angle adjustment mirrors 825 and 849, respectively. 826, the position to which the laser beam is transmitted can be controlled.

The light transmission device 810 according to this embodiment can correct fluctuations of the laser beams, which are caused by air and mechanical vibrations, which occur when long-distance transmissions use the automatic adjustment mirror. Therefore, the laser beam can be stably transmitted for a long time to the location of the object which is irradiated with the laser beam.

In the light transmission device 810 according to this embodiment, the optical axis of the light transmission passage 811 for the laser beam and the measuring axis of the CCD camera 852 are caused to coincide, i.e. to form a common axis. Therefore, the light transmission passage 811 of the laser beam can be observed linearly from the inlet to the outward portion of the light transmission passage 811. The deviation in angle from the optical axis can be calculated from the positional deviation in the output portion for coarse adjustment of the optical axis by a deviation distance. automatic adjustment mirrors 821 to 824. The need to provide an electronic image pickup unit, such as the CCD camera 852, in the light transmission passage 811 can therefore be eliminated. The adjustment of the optical axis of the light transmission passage 811 can be performed automatically and stably from a place at a distance therefrom also in an environment in which intense radioactivity occurs.

The CCD camera does not need to be placed in each of the positions in the light transmission passage 811, in which the automatic adjustment mirror is located. Only one CCD camera 852 is required to adjust the optical axis from a location remote therefrom. Image information supplied to the CCD camera 852 is supplied to the image processing unit 855 to obtain information about the positive deviation. Therefore, the magnitude of the deviation at an angle of each of the automatically adjustable mirrors 821 to 824 can be automatically measured in accordance with the image shown in Fig. 521 996; ø - u. a, - I ~ n a u. 74 is photographed by the CCD camera 852, for automatic adjustment of the automatically adjustable mirrors 821 to 824.

In the light transmission device 810, the targets 833 to 836 for the image process are arranged next to the mirrors 826, 823, 824 and 827 for use in transmitting the laser beam in order to calculate the deviation at an angle of the optical axis according to the deviation in position of each of the targets. 833 to 836. Therefore, the optical axis can be adjusted by using only the mirrors 826, 823, 824 and 827 immediately before the targets 833 to 836 detect the positive deviation. That is, when the automatically adjustable mirrors 821 to 824 in the light transmission passage 811 are adjusted from a place at a distance therefrom, the positions which must be adjusted and to which the laser beam must be transmitted can be clarified. The contents of the image process can also be simplified.

According to the shape of each of the targets 833 to 836 for the image process, the positions of the mirrors and the targets on the optical axis of the light transmission passage 811, which must be adjusted, can be clearly determined to simplify the determination of the positions which must be adjusted. . In addition, the magnitude of the deviation of each of the automatically adjustable mirrors 821 to 824 can be accurately measured.

The light transmission device 810 according to this embodiment comprises the lamps 838 to 841 as lighting units, which are arranged next to the mirrors 826, 823, 824 and 827 for transmitting the laser beams. When each of the targets 833 to 836 observed by the CCD camera 852 is illuminated, the target being corrected can be recognized. Therefore, the position deviation can be calculated in accordance with a clearer camera image. The positions of the targets 833 to 836 downstream of the automatically adjustable mirrors 821 to 824, which are adjusted, can be clearly distinguished from the other mirrors and the images of the other targets. "Therefore, the positions of the mirrors, which must be adjusted,. ..- ...- »m" * ~ _ u: r- .. nnv _: --- ~ - 'n. ". ¿.. .-- zu.. Nnv - a I _,,; non 1-0 I, -.... ß _: __,,,.... v - zz _ ,,. u. a »I _ l, nno I _. n. nu .u H. vuf ' It is easy to determine in 75. Furthermore, the size of the deviation of the mirror can be measured exactly.

In the light transmission device 810, the mirror adjustment unit 830, which is driven by the control unit 829, is the automatic mirror unit, which is driven by the stepper motor or the servomotor. When the automatically adjustable mirrors 821 to 824 are displaced in accordance with the information of the image process, the automatically adjustable mirrors 821 to 824 can be displaced exactly in accordance with the distances which are most displaced. Therefore, the need for repeated adjustment of these automatically adjustable mirrors 821 to 824 can be eliminated at one time, when the angles of the mirrors are adjusted simultaneously. Therefore, the adjustment of the optical axis can be performed even faster.

The light transmission device 810 further has the construction that the pattern matching function is supplied to the image processing unit 855 for the CCD camera 852. Therefore, the image of the light transmission passage 811, which has been previously recorded, and the observed image can be compared with each other. Therefore, even if a point which must be irradiated with the laser beam cannot be observed by the CCD camera 852, the deviation in the angle of the optical axis can be calculated for adjusting the optical axis. Thus, since the pattern matching unit is arranged for the pattern processing unit, the shapes and the deviation in positions of the targets 833 to 836, corresponding to the automatically adjustable mirrors 821 to 824, in accordance with the registered pattern after which must be adjusted, can be easily evaluated in the adjustment completed. The speed and accuracy of the adjustment of the optical axis of the light transmission passage 811 can therefore be improved. The error rate of the light transmission device 810 due to erroneous recognitions performed by the image processing unit 805 can also be reduced.

The light transmission device 810 according to this embodiment comprises a light transmission means 812, which is formed by a combination of one or more mirrors --_ .ms ...- l0 n .-, ... _ ,,. In QI III II 'Q || I Ü .I - ~ ° ° '' 'Z'-. - ~' '21 ". 2 - I ° '"' 'nu .u- l'" '.. n o I | a ø o .u a:, 1 v I I ',,. n. . . 76 and which forms the light transmission passage 811. Some or all of the mirrors forming the light transmission passage 811 are provided with mirror adjusting units 830 and 831, whereby the angles of inclination of the mirrors can be controlled from a place at a distance therefrom. The light transmission device 810 comprises a part of the mirrors, which are arranged in the light transmission passage 811 and which are special mirror means 824 and 827, constituting semi-transmission mirrors or path length separation mirrors. The light position detection units 863 and 864 are arranged in the reflectors , which is separated by each of the separating means 824, is transmitted. The control unit 829 is provided for processing information about the positions output from the light position detecting units 863 and 864, for operating the automatic mirror unit, which serves as the mirror angle adjusting unit 831. Therefore, the accuracy can be improved in comparison with the method of measuring the position. deviation of the mirror by using the CCD camera 852. Furthermore, the speed for measuring the position can be significantly increased compared to the method using the CCD camera 852. Therefore, if the optical axis is displaced due to vibrations of the device, the automatically adjustable the high speed mirrors 825 and 826 in a direction in which the deviation of the optical axis can be canceled. An awkward effect of external vibrations can thus be eliminated.

The light transmission device 810 includes the control laser emitting unit 814 individually from the main laser emitting unit 813 for outputting the main laser beam. Although the main laser beam to be transmitted is a low repeating pulse laser or the like, which has a variable factor, the optical path can be adjusted by reference a control laser beam emitted from the individual control laser emitting unit 814 for adjusting the optical banana, be used.

Therefore, a stable light transmission can be performed. ,. , n. u _, fl:] 1 9 - ~ van: - "~" - ---: ::: H --- q I, va - .------. run, ---- ::: 77 The light transmission device 810 has a portion of the automatic adjustment mirror 824 and the fixed mirror 827 arranged in the light transmission passage 811 and includes separation mirror means, such as semi-transparent mirrors or wavelength separating mirrors. In addition, the light transmission device 810 includes the parallel reflecting optical means 846 and 849 arranged at locations to which the control laser beams separated by the separation mirror means 824 and 827 are transmitted and represented by the corner cube prism, the hollow optical cube and the hollow optical cube. cat's eye. Further, the light transmission device 810 includes the half-mirror control means 819 disposed adjacent the control laser emitting unit 814, the light position detecting units 863 and 864 located adjacent the half-mirror control means 819, and the control unit 829 for actuating the mirror angle adjustment unit 831. from the light position detecting units 863 and 864. Therefore, the electronic optical elements, such as the light position detecting units 863 and 864, need not be provided in the light transmission passage 811, when the magnitude of the deviation of the position of the light must be measured. Therefore, no complicated wiring is required and thus use is permitted in an environment in which intense radioactivity occurs. In addition, the production of noise can be prevented and therefore the S / N ratio is improved.

The light transmission device 810 according to this embodiment comprises the control laser emitting unit 814, which is arranged individually relative to the main laser emitting unit 813 for emitting laser beams, which must be transmitted, the control laser emitting unit 814 being a unit for emitting non-polarized or circularly polarized laser beams. A portion of the mirrors disposed in two portions of the light transmission passage 811 are the separation mirror means 824 and 827, such as semi-transparent mirrors or wavelength separating mirrors. The polarizing optical device 845 is arranged at a location to which the control laser beams separated by the separation mirror means 824 are transmitted. Furthermore, the parallel-reflecting optical means 846, which is represented by the corner cube prism, the hollow corner cube and the cat-eye optical device, is excluded. The half-mirror means 819 and 857, which are located next to the control laser emitting unit 814, the polarizing optical device 860, which is placed next to the half-mirror means 819 and 857, the two light position detecting units 863 and 864 and the control unit 829, which process information about the positions output from the light position detecting units 863 and 864 arranged to actuate the automatic mirror unit 831, which serves as a mirror angle adjusting means. Therefore, the polarization property of the light can be used to provide two portions in which the deviation of the positions of the control laser beams is measured by a type of the control laser emitting unit 814.

The automatic mirror unit 831, which serves as a mirror angle adjusting means, comprises the automatic mirror unit, which is actuated by an electrostriction device which exhibits rapid response, or the automatic mirror unit, which is actuated by the galvanometer. The light position detecting units 863 and 864 include the light position detecting means, including PSD (position sensitive detectors) means or separation type photodiode means. Therefore, even if the effect of higher frequency vibrations is exerted on the light transmission device 810, the effect of the deviation of the optical axis caused by vibration can be eliminated. The light transmission device 810 is capable of automating the process, including coarse adjustment of the light transmission passage 811, precise adjustment of the optical path and cancellation of the effect of vibrations. 'If the main laser emitting unit 813 is arranged at a distance from the portion in which the object 817 processes- -W -www w ~ ». - 1 lO 8 - «- a u u-sun 521 996 vw; 79 is taken or inspected, a stable laser machining and inspection can be performed. The light transmission device 810 is arranged to process the object 817, which is the structure of the core. When the object 817 is repaired, a powerful laser beam can be stably transmitted to the light transmission passage 811 and thus perform a reliable operation.

The same light transmission passage 811 can be used to photograph the position to which the laser beam is transmitted by the CCD camera 852 from a position at a distance therefrom.

Fig. 10 is a basic diagram showing a second embodiment of the light transmission device according to the present invention.

The light transmission device 870 according to the second embodiment differs fundamentally from the light transmission device 870 according to the first embodiment in that a plurality of control laser units 871 and 872 for emitting laser beams have different wavelengths. Since the control laser units 871 and 872 are arranged, no polarizing optical means is required. Therefore, the sampling detection passage 873 has a different structure. The other structures are essentially the same as the light transmission device 810 according to the first embodiment. For this reason, the same reference numerals are used to simplify the description.

Fig. 10 shows an example having two control laser units 871 and 872. The first control laser unit 871 is a He-Ne laser unit for emitting He-Ne laser beams while the second control laser unit 872 is a He-Cd laser unit for emission of a He-Ne laser beam with a different wavelength.

A red control laser beam (He-Ne laser beam) emitted from the first control laser unit 871 and a purple control laser beam (He-Cd laser beam) emitted from the second control laser unit 872 are synthesized with each other by a dichroic mirror 874, which is a light synthesizer, so as to be transmitted from a half mirror, which is the half mirror control means 819, to the light transmission passage 811 via the dichroic mirror 815 in the light synthesizer.On the other hand, the main laser emitting unit 813 serving as light source The main laser beam (carbon dioxide laser beam) is output from the main laser emitting unit 813 and passed over the dichroic mirror 815 so as to be inserted into the light transmission passage 811. The main laser beam is then transmitted via the light transmission in the laser beam emitting head (laser processing head) 816. Laser size the eel is thus applied from the laser beam emitting head 816 to a portion to be irradiated with the laser beam, for example the structure of the core, which is the object 817. Processing, inspection or preventive maintenance / repair of the object 817 is thus performed. As an alternative to the carbon dioxide gas laser, the main laser emitting unit 813 may be a YAG laser, a pulse laser or any other laser which can be adapted for the purpose, for example machining, inspection or preventive maintenance / repair.

The dichroic mirror 815 for synthesizing the laser beams introduces two guide laser beams so that a common axis is included with the main laser beam, which is inserted via the light transmission passage 811. The dichroic mirror 815 has high reflectance with respect to light near the wavelength of the carbon dioxide laser laser. The dichroic mirror 815 allows the transmission of light having different wavelengths.

The half-mirror control means 819 of the half-mirror control means for introducing the control laser beam, which is the control beam emitted from the first and second control laser units 871 and 872 to the light transmission passage 811, has a partial reflectance having a reflectance of about 50% with respect to He-Cd wavelength. the laser beam and the He-Ne laser beam, which are the control laser beam. The transmission property of the half-mirror can be improved with respect to the other wavelengths.

The control laser beams emitted from the first and second laser units 871 and 872 are supplied to the light transmission passage 811 by means of dichroic mirrors 873 and 815, which are light synthesizing means 819. Thus, the control laser beam is scanned via the light transmission passage 81. that, for example, a first control laser beam (He-Ne laser beam) is guided to a separating optical path 844 by means of the automatic adjusting mirror 824, which also serves as a separation mirror means. On the other hand, for example, a second control laser beam (He-Cd laser beam) is guided to the separating optical path 848 by means of the fixed mirror 827, which serves as a separating mirror means.

The automatic adjusting mirror 824, which forms the separating mirror means, is a mirror which has a transmission and reflection capability with a high wavelength transmittance with respect to, for example, the first control laser beam (the He-Ne laser beam). On the other hand, the fixed mirror, which is the second separating mirror means, is a mirror with a high wavelength reflectance with respect to the second control laser beam and a high transmittance with respect to light having a different wavelength, and the main laser beam.

The control laser beams, which are controlled by the separating optical paths 844 and 848, are reflected in parallel by the retroreflectors 846 and 849, which are parallel reflecting optical means, so as to be returned to the light transmission passage 811. The retroreflectors 846 and 849 include parallel means of prism type. As an alternative to the retroreflectors 846 and 849, parallel reflecting optical means, such as cat-eye optical systems, may be used. The control laser beam, which is returned over the light transmission passage 811, is guided through the dichroic mirror and the half-mirror control means 82815 and the half-mirror control means 819 and is then guided into the dichroic sampling mirror 857. The dichroic sampling mirror 857 the control laser beam against the sampling detection passage 873.

