WO1994004869A1 - Manipulateur pour inspecter des endroits d'un generateur de vapeur difficiles d'acces - Google Patents

Manipulateur pour inspecter des endroits d'un generateur de vapeur difficiles d'acces Download PDF

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Publication number
WO1994004869A1
WO1994004869A1 PCT/DE1993/000677 DE9300677W WO9404869A1 WO 1994004869 A1 WO1994004869 A1 WO 1994004869A1 DE 9300677 W DE9300677 W DE 9300677W WO 9404869 A1 WO9404869 A1 WO 9404869A1
Authority
WO
WIPO (PCT)
Prior art keywords
manipulator
arm
steam generator
inspection device
inspection
Prior art date
Application number
PCT/DE1993/000677
Other languages
German (de)
English (en)
Inventor
Martin Zenkel
Egon Neubauer
Richard Leibold
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Priority to EP93917523A priority Critical patent/EP0655118A1/fr
Publication of WO1994004869A1 publication Critical patent/WO1994004869A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F22—STEAM GENERATION
    • F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
    • F22B37/00—Component parts or details of steam boilers
    • F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • the invention relates to a manipulator for inspecting points of a steam generator that are difficult to access.
  • the U-shaped heating pipes in the area of the pipe bend are provided with tensioning bands or stiffeners with which the pipes are held and stabilized in the area of the bend.
  • These tensioning straps are generally formed from a plurality of sheets welded or screwed to one another offset from one another. It is necessary to carry out a visual inspection of these straps at regular intervals.
  • the space available between the floor area and an overlying coarse separator opening is limited and difficult to access, so that a remote-controlled video camera or videoscope must be used for optical control, which is manipulated by a manipulator inserted into this intermediate area the pipe bend area can be moved. This manipulator must both be able to be introduced into the area below the coarse separator opening and also have a sufficient range and mobility so that all test positions can be reached.
  • the invention is based on the object of specifying a manipulator for inspecting a steam generator which is easy to handle and which can also be used to reach locations in the steam generator which are difficult to access.
  • a manipulator that can be assembled from several members is provided, which contains a pivotable curved arm which is adapted to the curvature of the pipe bend region and has a free end on which an inspection device is arranged so as to be movable in the longitudinal direction.
  • the manipulator contains a holding arm which can be inserted into an opening of the coarse separator plate and on the free end of which a shaft which carries the pivotable arm is mounted and which can be positioned at least approximately flush with the longitudinal axis of the steam generator.
  • the drives required for the pivoting movement of the arm and for moving the inspection device are preferably arranged in the vicinity of the opening.
  • flexible shafts are provided for transmitting the pivoting movement of the arm and for moving the inspection device from the drives to the pivotable arm or to the inspection device.
  • FIG. 1 shows a manipulator according to the invention, which is introduced below the coarse separator plate of a steam generator.
  • Figure 2 illustrates the inspection area achievable with a manipulator according to the invention.
  • the heating pipes 3 are combined in an upright steam generator 2 of a nuclear power plant to form a tube bundle which forms a U-shaped pipe bend region 6.
  • the Heating tubes 3 of the tube bundle fixed by tightening straps 4.
  • These straps 4 are composed of a plurality of sheets which are welded or screwed to one another at nodes 5.
  • These nodes 5 must be checked optically at regular intervals in order to ensure the mechanical stability of the tension bandage held with the tensioning straps 4.
  • the optical control is carried out by means of a remote-controlled inspection device 8, for example a video camera or a videoscope, which is arranged on a curved arm 16 of a manipulator 10 composed of a plurality of links 12, 14, 16.
  • the video camera 8 is arranged on a camera carriage 80 which can be moved along the curved arm 16 in the directions indicated by the double arrow 82.
  • the curved arm 16 is adapted in its curvature to the curvature of the pipe bend region.
  • the camera 8 is pivotably arranged on the camera carriage 80 in the direction of the double arrow 84.
  • the arm 16 is connected via a shaft 15 to the free end of a holding arm 14.
  • the shaft 15 is rotatably mounted in the holding arm 14 and fixed on the arm 16.
  • a gear 17 engages in the shaft 15, with which the arm 16 can be pivoted about the shaft axis.
  • the holding arm 14 and the shaft 15 are preferably positioned such that the shaft axis is approximately aligned with the vertical longitudinal axis 18 of the steam generator 2.
  • the horizontal holding arm 14 is connected via a plug connection 13 to an upper arm 12 which projects vertically downwards into the space between the coarse separator plate 22 and the pipe bend 6.
  • This upper arm 12 is in one Adapter plate 36 fixed an opening 24 located in the coarse separator plate 22.
  • the curved arm 16, the holding arm 14 and the upper arm 12 are detachably connected to one another in order to enable the manipulator 10 to be inserted into the opening 24.
  • Drives 38 and 40 for the swivel gear 17 and the camera carriage 80 are arranged on the adapter plate 36.
  • the drive torques for the longitudinal displacement of the camera carriage 80 and for the rotary movement of the curved arm 16 are transmitted by flexible shafts 44 and 42, respectively.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Plasma & Fusion (AREA)
  • Thermal Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un manipulateur permettant d'inspecter les colliers de serrage (4) placés dans la zone des coudes de tuyaux (6) d'un générateur de vapeur (2), à l'aide d'un appareil d'inspection (8). Un manipulateur (10) composé de plusieurs éléments (12, 14, 16) est prévu, qui contient un bras (16) coudé pivotant, adapté à la courbure de la zone des coudes de tuyaux (6) et possédant une extrémité libre, sur laquelle l'appareil d'inspection (8) est monté de manière à être déplacé dans le sens longitudinal.
PCT/DE1993/000677 1992-08-13 1993-08-02 Manipulateur pour inspecter des endroits d'un generateur de vapeur difficiles d'acces WO1994004869A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP93917523A EP0655118A1 (fr) 1992-08-13 1993-08-02 Manipulateur pour inspecter des endroits d'un generateur de vapeur difficiles d'acces