The sampling detection passage 873 is provided with an interference filter 876 to allow the transmission of first and second control laser beams and the interception of light having a wavelength outside the first and second control laser beams. In addition, a dichroic mirror 877, which serves as a light separation means for dividing the transmitted control laser beam, is provided. The dichroic mirror 877 separates the wavelength of the transmitting control laser beam into a first laser beam (He-Ne laser beam) and the second control laser beam (He-Ge laser beam) and reflects the second control laser beam.

The wavelength separated first control laser beam is passed through the interference filter 878 and then guided into the light position detecting unit 879. The light position detecting unit 879 detects the magnitude of the deviation in the light position of the first control laser beam and then transmits the detected deviation transfer filter 86. of light in the vicinity of the wavelength of the first control laser beam and cuts off light that has other wavelengths.

The second control laser beam, which is subjected to wavelength separation of the dichroic mirror 877 in the light separating means, is passed through an interference filter 880, which only allows the second control laser beam, and is then led into the light position detecting unit 81.

The light position detecting unit 81 detects the magnitude of the light position of the second control laser beam and transmits a detection signal to the signal processing unit 865. The signal processing unit 865 processes the detected signal representing the detected magnitudes 10 521 996 so. now 83 the games of the deviation of the light positions (optical axis) of the two control laser beams so as to convert the magnitudes into electrical signals for supplying the electrical signals to the control unit 829. The control unit 829 controls the operations of the mirror adjusting unit 830 and the mirror angle adjusting means. the control unit 829 controls the movements of the automatic 822, 823 and 824 and the automatic (fine-tuning) mirrors 825 and the adjustable mirrors 821, ethically angularly adjusting 826. Adjustment is thus performed so that the magnitude of the deviation of the optical axis is eliminated, or minimized.

The reflecting control laser beam, which is not reflected by the dichroic sampling mirror 857 against the sampling detection passage 873 and which is brought to pass the dichroic sampling mirror 857, is guided into the CCD camera 852, which serves as the electronic optical image pickup means. The CCD camera 852 is a camera system which includes a notch filter 852 which allows light with wavelengths outside the main laser beam (carbon dioxide laser beam) and the control laser beam and a lens 853 having a focal point and such an electrically adjustable position. The position of the CCD camera 852 is adjusted so that the direction of the photographic optical axis coincides with the optical axis of the main laser beam.

An image output from the CCD camera 852 by the image processing unit 855 so as to be processed. received The image processing unit 855 has a central image of the previously registered target. The recorded image and the image observed by the CCD camera 852 are compared with each other through a pattern matching process. The magnitude of the deviation of the observed image from the reference-recorded image is thus detected. The detected magnitude of the deviation in the image is applied to the control unit '829 so as to be processed. In the control unit 829, the mirror adjustment unit 830 for adjusting the angle is actuated by each of the automatically adjustable mirrors 821, 521 996 and 822, 823 and 824 so that the magnitude of the deviation in the image is eliminated or minimized. On the other hand, the light transmission passage 811 is formed by a combination of, for example, six automatic mirrors and fixed mirrors. The automatic mirror is formed, for example, by the automatically adjustable mirrors 821, 822, the adjusters (fine adjustment) 825 and 826. 823 and 824 and the automatic angle adjustment mirrors. The automatically adjustable mirrors 821, 822, 823 and 824 are automatic mirrors, each of which has a mirror placed in a biaxially inclined step, which is displaced by means of a stepper motor. According to a control command derived from the control unit 829, the angles of the mirrors can be adjusted by the stepper motor drive means forming the mirror adjusting unit 830. The automatic mirror displaced by the stepper motor can be displaced over a wide range, although the operating speed is unsatisfactorily low.

A drive mechanism, such as a servomotor, can be used instead of the stepper motor.

The automatic angle adjustment mirrors 825 and 826 are automatic mirrors of the PZT type, each of which has a mirror arranged in a biaxially inclined step (PZT). The adjustable mirrors 825 and 826 can be adjusted when the mirror is displaced by an electrostriction device. The angle of each of the operation of the automatic angle-adjusting unit 831 is controlled in accordance with a control command issued by the control unit 829.

The mirror, which is displaced by means of the electrostriction device (PZT), is an exact adjustment mirror, which has a narrow operating range and exhibits excellent accuracy.

As an alternative to the PZT-type automatic mirrors, mirrors, each of which is displaced by, for example, a galvanometer, can be used as automatic angle-adjusting mirrors 825 and 826. The automatic angle-adjusting mirrors 825 and 826 are mirrors, each of which has a high reflectance. with respect to steering laser beam- 521 996 va. u. 85 wavelength of the lens, the wavelength of the main laser beam and the wavelength range observed by the CCD camera 852.

The distance between the automatically adjustable mirrors 825 and 821 and that between the automatically adjustable mirrors 826 and 822 is sufficiently short with respect to the total transmission distance of the light transmission passage 811.

In addition, the targets 833 to 836 are provided immediately 823 and 824 and the laser beam emitting head 816. Each target 833 to before the automatic mirrors 826, 836 is a plate member, like a surface, which has been subjected to a blasting process and is made of aluminum. The shape of the target may be an annular shape, a rectangular shape or any other shape having an opening formed in a place through which light passes.

Lamps 838 to 841 are placed next to targets 833 to 836 in places where only the parts in the vicinity of the targets can be illuminated and which serve as lighting units. In accordance with a control command issued by the control unit 829, the lamps 838 to 841 may be individually turned on and off by the lamp ignition control means 843.

The operation of the second embodiment of the light transmission device according to the present invention will now be described.

In the light transmission device 870 shown in Fig. 10, the main laser beam emitted from the main laser beam emitting unit 813 is guided into the light transmission means 812 by means of the dichroic mirror 815. The main laser beam is then guided through the light transmission passage 811 in the light transmission transmission means 811. 816. From the laser beam emitting head 816, for example, the main laser beam is directed to a structure in the core, which structure constitutes the object 817. As a result of the supply of laser radiation, processing, inspection ... uu uvu ~.> - 10 521 996 - »uu on 86 or preventive maintenance / repair of the object 817 take place.

Prior to the transmission in the air of the main laser beam emitted from the main laser emitting unit 813 via the light transmission means 812 for irradiating the object from the laser beam emitting head 816, the optical path of the light transmission passage 811, which forms the light transmission adjusting means, is adjusted by the light transmission adjuster 812. dimensions 833 to 836 and the illumination unit as well as a precise adjustment using the control laser units 871 and 872 and the parallel reflecting optical means.

[Rough adjustment of the light transmission passage] The rough adjustment operation of the light transmission passage 811 is performed so that the CCD camera 852, which is the recording means for the electronic optical image, is placed for alignment with the optical axis of the laser beam in the light transmission passage 811. In addition, the optical axis of the laser beam in the center of the image, which is photographed by the CCD camera 852. The position of the focal point and the focal length of the CCD camera 852 can be adjusted automatically. When an image is photographed by changing the position of the focal point and the focal length, the position through which the laser beam is guided can be recognized in an arbitrary position in the light transmission passage 811.

A procedure for adjusting the angle of the first automatically adjustable mirror 821 will now be described.

The light transmission passage 811 is usually covered with a shielded tube 818 to form the light transmission means 812, from which the light does not leak out and through which light is transmitted in the air. Therefore, target 833 cannot be observed without illumination. Therefore, the controller 829 first issues a command to cause the lamp illuminator 843 to turn on only the lamp 838. "Since only the target 833 is illuminated, when the lamp 838 is on, the target 833 can only be selectively observed by the CCD. - camera 852.

After the target 833 is illuminated, the signal processing unit issues a command for adjusting the zoom stroke, the position and the position of the focal point of the CCD camera 852 to perform a first setting for sufficient recognition of the shape of the target 833.

When the zoom position and the focal point position of the CCD camera 852 are adjusted, the image processing target 833 can be observed as a mirror image via the automatic angle-adjusting mirrors 825 and 821. If the angular setting of the first automatic adjustment mirror 821 deviates, the position of the target deviates. 833 on an image photographed by the CCD camera 852 from the center of the photographed image. The photographed image is sent from the CCD camera 852 to the image processing unit 855.

An image, the central portion, has previously been recorded in image processing created when the target 833 is observed in the lens unit 855. The recorded image and the observed camera image (mirror image) are compared with each other in a pattern matching process. After the pattern matching process is performed, the magnitude of the deviation of the position of the target from the central portion is calculated by the image processing unit 855. A signal indicating the result of the process is output from the image processing unit 855 to the control unit 829. In accordance with the information on As a result of the image process, the controller 829 controls the operation of the mirror adjusting unit 830 to displace the automatically adjustable mirror 821. The angle of the automatically adjustable mirror 821 is adjusted so that adjustment is made to position the target 833 in the central portion of the image photographed by the CCD. camera 852.

As a result, the central portion of the target 833 can be observed in the central portion of the image photographed by the CCD camera 852. The fact that the central part of the case 833 is located in the central. ..- v- vv- 10 521 996 88 the portion of the image observed by the CCD camera 852 corresponds to the fact that the laser beam passes through the central portion of the target 833. As a result, the coarse adjustment of the automatically adjustable mirror 821 completed.

After the coarse adjustment of the automatically adjustable mirror 821 is completed, a coarse adjustment of the next automatically adjustable mirror 822. The coarse adjustment of the automatically adjustable mirror 822 is performed in the same manner as the coarse adjustment of the automatically adjustable mirror 821.

The coarse adjustment of the automatically adjustable mirror 822 is performed so that the lamp-lighting control means 843 is actuated in accordance with a command issued by the control unit 829 to turn off the lamp 838. On the other hand, only the lamp 839 is turned on. At the same time, the signal processing unit issues a command for adjusting the zoom position and the position of the focal point of the CCD camera 852, so that pre-setting is made to allow sufficient recognition of the target 834 shape.

After the lamp 839 is turned on, the target 834 can be observed by the CCD camera 852 over the automatic mirrors 825, 821, 826 and 822. If the angle of the set automatically adjustable mirror 822 deviates, the position of the target 834 in the image deviates. observed by the CCD camera 852, from the central portion of the photographed image. The image photographed by the CCD camera 852 is supplied to the image processing unit 855 so as to be processed.

An image obtained when the target 834 is observed in the central portion has been recorded in the image processing unit 855. The recorded image is compared with the camera image by performing a pattern matching process. The comparison between the recorded image and the observed image is made as follows. , that the magnitude of the deviation of the position of the target from the central portion is calculated. 521 996 p 89 A result of the calculation is output from the image processing unit 855 to the control unit 829.

According to the information on the result of the image processing process supplied from the image processing unit 855, the control unit 829 actuates the mirror adjustment unit 830 so that the target 834 is placed in the central portion of the image photographed by the CCD camera 852.

Thus, the angle is adjusted by the automatically adjustable mirror 822.

As a result of the adjustment of the angle of the automatically adjustable mirror 822, the central portion of the target 834 can be observed in the central portion of the image photographed by the CCD camera 852. This fact means that the laser beam passes through a central portion of the target 834. Thus, the coarse adjustment of the automatically adjustable mirror 822 is completed.

After the coarse adjustment of the automatically adjustable mirror 822 is completed, a combination of the lamp 840, the target 835 and the automatically adjustable mirror 823 is subjected to a similar coarse adjustment. The coarse adjustment of the automatically adjustable mirror 823 is performed.

After the coarse adjustment of the automatically adjustable mirror 823 is completed, a combination of the lamp 841, the target 836 and the automatically adjustable mirror 824 is subjected to a similar process. Thus, the adjustment of the automatically adjustable mirror 824 is performed.

The coarse adjustment of the automatically adjustable mirrors 821 to 824 is performed sequentially by the control unit 829 using the CCD camera 852 and the image processing unit 855. Thus, it is not necessary for an operator to approach every point in the light transmission passage 811. Therefore the adjustment of the light transmission passage 811 to a desired position can be performed automatically from a position at a distance therefrom. As a result, the carbon dioxide laser beam, which is the main laser beam, can be guided into the adjusted light transmission passage 811. 521 996 90 [Process for precisely adjusting the light transmission passage] A process for precisely adjusting the light transmission device 870 and a function of correction of vibrations of the light transmission passage 811 will now be described.

The optical axes of the control laser beams (the He-Ne laser beam and the He-CD laser beam) emitted from the control laser units 871 and 872 are adjusted so that they become coaxial by means of the light synthesizer 874.

The He-Ne laser beam and the He-Cd laser beam, which are adjusted to be coaxial, are guided into the light transmission passage 811, so that scanning is performed. The path length of the control laser beam, which is guided into the light transmission passage 811, is separated in place of the automatic adjustment mirror 824, which is arranged in an intermediate position in the light transmission passage 811. Thus, only the He-Ne laser beam is allowed to be transmitted for thus guided into the separated optical path 844. The other beams are reflected and transmitted to the next fixed mirror 827.

The He-Ne laser beam, which is guided into the separated optical path 844, is reflected by the retroreflector 846, which is the parallel-reflecting optical means. The retro-reflector 846 has such a property that an incident beam is reflected parallel to the incident beam independent of the angle of incidence.

Thus, when the laser beam is caused to fall against the central portion of the retroreflector 846, the laser beam is reflected by the same passage (light transmission passage) 811, which is the same passage as for the incident beam. When the laser beam is caused to strike a position deviating from the central portion, the laser beam is reflected parallel to the incident beam from the position which deviates symmetrically from the central portion. 10 521 996 o nu: nu 91 The He-Ne beam, which is reflected by the retroreflector 846, is transmitted via the light transmission passage 811 in the reverse direction so as to be returned to the control laser units 871 and 872, which are the light sources.

In the portion of the light source the dichroic sampling mirror 857 is arranged. The dichroic sample mirror 857 reflects and samples only the reflected control beam towards the sample detection passage 873 and then passes through the dichroic mirror 877, which is the light separating means, so as to strike the light position detecting unit 879.

Since the interference filters 876 and 878 are provided in the sampling detection passage 873, light having a wavelength other than the He-Ne control laser beam can not reach the light position detecting unit 879. As a result, only the reflected beam of the He-Ne control laser beam transmitted from the retroreflector 846, to hit the light position detecting unit 879.

The incident position of the beam hitting the light position detecting unit 879 is converted into an electrical signal by the signal processing unit 65 so as to be received by the control unit 829 as control information.

The control laser beam, which is reflected by the automatically adjustable mirror 824 in the light transmission passage 811, is transmitted on the other side to the fixed mirror 827, so that only the He-Cd laser beam, which is the control laser beam, is reflected against the retroreflector 849. Residual light can be flashed. the mirror 827 so as to be guided to the laser beam emitting head 816.

The control laser beam (He-Cd laser beam), which is reflected by the fixed mirror 827 and guided to the separating optical path 848, is reflected by the retroreflector 849, which is the parallel reflecting optical means.

Light reflected by the retroreflector 849 is transmitted in the opposite direction relative to the direction of incidence so as to pass through the light transmission passage 811 to reach the dichroic sampling mirror 857.

The path length of the reflecting control laser beam transmitted from the retroreflector 849 is separated by the dichroic mirror 877, which is the light separating means, so as to be struck by the light position detecting unit 81. Information about position deviation of the control laser beam 8 is provided instead of the control laser beam 82. the signal processing unit 685.

Since the interference filters 876 and 880 are provided for the sampling detection circuit 873, only the He-Cd laser beam is directed to the light position detecting unit 81.

As described above, the reflected control laser beams are returned from the retroreflectors 846 and 849 over the light transmission passage 811 to be individually struck to meet the light position detecting units 879 and 81. Therefore, when the light position detecting units 879 and 81 are individually reflected, the first and second reflected reflectors may be reflected. Information on position deviation at the locations of the retroreflectors 846 and 849 can thus be separated and recognized by the control unit 829.

According to the information on the light position deviation in both positions, the control unit 829 may control the operation of the mirror angle adjusting unit 831 to cancel or minimize the position deviation so as to perform feedback control of the automatically angle adjustable mirrors 825 and 826.

The detection control adjustment system detects position deviation of the reflected control laser beams so as to adjust the angles of the automatically angle-adjustable mirrors 825 and 826.

Each of the components including the light + position detecting units 879 and 81 for detecting the positions of the rotated control laser beams, the signal processing unit 65, the control unit 829 and the mirror adjusting unit 831 must be capable of rapid response. Thus, the deviation of the beams caused by vibrations of each mirror can be corrected in accordance with the speed of the feedback loop in the detection control adjustment system.

In accordance with the accuracy of each of the retro-reflectors 846 and 849 and the position detecting units 879 and 81 and the control accuracy of the automatic angle-adjusting mirrors 825 and 826, the beam transmission position can be controlled.

The light transmission device 870 can correct the fluctuation of the laser beams, which is caused by vibration of the air and mechanical vibrations which occur when a long-distance transmission is performed using the automatically adjustable mirror. Therefore, the laser beam can be stably transmitted to the location of the object 817 for a long time.

In the light transmission device 870 according to this embodiment, the optical axis of the light transmission passage 811 for the laser beam and the measuring axis of the CCD camera 852 are mounted on the common axis. Therefore, the light transmission passage 811 for the laser beam can be observed linearly to the laser irradiation point. The deviation of the angle from the optical axis can be calculated from the position deviation of the laser irradiation point. Thus, the optical axis can be adjusted by the size of the deviation by using the automatically adjustable mirrors 821 to 824. Thus, it is not necessary to arrange the electronic image pickup unit, such as the CCD camera 852, in an intermediate position in the transmission passage. Therefore, the adjustment of the optical axis can be performed at a place remote therefrom also in an environment in which intense radioactivity occurs.

Furthermore, the CCD camera need not be arranged in the places of the automatically adjustable mirrors in light: the transmission passage 811. Only one CCD camera 852 is required to perform the remote adjustment. Bildinforma- ^ ~ _. ' 521 996: av:. ø. '. . In the image taken by the CCD camera 852, the image processing unit 855 is supplied so as to be compared with the recorded image, which serves as a reference image by the image processing unit. Thus, the pattern matching process is performed. As a result of the pattern matching process, the magnitude of the deviation of the mirror image can be automatically measured in accordance with the image photographed by the CCD camera 852. Thus, the automatically adjustable mirrors 821 to 824 can be automatically adjusted.

In the light transmission device 870, the targets 833 to 836 for the image process are arranged next to the mirrors 826, 823, 824 and 827 for use in transmitting light for calculating the angular deviation of the optical axis from the positional deviation of the targets 833 to 836. Therefore, only the mirrors 826 are used. 823, 824 and 827 immediately before targets 833 to 836, which are subject to position deviation, for adjusting the optical axis. Thus, when the automatically adjustable mirrors 821 to 824 in the light transmission passage 811 are adjusted from a place remote therefrom, the positions which must be adjusted for transmitting light can be clearly detected and the imaging process can be simplified.

According to the shapes of the targets 833 to 836 for the image process, the positions of the automatically adjustable mirrors 821 to 824 on the optical axis of the light transmission passage 811, which must be adjusted, and the targets 833 to 836 can be clearly determined. Thus, the determination of the positions that must be adjusted can be facilitated. The size of the deviation of the automatically adjustable mirrors 821 to 824 can be measured accurately.

In the light transmission device 870 according to this embodiment, the lamps 838 to 841, which are lighting units, are placed next to the mirrors 826, 823, 824 and 827 for use in light transmission. When the illumination of "only each of the targets 833 to 836 observed by the CCD camera 852 is turned on, the target whose deviation v. L5 521 996 voo |.. Onnun 95 is corrected can be detected. Thus, the position deviation can be calculated by means of The positions of the targets 833 to 836 for the image process, corresponding to the automatically adjustable mirrors 821 to 824, which must be adjusted at the moment, can thus be more clearly distinguished from other automatically adjustable mirrors 821 to 824 and the targets 833 to 836, which are not adjusted. Therefore, the determination of the position that must be adjusted can be facilitated and the magnitude of the deviation of each of the automatically adjustable mirrors 821 to 824 can be measured accurately.

In the light transmission device 870, the mirror adjustment unit 830, which is driven by the control unit 829, is an automatic mirror unit, which is displaced by means of the stepper motor or the servomotor. When the automatically adjustable mirrors 821 to 824 are displaced in accordance with the information of the image processing, the automatically adjustable mirrors 821 to 824 can be displaced exactly the distances to be displaced. Therefore, the necessity of repeated adjustment of the same mirror can be eliminated, ie the adjustment can be performed at one time. An effect can therefore be achieved in that the adjustment of the optical axis of the light transmission passage 811 can be completed quickly.

In the light transmission device 870, the pattern matching function is added to the image processing unit 855 of the CCD camera 852. Therefore, a comparison with the recorded image is allowed, which is the reference of the light transmission passage 811. Although the point to be irradiated with the laser beam can not be observed by the CCD camera 852, the deviation of the angle of the optical axis can be calculated. Thus, the optical axis can be adjusted. The image processing unit 855, which is provided with the pattern matching device, thus allows easy detection of shape and position deviations of the targets 833 to 836 in accordance with the reference pattern (the registered pattern) recorded in the previous adjustment.

Therefore, the adjustment of the optical axis of light- vvvvv v vvvv vvv- ~ v v v vvv v v vv vv v of I 'I' I 'v vv v v v v vv v vv v v v vv v- I' v v v v v v v v v v v v v v vvvv. v v v vvv vvv vv vvv vvvv v v vvv vv 'v v v v vv v v v v v v v v v v v v v v vv vv -v' I '96 The transmission passage 811 is performed quickly and the adjustment accuracy can be improved. Furthermore, the frequency of the occurrence of malfunction of the device, caused by an erroneous recognition result of the image processing unit 855, can be reduced.

The light transmission device 870 according to this embodiment comprises the light transmission means 812 formed by a combination of one or more mirrors to provide the light transmission passage 811. In addition, some or all of the mirrors forming the light transmission passage 811 are provided with mirror adjusting units 830 and 831. , each of which can control the angle of inclination of the mirror from a position at a distance therefrom. Some of the mirrors in the light transmission passage 811 of the light transmission device 870 are half mirrors or path length separating mirrors, which are separating mirror means. Furthermore, the light position detecting units 879 and 81 are arranged in places, whereupon reflected light by the control laser beams is separated by the separating mirror means 824 and 827. In addition, the control unit 829 is arranged, which processes position information output from the light position detecting units for the mirror adjustment unit 879 and 81. 831.

The angles of the mirrors of the automatic angle adjustment mirrors can therefore be made more accurately than the position deviation measuring method, which uses the CCD camera 852. The measurement of the position can take place much faster compared to the construction with the CCD camera. Therefore, even if the optical axis is displaced due to vibrations of the device, the automatic angular adjustment mirrors 825 and 826 are displaced in a direction in which the deviation of the optical axis is eliminated. Thus, the effect of vibrations can be eliminated.

The light transmission device 870 is provided with a plurality of control laser units 871 and 872 individually from the main laser emission unit 813 for outputting the main laser beam. Therefore, if the main laser beam has a repetition variation factor similar to that of the pulse laser, the adjustment of the optical axis of the light transmission passage 811 can be performed relative to the laser beams emitted from the control laser units 871 and 872 for adjusting the optical axes and serving as control laser beams. Therefore, the stable light transmission can be performed.

In the light transmission device 870 according to this embodiment, a part of the automatic adjusting mirror 824 and the fixed mirror 827 in the light transmission passage 811 are separation mirror means, such as half mirrors or wavelength separation mirrors. Furthermore, parallel reflecting optical means 846 and 849 are arranged on rails. , separated by the separation mirror means 824 and 827, are transmitted and represented by the corner cube prism, the hollow corner cube or the cat eye optical means, half mirror means 819, which are arranged adjacent the light source portion of the first and second control laser units 871 and 879, and positioning light units. 881, which are located adjacent to the half-mirror, and the control unit 829 for processing position information output from the light position detecting units 879 and 881 for influencing the mirror angle adjusting unit 831. The necessity of placing electronic elements, such as the light position detecting unit in the light transmission passage 811 can therefore be eliminated for measuring the magnitude of the positional deviation of the light from a place at a distance therefrom. Complicated wiring is thus not required and no electronic elements are placed in the light transmission passage 811. It can therefore be applied in an environment where intense radioactivity occurs.

The light transmission device 870 according to this embodiment comprises a plurality, for example two or more control laser units 871 and 872 for emitting laser beams having wavelengths which deviate from that of the main laser beam which must be transmitted. The laser beams differ from each other. A plurality of mirrors. - »v-.Q 10 521 996; sg¿; §y§ 98 adjacent places in the light transmission passage 811 are path length separating mirrors to correspond to the number of first and second control laser units 871 and 872. The parallel-reflecting optical means 846 and 849, which are arranged in positions to which the guide laser beams are separated by the path length separating mirrors, are transmitted and represented by the corner cube prism, the hollow corner cube or the cat eye optical means, half mirror means 819 arranged next to the light source of the guide laser means 87, 87 a plurality of light position detecting units 879 and 881 for individual detection Further, the arrangement of the path length-separated control laser beams and the control unit 829, which processes position information output from each of the light position detecting units 879 and 881 for actuating the mirror angle adjusting units 831, serving as the automatic mirror unit. Therefore, when the magnitude of the position deviation of the beam is adjusted in a plurality of positions in the light transmission passage 811, it is not necessary to consider the effect of the error of the polarization of the laser beam. Therefore, the deviation of the positions of the beams can be measured in a number of places with satisfactory separation accuracy. If three or more points occur in which the magnitudes of the positional deviation of the beams must be measured occur, only an increase in the number of types of guide laser beams is required.

The light transmission device 870 according to this embodiment comprises the mirror angle adjusting means (the automatic mirror unit) 831, which is driven by the control unit 829. The mirror angle adjusting unit 831 is the automatic mirror unit, which is driven by the electrostriction device or the galvanometer which has a fast response. In addition, the light position detecting units 879 and 881 are light position detecting units which include PSD means (position sensitive detectors) or separation type photodiode means. Therefore, even if an external influence of vibrations having higher frequency components is exerted on the light transmitting device 870, the influence of the deviation of the optical axis caused by vibrations can be eliminated.

The light transmission device 870 according to this embodiment can automate the adjustment of the optical axis of the light transmission passage 811 from coarse adjustment to precise adjustment and eliminate the effect of vibrations.

The light transmission device 870 can adjust the optical axis of the light transmission passage 811 from a place remote therefrom. Therefore, even if the laser unit is arranged separately from the portion in which the material is processed or inspection is performed, stable processing or inspection can be performed.

Furthermore, the light transmission device 870 can stably transmit a high-power laser beam when preventive maintenance / repair of a structure in the core is performed.

Therefore, reliable operation can take place. In addition, the same light transmission passage 811 can be used to cause the CCD camera to photograph the transmission position from a location remote therefrom.

According to the present invention there is provided a preventive maintenance / repair device for a structure in the core and an embodiment thereof will be described in the following with reference to the drawings.

Fig. 11 shows the complete structure of an embodiment of a device for preventive maintenance / repair for a structure in the core according to the present invention. More specifically, an area from an operating floor 1 to an upper portion of the core housing 6 is provided in the reactor pressure vessel 2. A laser oscillator 70, comprising an automatic alignment unit and a position (PSD), a power supply unit 71 and a control panel 72 are provided on the operating floor 1. A motion sensor light transmission tube 25 is connected to the laser oscillator 70. A movable box 24 with a reflecting mirror, serving as a first reflecting mirror box, is connected to a laser mirror oscillator 70. 521 996 nun; -0 eu 1 - »- 4 ~ o 100 to the light transmission tube 25.

A laser beam emitted from the laser oscillator 70 is positioned and adjusted for transmission to the central portion of the core of the reactor pressure vessel 2. Light leakage from the light transmission tube 25 is prevented by isolation. A support column 20 for supporting the load of the light transmission tube 25 is arranged above the reactor basin 7 opposite the reactor basin 7.

The movable reflecting mirror box 24 is mounted on the central portion of the stretcher column 20. The movable reflecting mirror box 24 has wheels 58 which are joined to a portion thereof so as to be placed on rails 23. As a result, arbitrary movement and position adjustment is allowed in connection with the rear end of the light transmission tube 25.

The box 24 with movable reflecting mirror has a 90 ° with an automatic reflecting mirror (not shown) directional function, which can automatically adjust the angle from a place at a distance therefrom. The laser beam emitted from the laser oscillator 70 for passage through the light transmission tube 25 is thus deflected perpendicularly so that the laser beam can be sent downward toward the core.

To protect the laser beam from water in the reactor basin 7 in order to effect transmission in air, four light transmission masts 26 are of the multi-stage type, each having a length of about 4 meters and a total length of about 16 meters and having one end closed by means of flat glass 55 (see Fig. 14) suspended from the lower surface of the movable box 24 with reflecting mirror. The lower end of each of the light transmission masts 26 is inserted into a light transmission tube guide 34 in a turning mechanism 28, which is located on a turning carriage 27 in the center of rotation.

The carriage 27 has a clamping mechanism 33, which is arranged on the lower surface of the center of rotation. The clamping mechanism 33 is inserted into a truss in the core center of an upper compartment.

... U u ... 521 996 šf un uu - 6 - 1 0 u a Q p-4 ~ 0 1 v -6 e ~ 101 worktop 3, which is connected to the upper portion of a core sleeve body 6 to thus locked. Furthermore, wheels 32 are arranged on the lower surface of the carriage 27. The wheels 32 allow the carriage 27 to be arbitrarily displaced along the outer surface of the core sleeve body 6, so that the carriage 27 is placed on the upper outer ring 4 of the core body 6.

A horizontal light transmission tube 29 for inserting the laser beam from the light transmission masts 26 in the direction of the normal line from the center of rotation is arranged on the carriage 27. The horizontal light transmission tube 29 is connected to an annular laser processing unit 73. Thus the laser processing of the laser beam is allowed.

A second box (not shown) with a reflecting mirror, having an upper surface, which is connected to the lower end of the light transmission masts 26 and which has an automatic alignment mechanism, consisting of at least one mirror, and is arranged to modify the angle, is connected to the lower end of the light transmission masts 26. The box with the reflecting mirror is connected to the horizontal light transmission tube 29.

The annular laser matching unit 73 is attached to the carriage 27 by means of a clamping mechanism 31. The clamping mechanism 31 can slide in radial direction from the center of the core by means of the sliding mechanism 30.

Fig. 12 is a cross-sectional view showing the embodiment illustrated in Fig. 11 so that a portion of the embodiment is shown by a side view. According to Fig. 12, the reference numeral 80 represents a light transmission tube. The light transmission tube 80 corresponds to the light transmission tube, the light transmitting masts 26 and a horizontal light transmission tube 29, shown in Fig. 1. A flat glass 81 having two surfaces which are sufficiently polished to achieve excellent flatness and parallelism. , are connected to each end of the light trans- «.. ~ u-« II III IOO 'II I II II 10 II Il IIOI II i II I Ü i II Il II l' III l II II i II Olli l I u- an 1. nu nu. a o -nn I: 0 ~ v n u u n o o o n II 0 I. 4 v v »a n e n -6- ~ | 102 the mission tube 80. Furthermore, O-rings 82 are used, so that an airtight structure is formed.

Three water nozzles 83, which face the central portion of the flat glass, are connected at three points to the outside of the flat glass. A threaded hole 86 is formed in a portion of the light transmission tube 80. An air pressure connector 84 is screwed into the threaded hole 86 for connection thereto. An air pressure hose 85 is connected to the air pressure connector 84. The air pressure hose 85 extends to a compressed air unit (not shown) which is arranged on the operating floor 1 shown in Fig. 1. A nitrogen cylinder is a supply source for the air pressure unit, so that supply of 100% dry nitrogen gas to the light transmission tube 80 is allowed.

Fig. 13 shows the construction of an intermediate connecting part of the light transmission masts 26 in the multi-stage assembly. A flange 67 is connected to the end of each of the light transmission tubes 26. Thus, the light transmission tubes are connected to and attached to each other by bolts 65 and nuts 66. Each flange connecting surface is airtight by an O-ring 68. The bolt 65 is attached at the light transmission tubes 26 by means of a hinge 64, so that accidental separation during the connecting operation is prevented. 69 denotes a laser beam in a state of transmission through the light transmission tubes 26.

Fig. 14 shows an embodiment of the construction of the trolley 27 and a condition for connecting the upper truss plate 3 to the core sleeve body 6. The clamping mechanism 33 of the trolley consists of an air cylinder 39, a link 40 and a pad 41. The rotating mechanism 28 is arranged on the clamping mechanism 33 of the swivel The rotary mechanism 28 consists of a bearing 42, an electric motor 43 and gears 44 and 45. The axis of rotation coincides with the center of the clamping mechanism 33 of the rotary carriage. The wheels 32 are wheels for rotation and are connected to run on the upper ring 4, which is ... uu ao .. l5 521 996 uno o. ~ u o. see ou 103 arranged in the upper end of the upper sleeve body 6a.

In addition, a guide roller 46 is connected so that an air cylinder 47 can press the guide roller 46 against the inner surface of a skirt 5, which is arranged on the inside of the upper ring 4.

A light transmission tube guide 34, which is a receiving frame for the light transmission tubes 26, is arranged so that the optical axis of the laser beam 69a in the light transmission tubes 26 of the multi-stage assembly type coincides with the axis of rotation. The light transmission tube guide 34 is rotatably connected to a horizontal light transmission tube 29 over a bearing 35. The light transmission tube guide 34 is divided by a flat glass 56a, maintained.

The upper end of the light transmission tube guide 34 so that the airtightness of the light transmission tube 29 is formed into a mortar shape for controlling the insertion of the light transmission tubes 26 of the multi-stage assembly type.

The light transmission tube guide 34 has a water supply open inlet conduit 37 and a water outlet opening 38 to allow circulation of water which accumulates in a gap between the flat glass 55 and the flat glass 56a in the light transmission tubes 26.

The horizontal light transmission tube 29 has reflecting mirrors 53 and 54 for reflecting the laser beam 69 so as to form an angle of approximately 453. Thus, the laser beam 9 transmitted downward from the multi-stage type light transmission tubes 26 is deflected by an expected mean angle of 45 °. reflecting mirror 53 so as to be caused to strike a reflecting mirror 54, and then deflected at an expected angle of 45 °. against a flat glass 56b in another end face on the horizontal. Thus, the laser beam 9 is transmitted horizontally to the light transmission tube 29.

The reflecting mirrors 53 and 54 are biaxial and electric mirrors, the angle of each of which can be modified from a place at a distance therefrom. An electric actuator for the reflection mirror 53 is a 10 521 996 .nu u. 104 electric motor, which can adjust a wide angle range so as to be used in automatic low speed alignment for coarse adjustment. An electric actuator for the second reflecting mirror 54 includes a piezoelectric means, which allows fast, precise, high-resolution adjustment despite a narrow, adjustable angular range, so that it is used for automatic high-speed alignment for precise adjustment.

Transmission of the laser beam between the horizontal light transmission tube 29 and the annular laser processing unit 73 is performed so that the laser beam is temporarily transmitted in water. The flat glass 56b in the laser beam outlet port of the horizontal light transmission tube 29 and a flat glass 90 in the laser beam inlet of the annular laser processing unit 73 are arranged opposite each other and attached to the upper surface of the telescopic frame 48 so as to coincide with the carriage each other.

The telescopic frame 48 is displaceable in the radial direction from the center of the core by means of the sliding mechanism 30 from a place at a distance therefrom. In this embodiment, the sliding mechanism 30 is formed by a linear guide 49, a motor 59 and an outer frame 60.

The telescopic frame 48 has a locating pin 52 for the annular laser processing unit 73 and a clamping mechanism 31 for attaching the arranged annular laser processing unit 73. A portion in the vicinity of the outlet opening of the laser beam in the horizontal light transmission tube 47 is formed by an air cylinder 50. allows displacement of the laser beam outlet aperture. Thus, the laser beam outlet opening of the horizontal light transmission tube 29 can be temporarily retracted during the operation of locating the annular laser processing unit 73.

Fig. 15 is a diagram showing a construction which makes the support pillar 20 a movable pillar. The flat plate supported pillar 20 has wheels 21, which a: - »aa l5 521 996 u n» nu o. 105 are connected to the two sides thereon. The movable support column 20 is mounted on rails 22, which are temporarily placed on the operating floor 1. The laser oscillator 70, which has an automatic alignment unit and a position sensor (PSD) (not shown), a power supply unit 71, the light transmission tube 25 and the the movable box 24 with reflection mirror is mounted on the movable support column. Furthermore, a control panel 72 is arranged on the operating floor 1.

The movable box 24 for the reflection mirror is mounted on the central portion of the support column 20. As shown in Fig. 11, the wheels 58 are connected to the movable box 24 for the reflection mirror and placed on rails 23 so as to be moved arbitrarily, so that position adjustment is allowed. The light transmission tube 25 is connected to the movable box 24 for the reflection mirror.

A portion of the light transmission tube 25 is formed into a bellows tube structure, so that positional adjustment of the moving box 24 with reflecting mirror is allowed.

The movable box 24 with reflecting mirror has a 90 ° reflecting mirror with automatic alignment function, with which the angle can be automatically adjusted from a place at a distance therefrom. Thus, the laser beam emitted from the laser oscillator 70 is deflected perpendicularly to transmit the laser beam downward toward the reactor core.

Fig. 16 shows in perspective the annular laser processing unit 73 so that a portion is illustrated in cross-sectional view. The annular laser processing unit 73 has a locating pin hole 100, in which a locating pin 52, which is connected to the telescopic frame 48 of the swivel carriage 27, is inserted. The clamping mechanism 31 on the swivel carriage 27 also secures the arranged annular laser processing unit 73.

Arranged in a housing arranged on the upper end of the annular laser processing unit 73 is an electric, reflecting mirror, the angle of which can be adjusted from a distance at a distance. from there. Thus, the laser beam transmitted from the rotary carriage 27 is deflected approximately 90 ° toward a light transmission tube 101 perpendicularly downward.

The light transmission tube 101 is a tube consisting of two elongate, hollow, cylindrical tubes, which light transmission tube 101 has a front end which is provided with a laser emitting head 102 and a fixed portion 103. The outer shape of the light transmission tube 101 is shaped so that it can pass a diffuser 106 of a jet pump 108. As shown in Fig. 17 (A), a ball screw 104 and a motor 105 are connected to the light transmission tube 101 so as to be telescopic from a location remote therefrom.

Figs. 17 (A) and 17 (B) show a construction of the fixed portion 103 damaged in Fig. 16. A fixed portion 103 having a hollow bag shape and made of elastic thin film made of rubber or the like, is arranged between the light transmission tube 101 and the laser emitter. a pressure hose 102. A pressure hose (not shown) is connected to the fixed portion 103. The pressure hose extends to the operating floor 1, shown in Fig. 11, so as to be connected to an air pressure circuit for the control panel above the substrate.

Fig. 18 is a diagram showing another structure of the fixed portion 103 illustrated in Fig. 16. In this example, the fixed portion 103 consists of a linkage mechanism 110, a pad 111 and a hydraulic cylinder 112.

Fig. 19 is a diagram showing an example of the annular laser processing unit 73. The annular laser processing unit 73 has a locating pin hole 100, in which the locating pin 52, which is connected to the telescopic frame 48 of the carriage 27, is inserted. The clamping mechanism 31 of the turntable 27 holds the annular laser processing unit 73.

A housing at the upper end of the annular laser processing unit 73 contains an electric, reflecting mirror, the angle of which can be adjusted from a point on .. ~ vw.- 521 996 - ::; =: '-. F ;. : ':; f1. -u- of 107 distances from there. The laser beam, which is transmitted from the rotary carriage 27, is thus deflected approximately 90 ° towards a rotatable light transmission tube 120, which extends perpendicularly downwards. The lower end of the rotatable light transmission tube 120 is located in an upper opening in the diffuser 106.

A machining arm 121 is connected to the lower portion of the rotatable light transmission tube 120, which is arranged lower than the diffuser bracket 107. The rotatable light transmission tube 120 and the machining arm 121 can be connected / released by coupling mechanisms 122a and 222 from a location remote therefrom.

The laser emitting head 102 is connected to the lower end of the processing arm 121 via a short arm 132.

According to Fig. 20, the rotatable light transmission tube 120 is disposed above the diffuser 106. A seat portion 123 is formed at the lower end of the rotatable light transmission tube 120. The seat portion 123 consists of a bearing 124a, a clamping mechanism 129, an O-ring 126a and a motor 127. When the motor 127 is rotated, an intermediate light transmission tube 120a, which is arranged above the seat portion 123, can be rotated.

The intermediate light transmission tube 120a consists of an electric, reflecting mirror 125, a flat glass 130, a bearing 124b and an O-ring 126b. The lower portion of the rotatable light transmission tube 120 is rotatable. Further, an electrically reflecting mirror 128 (not shown) is arranged above the rotatable light transmission tube 120. Thus, the laser beam transmitted from the carriage 27 is temporarily deflected downward so as to be transmitted through the rotatable light transmission tube 20. The lower reflecting mirror 125 - bends the laser beam against a flat glass 130 in the coupling window 122a of the coupling mechanism 122a. The processing arm 121 consists of the coupling mechanism 122a, a telescopic light transmission tube 131, an air pressure cylinder 134 and the laser emitting head 102.

- ~ Q w ... 521 996 ¿~ ï¿; 108 An air pressure piston 132, the ball screw 104 and the motor 105 are connected to the telescopic light transmission tube 131.

Fig. 21 is a construction view showing a portion including the clutch mechanism 22a. The coupling mechanism 122a for the rotatable light transmission tube 120 consists of a coupling frame 136, a locating pin 137, an electromagnetic chuck 138, a flat glass 130 and a water jet nozzle 131. The coupling mechanism 122b for the processing arm 121 consists of a pin hole 140, which is arranged to receive the locating pin 137, a flat glass 141 and a water jet nozzle 142 (not shown).

Fig. 22 is a diagram showing an example of the annular laser processing unit 73. The annular laser processing unit 73 has the locating pin hole 100, in which the locating pin 52, which is connected to the telescopic frame 48 on the carriage 27, is inserted. In addition, the clamping mechanism 31 of the carriage 27 holds the annular laser processing unit 73.

A housing disposed on the upper end of the annular laser processing unit 73 includes an electrically reflecting mirror (not shown) having an angle which can be adjusted from a location remote therefrom. Thus, the laser beam transmitted from the carriage 27 is deflected at an angle of about 90 ° to the light transmission tube 150, which extends perpendicularly downward.

A connection type light transmission tube portion 151 according to claim 15 is arranged in a position which is lower than the light transmission tube 150 over a distance of approximately 1.5 meters. To respond to the movement of each of the air pressure piston 152 and the parallel link mechanism 153, the optical axis for any distance may be offset.

An insertion mast 161 and a laser beam emitting head 162 are provided below the joint type light transmission tube portion 151. A detailed construction of the connection type light transmission tube 151 is shown in Fig. 23. The light transmission tube 151 consists of four 90 ° reflecting mirrors 157.

Two reflecting mirrors, i.e. the second connecting shaft 151b and the third connecting shaft 151c, are rotatable shafts, O-ring 155. which are rotated by means of a bearing 154 and one In the embodiment are as a means for detecting the deviation of the optical the axis of the automatic alignment unit for adjusting the optical axis of the laser beam a retroreflector 156 inserted in a first connection 11a. Therefore, in the previous connection, the reflecting mirror 157 is a half mirror.

The center of rotation of the first connecting shaft 115 has been made to coincide with a central link line 158 to the base 153a of the parallel link mechanism 153. The center of rotation of the third connecting shaft 115c has been made to coincide with a link center line 159 of a movable side base 153b of the parallel link mechanism 153. Synchronously with the movement of the parallel link mechanism 153, the connection type light transmission tube portion 151 can be bent.

The above-mentioned parallel link mechanism 153 and the connection type light transmission tube portion 151 allow diffraction of the light transmission tube 151 below the boundary between the upper body 6a of the housing and the intermediate body 6b of the housing (see Fig. 22). Therefore, the batch is collectively called the intermediate body diffraction mechanism 160.

An insertion mast 161 is connected to the base 135b with movable side while the upper end is connected to the light transmission tube 151d. A laser emitting head 162 is connected to the front end of the insertion mast 161.

Each of the two portions is characterized by a horizontal cross-sectional shape, which has a width of about 100 mm and a depth of about 50 mm. When downward movement from a position above the basin due to introduction into an annular furnace, passage through the gaps between the following elements is allowed, namely a water supply. > - n .- 110 diffuser (not shown), a transition piece 170, a riser pipe 171, a riser support arm 172, a housing head bolt bracket (not shown), a riser bracket 173 and a jet pump bracket 174. In Fig. 22, the reference numeral denotes 176 a riser knee and 177 a baffle plate.

Fig. 24 shows the specific construction of the insertion mast 161. The insertion mast 161 has a shape which allows passage through a gap between the jet pump 173 and the body 6 of the housing in the annular portion. The thickness of the insertion mast 161 changes in part so that it corresponds to the gap from the riser support arm 172 and the riser bracket 173.

The optical axis of the internal light transmission tube 175 is therefore displaced towards the inside by means of the flat glass 163 slightly inclined with respect to the optical axis.

Thus, the radius of the light transmission tube 175 is maximized at each thickness. Furthermore, an electrical cable for the laser beam emitting head 162 and the compressed air hose are received in the insertion mast 161 along the light transmission tube 175.

Figs. 25 (A) and 25 (B) show the construction of the annular laser processing unit. The annular laser processing unit 73 has the locating pin hole 100, the telescopic frame 48 of the swivel carriage 27 inserted. in which the locating pin 52, which is arranged for the clamping mechanism 31 of the carriage 27, holds the arranged annular laser processing unit 73.

A housing at the upper end of the annular laser processing unit 73 includes an electrically reflecting mirror (not shown) which has an angle which can be adjusted from a location remote therefrom. Thus, the laser beam transmitted from the carriage 27 is deflected at an angle of about 90 ° to the light transmission tube 150, which extends perpendicularly downward. The front end of the light transmission tube 150 is formed into a horizontal joint 190 with several joints. vv. v.-. vv vvv vv vv vv v vv vv vv vvv vv vvvv vv v vv vvv vv vv vv v vv vvvv vv vvvvv vvvv vvvvvvv vv vv vvv vvvv vv vvv vv vvvvvv vv vvvvvv vv vvvvvvv vv v vv v III The horizontal arm 190 with multiple connections has a hollow inner portion through which the laser beam can pass. A connection is formed by two 90 ° reflecting mirrors 191a and 191b, a mechanism for rotating a light transmission tube 192 between two reflecting mirrors, i.e. a bearing 193, an O-ring 194 and a hollow motor 195. The horizontal arm 190 with several connections have connections, which consist of the same elements.

Fig. 26 shows in detail the construction of a riser fixing portion. A fixing portion 253, which is arranged below the light transmission tube 251, consists of a link mechanism 260, a pad 261 and a hydraulic cylinder 262.

Fig. 27 is a diagram showing the mechanical construction of the laser emitting head 102.

The head includes a converging lens unit 270, a scanning, reflecting mirror 271, a pivoting scanning mechanism 272, a direct acting (translational) step mechanism 273, a horizontal scanning mechanism 295, a focal distance adjusting mechanism 274, and a pre-processing unit. , three small microphones 276, a half mirror 277, a retroreflector 278 and a surveillance camera 279.

The direct acting step mechanism 273 allows the overall optical system in the head to be shifted stepwise vertically and includes a linear guide 281, a ball screw 282, a gear 283 and an AC servomotor 284. The converging lens unit 270 includes the focal length adjustment mechanism 27. linear guide 285, a ball screw 286 and a supersonic motor 287 and a converging lens 290.

The pivoting scanning mechanism 272 allows pivoting of the reflecting mirror 271 about the optical axis of the incident laser beam and has a bearing 291, a gear 292 and a supersonic motor 293. The entire body of the focal point adjustment mechanism 274 and the pivoting scanning mechanism 27 can be a horizontal scanning mechanism now .. 521 996 112 294, which includes a linear guide 296, a ball screw (not shown), a timing belt 298 and a motor 299.

Fig. 28 is a diagram showing another embodiment of the mechanical structure of the laser emitting head 102.

The head has a converging lens unit 300, a scanning reflecting mirror 301, a pivoting scanning mechanism 302, a telescopic light guide tube 303, a focal length adjusting mechanism 304, a dust removal unit 306 for the surface 30 to be machined, and three small microphones 30.

The telescopic light guide tube 303 consists of two flat glass sheets 310 and 311, a linear position sensor 312, an O-ring 313, a piston type light guide tube 314, a reset spring 315 and a compressed air tube 316.

The converging lens unit 300 consists of a focal length adjusting mechanism 304, which includes a parallel wedge 320, a ball screw 321 and a supersonic motor 322, and a converging lens 324. The pivoting scanning mechanism 302 includes a bearing 325 at which the reflecting mirror axis of the reflecting mirror 301 the optical axis of the incident laser beam and in the axial direction has the surface of the mirror, a supersonic motor 326 and a resolver 327.

Fig. 29 shows an example of the laser emitting head 102.

The laser emitting head 102 includes a converging lens unit 340, a converging lens rotating mechanism 341, a reflecting mirror 342 for scanning, a telescopic light guide tube mechanism 343, a focal length adjusting mechanism 344, a horizontal scanning mechanism 346 for moving operating surface, three small microphones 347 and a surveillance camera 348.

The construction of the laser beam emitting head 102 will now be described. The telescopic light guide tube mechanism 343 consists of two flat glass plates 350 and 351, - aus. 10 521 996 Q -upon 113 a hollow piston type hollow light transmission tube 352, an O-ring 353, a linear position sensor 354, a return spring 355 and a compressed air tube 356.

The converging lens unit 340 consists of a rotating converging lens mechanism 341 and a focal length adjusting mechanism 344. The converging lens rotation mechanism consists of a bearing 360, a supersonic motor 361 and a converging lens 362. The center of the converging lens 362 has been intentionally made eccentric with respect to the axis of rotation of the lens.

The focal length adjustment mechanism 344 can increase / decrease the focal length from a location remote therefrom and is provided with a parallel wedge 363, a ball screw 364 and a supersonic motor 365. The horizontal scanning mechanism 345 allows rotation of the reflecting mirror 342 coaxially with the axis of rotation of the rotation mechanism 341 of the converging lens and includes a rotation shaft bearing 370, an AC servomotor 371 and a resolver 372.

Fig. 30 is a block diagram showing a control system including a control panel coupled to the laser oscillator 70 for controlling the laser beam. A control panel 400 includes a signal processing circuit 401, a control driver 402, a calculator 403, a display unit 404, an input unit 405, an input / output circuit 406 for laser oscillator command, and an analysis unit 407 for an acoustic signal. The acoustic signal analyzing unit 407 consists of a signal pretreatment circuit 413, comprising an acoustic signal processing circuit 410, which is supplied from a plurality of supersonic microphones 421, which are arranged for an annular laser processing unit 420, an amplifier 411 and a frequency filter 412, an A / D conversion circuit 414 and a program calculation circuit 415 for measuring the position of the machining point in the machining operation, calculating the quantity of the machining state and determining whether or not an abnormal state arises. na: o ll4 statt. In the control panel 400, the signal processing circuit 401 receives output signals from various sensors 422, which are arranged for the annular laser processing unit 420.

In addition, the calculator 403 and the control drive 402 perform a predetermined process. The control panel 400 then outputs a control signal to a motor (actuator) in the annular laser processing unit 420. For example, the positional relationship between a portion to be processed and the annular laser processing unit 420 may be measured by a distance sensor of the various sensors 422. A result of the measurement is supplied to the signal processing circuit 401. The calculator 403 compares the output signal with a reference value and if the measured value does not correspond to the reference value, a control signal is fed to the motor (control means) via the control drive means 402. Thus, the annular laser processing unit 420 is set to a normal position. The above process is repeated so that a normal positional relationship between the portion to be machined and the annular laser machining unit 420 is maintained.

The hardware structure of the analyzer for the acoustic signal is shown in Fig. 30. A specific example of the operating principle will now be described with reference to Fig. 31. In general, a laser cold hammering operation using laser beams to improve the voltage in a welded portion of metal and laser irradiation for modifying the surface of patterned sound production. In accordance with audio data, information on the following processing conditions can be obtained.

For example, laser cold hammering is a technique by which a high-energy pulse-forming laser beam is momentarily applied to the surface of the metal portion in water. Thus, the light energy imparts a plasma shape to the metal surface and causes a pressure wave to form. Thus, residual stress in the surface of the metal portion is converted from tensile stress to compressive stress. When the plasma is generated, the measurement time of sounds generated from the light conversion point is plotted, as shown in Fig. 31. -uu-5 521 996 o u ~ | »A n n 115 When the similarity of the sound generation patterns is analyzed, the time at which this sound is recorded can be detected. The time during which the sound propagates can be ignored in comparison with the time during which the sound propagates. Therefore, when the laser beams are applied in predetermined patterns, the time at which the laser beam reaches a peak, to the time at which the sound is picked up by the microphone, can be considered to be the propagation time that the sound takes to propagate from the generation point to each microphone.

In an example sound pattern shown in Fig. 31, the sampled acoustic signal includes a sharp peak sound, which is detected from the light conversion point. The time for the generation of the peak sound is measured by each microphone and the time is then converted to elapsed time for determining the emission of the laser beam.

Since the time during which the light propagates can be ignored in comparison with the time during which the sound propagates, the elapsed time can be considered as the propagation time which the sound takes to propagate from the light conversion point to each microphone. The time is divided by the sound propagation time for calculating the distance from each microphone to the light conversion point. Furthermore, a three-dimensional position, in which the sound is generated, can be calculated in accordance with the data on the distances of three or more points by using the principle of three-point measurement.

The measurement of the quantity of the condition is performed so that, for example, the peak level of the shock noise and the frequency of the peak noise are analyzed. Thus, the energy level of the laser beams and a state in which the laser beams are brought to hit the irradiation point are analyzed quantitatively and measured. With laser cold hammering, the top level increases if the laser energy is large. In accordance with the above correlation, the energy of incident light for use in the machining operation can be detected. The measurement and analysis can further be performed from just one microphone. vv.- 521 996 n »- | of u 116 The diagnosis of an abnormal condition in the machining operation is made by means of a phenomenon where noise is generated in front of the top sound if the laser beam is converted in front of the point (surface of the metal part) that must be machined and therefore the energy is not absorbed satisfactorily or attenuated the light conversion point. The measurement and analysis can be performed from just a microphone.

In accordance with the data on the analysis of the sound generation during the machining operation, convergence control is performed, which includes adjusting the position of the focal point of the laser beam, feedback control of the laser beam for controlling the oscillator and counter-measurement against an abnormal condition.

Figs. 32 (A) to 32 (D) show an embodiment of a dust removal unit 450 for the surface to be machined. The unit thus consists of a water jet nozzle 451, which is connected to a position adjacent to the laser emitting head 102, a connecting hose 453 for establishing the connection from the nozzle 451 to a pressurized water supply unit 452 and a filter 454.

Figs. 33 (A) to 33 (D) show another dust removal unit 460 for the surface to be machined.

The unit thus consists of a suction nozzle 461, which is connected to a position next to the laser emitting head 102, a connecting hose 463 for establishing the connection from the nozzle 461 to a suction pump unit 462, the suction pump unit 462 and a filter 464.

Figs. 34 (A) and 34 (B) show the specific construction of an underwater propeller 510. The underwater propeller 510, which includes a screw 511 and a motor 512, which is arranged for receiving in the screw, is connected to a location adjacent the front end of the annular laser processing unit 73.

Fig. 35 shows an example according to which a gyro motor 520 is mounted on the laser emitting head 102. 521 996 | ø ~. .u 117 Fig. 36 of the laser oscillator 70 and the rotary carriage 27.

(A) and 36 (B) show specific designs. the optical axis by automatic change of direction changes the design for horizontal deflection of the optical axis.

The laser oscillator 70 is therefore arranged so that the optical axis of the laser oscillator 70 and the optical axis of the horizontal light transmission tube 29 arranged on the carriage 27 intersect at an angle of 90 °. An emission opening 540 in the laser oscillator 70 and a laser beam receiving opening 542 in a housing 533, housing the mirrors 53 and 54, the light transmission tube 29, are connected to each other which is connected to the horizontal by a flange 531. The connecting portion is sealed a rubber gasket 532.

Figs. 37 (A) and 37 (B) show the specific construction of a remote connection / release system for enabling removal of the laser oscillator 70 from the carriage 27 from a location remote therefrom.

The emission aperture 540 of the laser oscillator 70 is divided by a flat glass plate 541, while the laser beam receiving aperture in the horizontal light transmission tube 29 on the carriage 27 is divided by a flat glass plate 543. Water jet nozzles 544a and 544b are provided on the flat surfaces 541 of the glass plates.

Four locating pin holes 545 are formed in the base 547 of the laser oscillator 70, while the same number of locating pins 546 are provided for the carriage 27 so that they can be brought into engagement with each other. A rubber vibration isolator 548 is located in a place “below the base 547. 521 996 1” n ø. - a 6. A knee joint clamp 550, which serves as a locking mechanism 549 for the laser oscillator 70, is provided for the carriage 27 so as to secure the base 547 to the laser oscillator 70. The knee joint clamp 550 is provided with a handle 551, which is hooked by a operating rod or the like to be able to be operated from a place at a distance therefrom above the reactor basin.

Fig. 38 illustrates a method of applying the laser beam transmission system of the present invention to the preventive maintenance / repair device using the laser beam in the housing. A base 560 on the carriage 27 has a horseshoe-like shape, and thus the laser beam transmitted from the horizontal light transmission tube 29 can be transmitted vertically downward into the core housing body 6 via the hollow portion of the horseshoe structure. As an alternative to the annular laser processing unit 73, a relay box 560 for allowing a machining operation in the housing is mounted on the control panel 72 and fixed by the clamping mechanism 31, which is arranged in a predetermined position.

The relay drawer 561 is located by means of the locating pin 52, which is used for locating the annular laser processing unit. A locating pin hole 562 is provided for the relay drawer 561. The relay drawer 561 consists of an electrically reflecting mirror 563, the angle of which can be electrically adjusted from a place at a distance therefrom, flat glass sheets 564 and 565, a pressure pipe 566 for cleaning drying gas and water jet nozzles 56 and 567b, which are arranged on the outside of the glass sheets.

The operation of this embodiment will be described in the following.

A procedure and a method for placing the system according to this embodiment in the reactor will first be described.

Initially, the swivel carriage 27 is displaced downwards, into the reactor pressure vessel, and then the clamping mechanism 33 of the swivel carriage is inserted in the central truss to the upper truss plate 3. At the same time, the wheels 32 are mounted on the sliding mechanism 30. on the upper, outer ring 4 on the body of the housing 6. Then the carriage clamping mechanism 33 is actuated so as to be locked at the truss of the upper truss plate 3.

At the same time, the guide roller 46 is pressed against the inner surface of the skirt on the upper, outer ring 4, so that the carriage 27 is placed on the body 6 of the housing.

The support column 20 is then mounted on the reactor pole so that the support column 20 is placed across the core. The placement is carried out by means of a method according to which the support pillar 20 is suspended by means of a crane, which is arranged in the ceiling, as shown in Fig. 11. The support column 20 is thus displaced directly and placed on the floor 1. Another method can be used, according to which the rails 22, which are arranged on the operating floor 1, are used to temporarily mount the support column 20, whereupon the support column 20 is displaced laterally to the position above the core.

The light transmission tubes 26 of the multi-stage joint type are mounted sequentially from the support column 20, so that an elongate mast with a length of approximately 16 meters is formed.

The unit is provided by means of a flange joint construction using an O-ring for sealing the mast.

Furthermore, the bolt 65 and the nut 66 are used to connect the mast. The end surface of the lower mast is separated by the flat glass 55 while the reflecting mirror 60 is connected to the end of the upper mast.

After the assembly has been carried out, the masts are suspended by means of the mast arranged in the ceiling, so that movement of the rotary carriage 27 to the center of rotation of the rotary mechanism 28 and insertion and placement of the light transmission tube 34 in the connecting portion are performed. At this time, the upper end of the light transmission tube mast 26 is placed on the movable mirror 24 of the support column 20 with reflecting mirror.

The load of the light transmission tube 25 is supported by the movable box 24 with reflecting mirror. Movement of the movable box 24 with reflecting mirror is allowed me- v-v - <. lO 521 996 -. 120 partly rollers or linear guides, so that vertical deviation of the light transmission mast 26 is absorbed.

An error made in the connection of the support column 20 to the core can be modified because the laser beam can be modified by automatically and precisely adjusting the angle of the mirror by means of the angle-modifying motor of the reflecting mirror in the light guide tube for each element. Only a coarse connection accuracy is required to transmit the laser beam. Therefore, usability can be improved.

After the installation is completed, the function of the rotary carriage turning mechanism 27 allows rotation of the annular laser processing unit 73 360 ° around the body of the housing. The position of the annular processing unit 73 can be adjusted exactly in the radial direction of the core by the slide mechanism 30 on the carriage 27. The combination of the rotation mechanism 30 and the slide mechanism 30 allows locating the annular laser processing unit 73 in any position around the body 6 of the housing.

A part of the reflecting mirrors in each of the light guide tubes are electric mirrors, the optical ones of which are thus allowed to be transmitted over a long distance. Remote connection paths can be easily modified and controlled. the portion of each light transmission tube is separated by the flat glass to facilitate separation and assembly. To perform the operation underwater, each flat glass is provided with a water jet nozzle to prevent the formation of air bubbles. The mechanism for supplying dry air to the light transmission tube is arranged to prevent dew condensation.

The modification of the optical path is performed automatically by detecting position deviation in accordance with the reference light reflected by the retroreflector arranged in an intermediate position of the light transmission tube in the annular laser processing unit 73 and the laser emitting head 102. For realizing the reference beam ggajš = .. = u .uu- 121 from each retroreflector, each retroreflector has a polarizing filter, so that reference light is separated.

The acoustic analyzes of sounds recorded by the supersonic microphone are performed so that the state during the processing operation is monitored. More specifically, information which is important for administering the processing operation, including controlling the focusing operation, determining the intensity of the converged energy and measuring the position of the converged light, can be measured in real time. To remove air bubbles and dust generated during the operation from the optical path of the laser beam at the machining site, the dust removal unit for removing dust from the surface to be machined by means of the water jet nozzle is placed on the optical path of the laser beam.

An underwater fan or a gyro motor may be provided as a means of securing the position of the front end of the head during the machining operation.

As shown in Fig. 36, the laser oscillator 70 is placed in the pressure-proof container 530 and then displaced on the carriage, thus no long light transmission tube is required from a position above the reactor base bed to the carriage.

Since the construction shown in Fig. 37 is used, the locking mechanism for attaching the pressure-proof container 530, including the laser oscillator 70, to the carriage can be removed or locked using the operating rod from a location remote therefrom. Thus, only the laser oscillator can be removed from the reactor for adjustment or modification during the machining operation. The laser oscillator 70 can further be arranged after the carriage or the like has been run into the reactor.

When the construction shown in Fig. 38 is used, the laser beam can be transmitted downwards into the housing. Therefore, the laser beam can be efficiently transmitted to each of the 521 996 n »oo 122 operating units for machining the inner portion of the casing body 6.

As described above, the laser beam emitting head according to the present invention comprises the light guide means provided for the body of the emitting head, a light converging lens for converging the laser beam transmitted through the light guide means, and the reflecting mirror for irradiating a portion. to be processed, with the converged laser beam so that the above elements can be inserted / removed respectively from a narrow gap. Therefore, the converging lens and the reflecting mirror can be freely inserted / removed to or from a narrow portion in the structure of the core, for example a cylindrical narrow portion between the housing and the support plate of the core. Therefore, preventive maintenance / repair can be performed efficiently and evenly with the help of the laser beam even in a narrow section, in which a machining operation can not be easily performed.

The laser beam emitting head is provided with a flat and elongate lifting support mechanism, which can be lifted by means of a frame lifting unit. Therefore, the laser beam emitting head can be displaced upward and downward along the optical axis of the laser beam, so that the relative distance between the converging lens and the reflecting mirror is connected to the lifting support mechanism. As a result, preventive maintenance / repair through the use of laser beams can be performed efficiently and evenly.

The laser beam emitting head is provided with the mirror rotating means for rotating the reflecting mirror and the distance adjusting means for displacing and adjusting the relative distance between the reflecting mirror and the converging lens. Therefore, the distance between the converging lens and the reflecting mirror can be adjusted for easy adjustment so that the portion to be machined is in focus for the laser beams. Since the reflecting mirror is rotated by the mirror rotating means, the laser irradiation point in it for ..v- -. 521 996 --ac 1 ouø '«~ u n-v-ao 123 machining intended portion is easily displaced. Thus, preventive maintenance / repair by means of laser beams can be performed efficiently and evenly.

The laser beam emitting head has the light control means therein. The light guide means is connected to the body of the laser beam emitting head, so that the laser beams are transmitted in the air to be guided to the converging lens. Therefore, the light control means in the head can be connected independently of the converging lens and the reflecting mirror. This simplifies the connection structure. Furthermore, the elements of the light guide means in the head, the converging lens and the reflecting mirror can be easily replaced and the maintenance thereof can be easily performed. As a result, the reliability of the laser beam emitting head can be improved.

Since the light guide means in the laser beam emitting head is made of glass, the received laser beam can be reflected by the side surfaces of the glass for guiding the laser beam even if the connection position in the laser beam emitting head is displaced in an undesirable manner. The laser beams can therefore be guided to the converging lens without exception. As a result, the reliability of the laser beam emitting head can be improved and thus the quality of the machining operation can be improved.

The laser beam emitting head is provided with a cardan mechanism, which can rotate about two axes perpendicular to the body of the emitting head. The light control member in the head is connected to the gimbal mechanism inner frame. Therefore, irregularities in the surface of the structure in the core can be absorbed. Thus, the laser emitting head can be stably installed and the light control means in the head can be supported stably.

The laser beam emitting head is so structured that the optical path from the light guide means in the head to the converging lens and that from the converging lens to the reflecting mirror are exposed 521 996 now: nu uu nu co u nu nu by uo Ovøu- aø-aq uanuucn nu: n nu nu | ø \: n. n n 124 for the environment. Since the transmission passage in the room is formed in the manner described above, the light control means in the head, the converging lens and the reflecting mirror can be placed independently of the laser beam emitting head. Since a fixed light guide tube is not required for the optical path, the cross-sectional area for guiding the laser beams can be made larger. Thus, the light can be controlled reliably and therefore the quality of the processing operation can be improved.

The core maintenance / repair preventive device of the present invention includes a body locating unit disposed in the reactor, a head displacement mechanism which can displace the laser beam emitting head contained in the body locating unit displaced forward and backward by with respect to the portion to be machined, and laser beam transmission means which control the laser beams which are guided into the nuclear reactor, in order to guide the laser beam to the laser beam emitting head. The device for preventive maintenance / repair of the structure in the core therefore allows the performance of preventive maintenance / repair from a place at a distance therefrom. Thus, work efficiency can be improved and labor saved.

Since the preventive maintenance / repair device for a structure in the core has the laser beam emitting head defined in claims 1 to 5, various operations can be performed by applying laser beams in a narrow portion of the structure in the core, for example a cylindrical, narrow gap between the inner wall of a casing and a core-bearing plate. Therefore, machining efficiency can be improved and labor savings achieved.

The device for preventive maintenance / repair of a structure in the core comprises an elongate, cylindrical body casing, wherein the laser beam emitting head and the laser beam transmission means are accommodated so that insertion / lowering is allowed. Furthermore, the locating unit is suspended from a truss in the upper truss plate so as to be placed on a control rod guide tube in a busy condition................................... Thus, the frame locating unit can be suspended by means of it over the truss plate so as to be stably and evenly mounted on the control rod guide tube.

The device for preventive maintenance / repair of a structure in the core has a frame locating unit, which comprises a clamping unit with an upper portion, which is attached to an upper truss plate, a rotating unit for determining a direction in which the laser beam emitting head, a main displacement mechanism for projecting the laser beam emitting head and the laser beam transmitting means to the portion to be machined, and a base lifting unit for displacing a body base for supporting the main displacement mechanism in the body casing. Therefore, a simple design is required for the frame locating unit to displace and locate the laser beam emitting head. Thus, work efficiency can be improved and labor savings realized.

The light transmission device according to the present invention comprises an electronic optical image pickup means arranged coaxially with the optical axis of the light transmitted in the light transmission passage, an image processing unit for calculating image information supplied from the electronic optical image pickup means for measuring the magnitude of the deviation of the angle of the mirror from a normal position and a control unit for recording the magnitude of the deviation of the angle of the mirror in order to influence the mirror adjusting unit. It is therefore not necessary to provide an electronic optical image pickup means, such as a CCD camera, in an intermediate position in the light transmission passage. Thus, the light transmission passage can be adjusted by means of the electronic, optical image pickup means from a place remote therefrom. Since the image processing unit is arranged, the magnitude of the deviation of the mirror can be measured in accordance with an image photographed by the electronic optical image pickup means. Thus, the mirror can be adjusted automatically.

The light transmission device according to the present invention comprises the light transmission means having a light transmission passage covered with a light guide tube or a light controlling shielded tube, such as the light guide tube.

Since one or more mirrors are arranged in an intermediate position in the shielded light guide tube, a complicated light transmission passage can be provided by a combination of mirrors to allow transmission of the laser beam in the air in the shielded tube. Thus, the light transmission can be performed efficiently without the influence of the environment, for example the influence of air fluctuation.

The light transmission device according to the present invention has light transmission means which comprise targets for an image process arranged next to the mirrors, which targets have light transmission openings. Thus, when the mirrors in the light transmission passage are adjusted from a place at a distance therefrom, the light transmission position intended for adjustment can be clearly detected. The content of the image process can be simplified.

The light transmission device according to the present invention has the objectives for image processing, which are positioned so as to cross the light transmission passage. Furthermore, the goals have different forms. Therefore, the positions of the mirrors on the optical axis can be adjusted at the moment and the targets can be clearly detected. As a result, the determination of the position that must be adjusted can be facilitated and thus the size of the deviation in the mirror can be accurately measured.

The light transmission device according to the present invention has the light transmission means provided with a lighting unit, which can illuminate a portion adjacent to an image processing target 127 to be adjusted for the time being. The position of the target, which is to be adjusted at the moment, can therefore be further clearly distinguished from the other mirrors and the images of the other targets, and thus the adjustment position can be easily detected for accurate measurement of the magnitude of the deviation in the mirror.

The light transmission device according to the present invention comprises a mirror adjustment unit, which is an automatic mirror unit, which is driven by means of a stepper motor or a servomotor. Therefore, when the mirror is displaced in accordance with the information of an image process, the automatically adjustable mirror can be displaced exactly according to a desired displacement distance. Thus, it is not necessary to repeatedly adjust the same mirror and the adjustment of the mirror can be performed at once. Therefore, the optical axis can be adjusted quickly.

The light transmission device according to the present invention comprises the image processing unit, which is provided with a pattern matching unit for comparing a previously recorded image pattern and an image, which is photographed, when the mirror is adjusted, with each other for detecting the magnitude of the deviation in the position of the photographed the picture. Therefore, the pattern matching unit can evaluate the shape and position deviation of the adjusted target for execution in accordance with the pattern previously registered in a previous adjustment. Thus, the adjustment of the optical axis can be performed quickly and accurately. Thereby, the frequency of malfunction of the device, caused by erroneous recognition recognition performed by the image processing unit, can be reduced.

A light transmission device according to the present invention comprises a light transmission passage formed by the light transmission means and comprises half mirrors or wavelength separating mirrors which are part of the mirrors in the light transmission passage, a light position detecting unit which is placed on a sampling optical path, to which , which is separated on page 521 996 128 by the half-mirrors or the wall-length separating mirrors, is transmitted, and a control unit for calculating information about the deviation of the light position output from the light position detecting unit, for influencing a mirror adjusting unit in a direction in which a magnitude of the deviation in light position is canceled. Therefore, the accuracy can be improved in comparison with measurements of position deviation of the mirror with the aid of a CCD camera. Furthermore, the position measurement can be performed considerably faster in comparison with a process using the CCD camera. Therefore, if the optical axis is shaken due to vibration of an element, the mirror is displaced in a direction in which the shaking of the optical axis is canceled. Thus, the effect of vibrations can be eliminated.

The light transmission device according to the present invention comprises one or more types of control laser beam units for causing control laser beams to fall into the light transmission passage. Therefore, if the transmitted light has a repetitive change factor, such as pulse laser, the optical path (the optical axis) can be adjusted with respect to the rays emitted from the control laser beam units for adjusting the optical axis. Thus, a stable light transmission can be achieved.

The light transmission device according to the present invention comprises light transmission means for forming a light transmission passage by combining mirrors and a mirror adjusting unit for controlling an angle of incidence of at least one mirror, forming the light transmission means, which light transmission device comprises a main laser laser delivery unit , inspection or preventive maintenance / repair of a part intended for processing, a control laser unit for discharging a control laser beam, which differs from the main laser beam, a half-mirror control means for controlling the control laser beam, which is emitted from the control laser beam unit, to the light transmission passage , a sampling separation mirror means arranged in a intermediate position in the light transmission passage, parallel reflecting optical means arranged in an optical path separated by the separation mirror means, a light position detector a unit on which light reflected by the parallel-reflecting optical means is caused to fall through the half-mirror control means, and a control unit for receiving information on position deviation of light detected by the light position detecting unit for processing the information in and for influencing the mirror adjustment unit. Therefore, an electronic element, such as the light position detecting unit, need not be located in the light transmission passage when the magnitude of the light position deviation is measured. Thus, no complicated wiring is required and application in an environment in which heavy radioactivity occurs can be allowed.

The light transmission device according to the present invention comprises light transmission means for forming a light transmission passage by combining mirrors and a mirror adjusting unit for controlling an angle of incidence of at least one mirror, forming the light transmission passage, said transmission device comprising a main laser laser discharge unit for discharge. , inspection or preventive maintenance / repair of a lot to be machined, a control laser unit for discharging an unpolarized or circularly polarized control laser beam, which differs from the main laser beam, a half-mirror control means for controlling the control laser beam, which is discharged from a control laser beam the separation unit, to the light transmission passage, ration mirror means arranged in two portions which are different in the direction of an optical axis in the light transmission passage, parallel reflecting optical means arranged for optical paths which are separated one of the sampling separation mirror means, polarizing optical means arranged for either of the separated optical paths of the two parallel reflecting optical means, separating polarizing optical means to which light is reflected by each of the parallel ones. the means to which reflected light, the reflecting optical means via half-mirror control first and second light position detecting units, which are separated by the separating, parallel, optical means are guided and a control unit for receiving information about the deviation in the light position detected by the two the light position detecting units for processing information in and for influencing the mirror adjustment unit. Therefore, the polarization property of the control laser beam can be used.

Thus, only one control laser beam unit can control two parts, in which the position deviation of the beam is measured and controlled.

Furthermore, the light transmission device comprises the light transmission means for forming a light transmission passage by combining mirrors and a mirror adjusting unit for controlling an angle of incidence of at least one mirror, forming the light transmission passage, which light transmission device comprises a main laser beam delivery unit for discharging , inspection or preventive maintenance / repair of a part intended for machining, a plurality of guide laser units for discharging guide laser beams having path lengths different from those of the main laser beam and oscillation path lengths differing from each other, a plurality of path length separating mirror means, arranged in the light transmission passage for responding to the control laser units, parallel-reflecting optical means, which are arranged on optical paths of the control laser beams, separated by said wavelength-separating mirror means, wavelength-separating mirror means for reflected light s for separating the control laser beams, which are reflected by each of the parallel reflecting optical means for each wavelength, for controlling the control laser beams, * a plurality of light position detecting units for individual reception of the reflected control laser beams, 131 separated by a pair of wavelengths, control unit for receiving information about deviation in the light position, which is detected by each light position detection unit, for processing information so as to influence the mirror adjustment unit. Therefore, if some of the mirrors form a rotary connecting portion, it is necessary to consider the inaccuracy of the polarization, which causes a problem when the magnitudes of the positional deviation of the beams are measured at two points in the light transmission passage using the polarization. When the position deviation of the beams is measured in several places, the measurement can be performed with satisfactory separation. If the magnitude of the position deviation of the beams must be measured in three or more places, the measurement can only be performed by increasing the types of the guide laser beams.

The light transmission device according to the present invention comprises a mirror adjustment unit, which is an automatic mirror unit, which is driven by means of an electrostriction means or a galvanometer, which has a fast response. The light position detecting unit comprises a PSD (position sensitive detector) unit or a photodiode device of separation type. Therefore, even if the effect of vibrations having higher frequency components is exerted on the light transmission device, a deviation of the optical axis caused by the vibrations can be eliminated.

The light transmission device according to the present invention is formed by a combination of the light transmission device according to any one of claims 10 to 16 and the light transmission device according to any one of claims 1 to 9, wherein automation, comprising the process from coarse adjustment of the light transmission passage to precise adjustment and elimination of vibration. , can be allowed. The light transmission device according to the present invention comprises a laser beam emitting head, 521 996 132 which is provided with a laser emitting head, arranged in the emission portion of the light transmission passage, in which the laser beam is guided in the air. The laser beam emitting head irradiates a portion of the structure of the core, which is to be machined with laser beams. Therefore, even if the main laser unit is arranged separately from the portion in which the material is processed or inspection is performed, stable machining and inspection can be stably performed using the laser beams.

The light transmission device according to the present invention comprises the main laser unit for discharging laser beams for performing processing, inspection or preventive maintenance / repair of a portion intended for processing, a laser emitting unit for irradiating the portion for processing with the main laser beams from which the main laser beam is discharged. , and the light transmission device for transmitting laser beams, which are fed from the main laser unit to the laser emitting unit. The light transmission device is the transmission device specified in claim 17. Therefore, when a structure in the core is repaired, high energy laser beams can be stably transmitted and thereby a reliable operation can be performed. The same light transmission passage can further be used for photographing the transmission position by means of an electronic, optical image pickup means, such as a CCD camera, from a place at a distance therefrom.

The method of adjusting the light transmission passage according to the present invention is performed so that the optical axis of the light transmission means of the light transmission passage formed by a combination of mirrors with each other is adjusted by the electronic optical image pickup means facing the light transmission means. the optical axis of the mission passage, is brought to observe the portion to be adjusted in a place downstream of the automatically adjustable mirror, the angle of the automatically adjustable mirror is adjusted so that it observes- ».-» ~ .- »._v 521 996 = ::; = :: .- auo o ne-una 133 mirror image is placed in the central portion, the automatically adjustable mirrors, which are arranged in the light transmission passage, are sequentially adjusted from this side to adjust all the mirrors. It is therefore not necessary to arrange an electronic device, such as a CCD camera, in the light transmission passage. Thus, the optical axis can be adjusted from a place at a distance therefrom also in an environment in which strong radio activity occurs. The CCD camera does not have to be located in each place, which corresponds to the mirrors in the light transmission passage. Only an electronic optical image pickup device, such as the CCD camera, is required to adjust the optical axis at a location remote therefrom. Since the image processing unit is arranged, the magnitude of the deviation of the mirror can be automatically measured in accordance with the image photographed by the electronic optical image pickup means. Thus, the automatically adjustable mirror can be adjusted automatically.

The method of adjusting the light transmission device according to the present invention includes controlling the control laser beam output from the control laser beam unit for adjusting the optical axis of the light transmission passage having the automatically adjustable mirrors, parallel reflection of the control laser beam transmitted in the light transmission path. reflecting optical means for causing the control laser beam to strike the light position detecting unit, causing the light position detecting unit to detect a magnitude of the position of the laser beam, causing the control unit to control the operation of the mirror adjusting unit so that the magnitude of the deviation of light position deviation and deviation of the automatically adjustable mirror, so that the mirror angle is adjusted. The measurement of the positional deviation of the mirror can thus be performed accurately in comparison with a process using the CCD camera. Furthermore, position measurement can be performed comparatively fast in comparison with the process using the CCD camera. Even if the optical axis is shaken due to vibrations of the apparatus, the mirror can be rapidly displaced in a direction in which the shaking of the optical axis is eliminated. Thus, the effect of the vibrations can be eliminated.

The method of adjusting the light transmission device according to the present invention so that the optical axis of the light transmission passage having the automatically adjustable mirrors is adjusted by causing the electronic optical image pickup means to sequentially adjust the angles of the automatically adjustable mirrors at a point downstream. if the automatically adjustable mirror to be adjusted by means of the electronic optical image pickup means, so that coarse adjustment of the light transmission passage is performed, that the automatically adjustable mirrors are feedback controlled so that the magnitude of the deviation in light position detected by the light position detection unit is eliminated. that the exact adjustment of the light transmission passage is performed and the effect of external vibrations is corrected. Therefore, high energy laser beams can be stably transmitted when a structure in the core is repaired. Furthermore, the same light transmission passage can be used to cause said optical image pickup means, such as the CCD camera, to photograph the transmission position from a place remote therefrom.

According to the present invention, the transmission passage for laser beams is divided into three sections, consisting of an elongate multi-stage mast guide tube, the swivel carriage, which is placed on the upper truss plate, which is arranged for the upper part of the housing, and various annular laser processing units. Adaptation to different operations is therefore allowed. Since the mast portion and the trolley can be used together, the portion in which the operation is performed can be easily changed or displaced. . w ".- r v- 135 Since the system can be divided, the cost can be significantly reduced. The operation for preventive maintenance / repair, such as cold hammering or welding using the laser beams, can be easily performed in a narrow space in a structure which has complicated shape.

According to the present invention, the optical path is modified by using automatic alignment, whereby the electric, reflecting mirror is used and position deviation can be determined automatically according to the reference light transmitted from the retroreflector. Therefore, the light guide tube method, which has been considered difficult to use for transmitting laser beams a long distance, can be realized.

The system for transmitting laser beams comprises an optional relay ladder with reflecting mirrors, arranged for the carriage, so that the present invention is applicable to a device for performing machining in the housing.

INDUSTRIAL APPLICABILITY As described above, the laser beam emitting head of the present invention can be inserted into / pulled out of a narrow portion in which machining is to be performed. Therefore, the preventive maintenance / repair operation, which uses laser beams, can be performed efficiently. More specifically, the operation for preventive maintenance / repair of an arcuate portion between the inner wall of a casing and a core support plate, which are the structures of the core, can be performed automatically, stably and efficiently by means of laser beams in an underwater environment. In comparison with the conventional method, satisfactory advantages and effects can be obtained with respect to the structure, the operation and the safety of the operator. Therefore, a significant industrial advantage can be realized.

Claims (27)

bvu / 10 15 20 25 30 35 521 996 i Amended claims 136 PATENT CLAIMS A laser beam emitting head for irradiating a portion for processing with laser beams emitted from a laser unit, the laser beam emitting head comprising a frame for the emitting head, which has a light control means for controlling the laser beams, a converging lens for converging the laser beams, controlled from the light guide means in the head, a reflecting mirror for irradiating the portion for processing with converged laser beams, a mirror rotating means for rotatably holding the reflecting mirror about the optical axis of the laser beam, a distance adjusting means for adjusting the relative distance between the reflecting mirror and the converging lens, and a displacing means for displacing the reflecting mirror and the converging lens while maintaining the relative distance at which the light guide means in the head, the converging lens and the reflecting mirror are insertable into and extendable therefrom. earbetning intended lot in a narrow gap. The laser beam emitting head according to claim 1, wherein the emitting main body of the laser beam emitting head is provided with a flat and elongate lifting support mechanism, which is displaceable by means of a frame lifting unit, said lifting support mechanism being provided with a radiation scanning optical system, consisting of a converging lens and a reflecting mirror, and the frame lifting unit forms a movable means for displacing the converging lens and the reflecting mirror while maintaining the relative distance. 10 15 20 25 30 35 u 'en -o u 521 996. Amended claims 137 The laser beam emitting head according to claim 1, wherein the light control means in the head has a cylindrical means and an optical means for bringing the inner portion of the cylindrical means into air condition and the light control means in the head is connected to the emitting head body of the emitting head so that the laser beams are guided to the converging lens. The laser beam emitting head according to claim 1, wherein the light guide means in the head is made of glass so as to guide the laser beams to the converging lens. The laser beam emitting head according to claim 1, wherein an optical path from the light guide means in the head of the converging lens and an optical path from the converging lens to the reflecting mirror are exposed to an environment and the two optical paths are formed in space transmission passages which are realized of the surroundings. The laser beam emitting head according to claim 1, further comprising a laser beam transmitting means for receiving the laser beams from the laser unit, the laser beam transmitting means forming a movable transmission passage for receiving laser beams and being arranged to receive the laser beams for transmitting lasers in the water beams. air. 7. Light transmission device, comprising light transmission means, forming a light transmission passage by combining mirrors and a mirror adjusting unit for controlling the angle of inclination of at least one of the mirrors forming said light transmission means, which light transmission device comprises an electronic, optical means the optical axis for light transmitted in the light transmission passage, an image processing unit for calculating image information, which is supplied from the electronic, 10 15 20 25 30 35 no nu s21 996 fïf * Amended claim 138 optical image pickup means, for measuring the magnitude of the deviation of the angle of the mirror from a normal position and a control unit for receiving the magnitude of the deviation of the mirror angle in order to influence the mirror adjustment unit. wherein the light transmission means comprises targets for an image process, arranged next to the mirrors, which targets have light transmission openings. 8. A light transmission device comprising a light transmission means for forming a light transmission passage by combining mirrors and a mirror adjusting unit for controlling the angle of inclination of the mirrors forming the light transmission means, the light transmission device comprising half mirrors or wall length separating mirrors. the light transmission passage, a light position detecting unit arranged in a sampling optical path to which light separated by the half-mirrors or the path-length separating mirrors is transmitted and a control unit for calculating information about the deviation in light position output from the light position; the light position detecting unit, for driving a mirror adjusting unit in a direction in which the magnitude of the light position deviation is eliminated. A light transmission device according to claim 8, wherein one or more types of control laser beam units are arranged to provide control laser beams incident in the light transmission passage. Light transmission device, comprising light transmission means for forming a light transmission passage by combining mirrors and a mirror adjusting unit for controlling the angle of inclination of at least one mirror, forming the light transmission means, which light transmission device comprises a main laser unit for discharging laser beams. nns 10 15 20 25 30 35 s nu n ~~ oa no., .uno o 521 996 %% »fi = i Amended patent claims .uo, v ', nao II .u I 139 processing, inspection or preventive maintenance / repair of a portion for processing, a control laser unit for discharging a control laser beam, which differs from the main laser beam, a half-mirror control means for controlling the control laser beam emitted from the control laser beam unit to the light transmission passage, a sampling arranged in a separating mirror means the light transmission passage, a parallel-reflecting optical means, which is arranged in one of the separating optical path separated optical path, a light position detecting unit, on which light reflected by said parallel reflecting optical means is caused to fall via the half-mirror control means, and a control unit for receiving position deviation information of light, detected by the light position detecting unit, for processing information in and for the influence of the mirror adjustment unit. 11. ll. The light transmission device comprising a light transmission means for forming a light transmission passage by combining mirrors and a mirror adjusting unit for controlling the angle of inclination of at least one mirror, forming said light transmission passage, which light transmission device comprises a main laser unit for dispensing lasers, maintenance / repair of a portion to be machined, a control laser unit for discharging an unpolarized or circularly polarized control laser beam, which differs from the main laser beam, a half-mirror control means for controlling the control laser beam, which is discharged from the control laser beam unit to the light transmission co-transmission means; is arranged in two portions, which differ in a direction of an optical axis in the light transmission passage, a parallel-reflecting optical means, arranged for optical paths separated by the sampling separation mirror means, a polarizing optical means arranged for either of the separated optical paths of the two parallel reflecting optical means, a separating polarizing optical means to which the light reflected by each of the parallel reflecting optical means via the half-mirror control means, first and second light position detecting units, each of which is supplied with reflected light, separated by said separating, parallel, optical means, and a control unit for receiving information about the deviation in light position, detected by the two light position detecting units, for processing information in and for influencing said mirror adjusting unit. A light transmission device comprising light transmission means for forming a light transmission passage by combining mirrors and a mirror adjusting unit, for controlling the inclination angle of at least one mirror, forming the light transmission passage, which light transmission device comprises a main laser unit for discharging or processing laser beams. preventive maintenance / repair of a portion intended for processing, a plurality of control laser units for discharging control laser beams having wavelengths different from the main laser beam and oscillation wavelengths different from each other, a plurality of wavelength separating mirrors the light transmission passage for responding to the control laser units, parallel-reflecting optical means, which are arranged in the optical path of the control laser beams, which modified claims 141 are separated by means of the path-length separating mirrors. means, wavelength separating mirror means for reflected light for separating the control laser beams reflected by each of the parallel reflecting optical means, for each wavelength for controlling the control laser beams, a plurality of light position detecting units for individual reception of reflecting reflecting beams. path length separating mirror means, and a control unit for receiving information on deviation in the light position, which is detected by each light position detecting unit, for processing information in and for influencing the mirror adjustment unit. 13. A method of adjusting a light transmission device, in which a light position detecting device is arranged on the extension line of a light transmission passage formed by combining mirrors adjacent to a light source, a parallel reflecting optical means is arranged in an intermediate position in the light transmission passage or adjacent , the light position detecting unit is caused to detect light reflected by said parallel reflecting optical means for the control laser beam incident from the light transmission passage adjacent to the light source, and feedback control adjusting an angle of an automatically adjustable mirror is performed by canceling light , which was detected by the light position detecting unit. A method of adjusting a light transmission device, in which an electronic optical image pickup means is arranged on an extension line to a light transmission passage formed by combining mirrors 10 15 20 25 30 35 521 996 Amended claims 142 adjacent to a light source, the the electronic optical image capturing means is caused to observe a mirror image of a target for an image processing via a first automatically adjustable mirror adjacent to the light source, the first automatically adjustable mirror is adjusted so that the observed mirror image is placed in the central portion of the image; the automatically adjustable mirrors in the light transmission passage by means of a method similar to the method of adjusting the first automatically adjustable mirror, after the first automatically adjustable mirror has been adjusted, and a precise adjustment of the light transmission passage is performed using a light position detecting unit, which is arranged on an extension line to said light transmission passage adjacent to a light source, and parallel-reflecting optical means arranged in an intermediate position in the light transmission passage or adjacent the laser beam emitting head, the exact adjusting operation being performed so that the reflecting unit the light of the control laser beam incident on the light source of the light transmission passage and reflected by said parallel reflecting optical means and the adjustment of the angle of the automatically adjustable mirror is controlled so that the magnitude of the deviation of the light position detected by the light position detection unit adjustment of the light transmission passage is performed as well as the effect of external vibration. A preventive maintenance / repair device for a structure in the core, comprising a laser oscillator, a rotary carriage, having a rotary function, by which rotation is allowed around substantially the central portion of an I S C lä ëíïšífzid. dm; Modified claim 143 reactor pressure vessel, a horizontal light guide tube mounted on the carriage, at least one light guide tube, which is designed to establish a connection between one end of the horizontal light guide tube and a laser emission port. the laser oscillator, at least one box with a reflecting mirror, which is arranged to establish a connection between the light guide tube and the horizontal light guide tube or between the light guide tubes and which has an alignment function for modifying a reflection angle, and a laser processing unit connected to the horizontal light guide a portion or the whole part, in which the light guide tube and the box with the reflecting mirror are connected to each other, and a portion, in which the horizontal light guide tube and the laser processing unit are connected to each other, are separated by transparent means. A preventive maintenance / repair device for a structure in the core according to claim 15, wherein an end face of each connecting portion of the horizontal light guide tube and an end face of each of the light guide tubes in the laser processing unit mounted on the trolley are separated. by means of a flat glass sheet for maintaining a closed space and at least one water nozzle is attached for spraying a liquid surface on the flat glass. A preventive maintenance / repair device for a structure in the core according to claim 15, wherein an end face of each connecting portion of the light guide tube mast, the horizontal light guide tube and the laser processing unit are separated from each other by flat glass to maintain a closed space, an air pressure pipe is connected to each connecting portion and one end of the air pressure pipe is connected to a dry air source, a nitrogen gas source or an inert gas source. x, 10 15 20 25 30 35. . . n of 521,996 Amended claims 144 A preventive maintenance / repair device for a structure in the core according to claim 15, wherein the carriage has a carriage clamping mechanism with a link, a hydraulic piston and a pad, a rotating mechanism comprising a rotary bearing with the carriage clamping mechanism as a base, allowing rotation of the entire body of the carriage around the center of the reactor pressure vessel, a motor for turning and wheels for turning and a horizontal light guide tube, which is arranged on the turning mechanism and has a slide mechanism, comprising a linear guide, a ball screw, gears and a servomotor. A preventive maintenance / repair device for a structure in the core according to claim 15, wherein the laser processing unit has a coupling mechanism which is detachable with respect to a horizontal light guide tube included in the carriage, a light guide tube for transmitting the laser beam transmitted from the horizontal light guide tube, which is perpendicularly coupled downwards so that the connecting mechanism serves as a base, a laser emitting head, which is arranged at the front end of the light guide tube, and a fixing portion for fixing the laser emitting head at any time at the center of the shaft. height of a jet pump diffuser, which is arranged in the reactor pressure vessel. A preventive maintenance / repair device for a structure in the core according to claim 15, wherein the laser processing unit comprises a coupling mechanism for being detachable with respect to a horizontal light guide tube, which is mounted on the carriage, a rotatable light guide tube for transmitting the laser beam, transmitted from the horizontal light guide tube, which is perpendicularly connected downwards, so that the coupling mechanism serves as a base, and has a shape and dimensions which allow placement on the upper end of the diffuser, a connecting portion for a machining arm, included in the lower end portion of the rotatable light guide tube, which connecting portion is detachable from claim 15, a location remote therefrom, and a machining arm detachable with respect to the connecting portion in the reactor pressure vessel from a location at a distance therefrom for performing a laser irradiation operation of outer y tan on the diffuser. A preventive maintenance / repair device for a structure in the core according to claim 15, wherein the laser processing unit comprises a coupling mechanism which is detachable with respect to the horizontal light guide tube, which is included in the carriage, a light guide tube mast, which is perpendicular connected downwardly so that the connecting mechanism serves as a base, a housing intermediate, partial diffraction mechanism, which has a hydraulic piston and a parallel link mechanism, an insertion mast having a shape which allows passage through a space between the jet pump and the outer wall of the housing body and a laser emitting head. A preventive maintenance / repair device for a structure in the core according to claim 19 or 21, wherein the laser emitting head comprises a converging lens unit, a reflecting mirror or a prism for scanning, a horizontal scanning mechanism, a pivotable scanning mechanism, a step translation mechanism. mechanism, a focal length adjustment mechanism, a device for removing dust from a surface to be machined, at least a small microphone, a half-mirror, a retro-reflector and a surveillance camera, the construction of the optical system of the laser emitting head being designed so that the laser beam transmitted from the light guide tube, which is connected to the head, is passed through a bellows tube to be inserted into the half-mirror, after which the laser beam is divided by the half-mirror into the retroreflector and the converging lens, the laser beam transmitting , is polarized by means of a polarization filter and returned to the half-mirror and then to the laser oscillator and the laser beam, which are transmitted to the converging '12 12 Lä; s 53: I 23212 flïši-íš? Išfšïßlïl i? 10 15 20 25 30 35 521 996 nu; The lens is guided through a bellows tube and a converging lens and then through separating, flat glass, after which the laser beam is introduced into water and then reflected by the reflecting mirror for scanning so as to be applied to the portion intended for processing. a drive mechanism in said laser emitting head comprises said step translation mechanism, which displaces the entire body of the optical system of the head stepwise and which comprises a linear guide, a ball screw, a gear and a rotary actuator, a unit with a converging lens for changing the focal length a location remote therefrom and including gears, screws and a rotatable actuator, a pivoting scanning mechanism which allows the reflecting mirror to pivot and rotate about the optical axis of the incident laser beam and which includes a bearing, gear and a rotary actuator and a horizontal scan mechanism, which allows the conv the entire body of the irritating lens unit and the entire body of the pivoting scanning mechanism to be displaced laterally stepwise and includes a linear guide, a ball screw, gear and a rotary actuator. A preventive maintenance / repair device for a structure in the core according to claim 19 or 21, wherein the laser emitting head comprises a light converging lens unit, a reflecting mirror or a prism for scanning, a pivoting scanning mechanism, a telescopic light guide tube mechanism, a focal distance adjustment mechanism, a unit for removing dust from a surface for processing, at least a small microphone and a surveillance camera, the construction of the optical system of the laser emitting head being designed so that the laser beam transmitted from said light guide tube the head is connected, is guided by a hollow piston type telescopic light guide tube mechanism, which is separated by two flat glass sheets, so as to be inserted into the converging lens unit, converged by said separating flat glass, guided by said separating flat glass, introduced into water and reflected by the reflecting mirror for the scan and for supply to the portion to be machined, and the drive mechanism for the laser emitting head includes the telescopic light guide tube mechanism which allows the whole body of the head optical system to be vertically extended, stepwise retracted and which comprises two flat glass sheets, a linear position sensor, a O-ring, a piston mechanism, a return spring and a compressed air tube, a unit with a converging lens, which has a focal length which changes from a place at a distance therefrom and which comprises gears, screws and a rotary actuator, and a pivoting scanning mechanism, which allows the reflecting mirror to pivot and rotate perpendicular to the optical axis of the incident laser beam, and in the direction of the axis, which includes the mirror surface and which includes a bearing, a rotary actuator and an angle detection sensor. A preventive maintenance / repair device for a structure in the core according to claim 19 or 21, wherein the laser emitting head comprises a unit with a converging lens, a mechanism for rotating the converging lens, a reflecting mirror or a prism for scanning, a a telescopic light guide tube mechanism, a focal length adjustment mechanism, a pivoting scanning mechanism, a dust removal unit from a surface for processing, at least a small microphone and a surveillance camera, the design of the laser emitting head optical system being designed to emit laser from the light guide tube, to which the head is connected, is guided through a hollow, piston-shaped, telescopic light guide tube mechanism, separated by two flat glass sheets, inserted into the unit with the converging lens, which is so shaped and mounted that the position of the focal point is polarized to the side by a certain displacement of the converging ¿»s¿s e Lz 1 @ = @ z c =: va:; sæ:; §e1 10 l5 20 25 30 35 u u. nu a n n »u u n HI: _ ',, u v. - u v u 'O z =,. . ua n ._. a. c v »v. u,. . | n ø r fl: _: '§,. . . a n g o o nu o. .. ,, »om o:,. Amended claim 521,148 The optical axis of the lens with respect to a light incident axis is guided through the separating, flat glass, inserted into water and reflected by the reflecting mirror for scanning, so that the portion to be processed is irradiated with the laser beam, the laser emitting head driving laser said telescopic light guide tube mechanism which allows vertical, stepwise projection / retraction of the entire body of the head optical system and which comprises two flat glass sheets, a linear position sensor, an O-ring, a piston mechanism, a return spring and a compressed air tube, a converging unit having a focal length, spaced apart location and having a focal length lens which changes from an adjusting mechanism, including gears, screws and a rotary actuator, a mechanism for rotating the converging lens, which mechanism rotates the entire body of the converging lens unit around the optical axis of the laser beam and which comprises gears, screws and a rotary actuator and a rotary actuator, which rotates the reflecting mirror coaxially with the axis of rotation of the rotating mechanism of the converging lens and includes a rotatable shaft and a rotary actuator. A preventive maintenance / repair device for a structure in the core according to claim 15, wherein the laser processing unit comprises an underwater propeller, which consists of a screw and a motor and which is arranged next to the front end of the laser processing unit, wherein the driving force of the underwater propeller prevents external force exerted on the laser processing unit and reaction of a water flow, or the dust removal unit from the surface for processing in order to obtain a force for a stable maintenance of the laser emitting head in the portion to be processed . A preventive maintenance / repair device for a structure in the core, comprising a laser oscillator, which is enclosed in a pressure coil 10 15 20 O '5 521 99' -W - :: v fl. I'-1 ::: 'H- ¥ 1f * -:.:' I l 'l, n I,,..,. 0 n.,. Amended claims 149 safe container, a drawer with reflecting mirror , which has an angle-modifying alignment mechanism coupled to the pressure-proof container and consisting of at least one mirror, a horizontal light guide tube, which is connected to the box of the reflecting mirror, a swivel on which the horizontal light guide tube is mounted and which has the function of rotating substantially the central portion of the reactor pressure vessel, and a laser processing unit connected to the horizontal light guide tube, a portion in which the horizontal light guide tube and the laser processing unit are connected to each other are separated by a transparent member. A preventive maintenance / repair device for a structure in the core according to claim 26, wherein the laser oscillator has a positioning mechanism for mounting on the rotary carriage, mounted and separated, and a portion in which the laser oscillator and the box for the reflecting mirror are connected to each other and which is separated by a transparent member.