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DEP4226855.9 1992-08-13
DE4226855A DE4226855A1 (de) 1992-08-13 1992-08-13 Manipulator zur Inspektion schwer zugänglicher Stellen eines Dampferzeugers

Publications (1)

Publication Number Publication Date
WO1994004869A1 true WO1994004869A1 (fr) 1994-03-03

Family

ID=6465501

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1993/000677 WO1994004869A1 (fr) 1992-08-13 1993-08-02 Manipulateur pour inspecter des endroits d'un generateur de vapeur difficiles d'acces

Country Status (3)

Country Link
EP (1) EP0655118A1 (fr)
DE (1) DE4226855A1 (fr)
WO (1) WO1994004869A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5860138A (en) * 1995-10-02 1999-01-12 International Business Machines Corporation Processor with compiler-allocated, variable length intermediate storage
FR2773255A1 (fr) * 1997-12-30 1999-07-02 Framatome Sa Procede d'amenagement des structures internes d'un generateur de vapeur

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29703255U1 (de) * 1997-02-24 1998-07-02 Siemens AG, 80333 München Einrichtung zum Prüfen einer Schweißnaht am Außenmantel eines Reaktordruckbehälters

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4575185A (en) * 1983-08-01 1986-03-11 Combustion Engineering, Inc. System for a fiber optic cable for remote inspection of internal structure of a nuclear steam generator
US4822238A (en) * 1986-06-19 1989-04-18 Westinghouse Electric Corp. Robotic arm
EP0387131A1 (fr) * 1989-03-09 1990-09-12 Framatome Dispositif de stabilisation des tubes du faisceau d'un générateur de vapeur comportant des barres antivibratoires

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2242750B1 (fr) * 1973-08-27 1976-12-03 Commissariat Energie Atomique
FR2309314A1 (fr) * 1974-12-05 1976-11-26 Framatome Sa Dispositif de positionnement selectif d'un organe sur une plaque tubulaire
DE2712060C3 (de) * 1977-03-18 1980-02-28 Kraftwerk Union Ag, 4330 Muelheim Inspektionseinrichtung zur Außenprüfung von Druckbehältern, vorzugsweise zur Ultraschallprüfung bei Reaktordruckbehältern
DE2830908C2 (de) * 1978-07-13 1985-06-05 Kraftwerk Union AG, 4330 Mülheim Prüfeinrichtung zur zerstörungsfreien Prüfung eines Reaktordruckbehälters
DE2913742C2 (de) * 1979-04-05 1986-01-02 M.A.N. Maschinenfabrik Augsburg-Nürnberg AG, 8500 Nürnberg Antrieb für einen Prüfmanipulator
DE3104859A1 (de) * 1981-02-11 1982-08-26 Siemens AG, 1000 Berlin und 8000 München Vorrichtung zur bergung von proben aus festen ablagerungen in dampferzeugern
FR2514108B1 (fr) * 1981-10-06 1986-06-13 Framatome Sa Procede et dispositif d'elimination des boues sur la plaque tubulaire des generateurs de vapeur
SU1073090A1 (ru) * 1982-12-10 1984-02-15 Рыбинский Авиационный Технологический Институт Манипул тор
FR2570314B1 (fr) * 1984-09-20 1987-03-06 Commissariat Energie Atomique Robot porte-outil pour effectuer des interventions a l'interieur d'une enceinte possedant une ouverture d'acces
SU1283087A1 (ru) * 1984-10-30 1987-01-15 Павлодарский Проектно-Конструкторский Технологический Институт Автоматизации И Механизации Научно-Производственного Объединения "Сборочные Механизмы" Манипул тор
DE3524390A1 (de) * 1985-07-08 1987-01-08 Kraftwerk Union Ag Pruefmanipulator
US4827953A (en) * 1987-03-18 1989-05-09 Electric Power Research Institute, Inc. Flexible lance for steam generator secondary side sludge removable
DE3916061B4 (de) * 1989-05-17 2004-05-06 Intelligendt Systems & Services Gmbh & Co Kg Vorrichtung zur Prüfung einer Behälterwand
BE1004528A3 (fr) * 1990-08-17 1992-12-08 Innus Ind Nuclear Service Procede et dispositif de positionnement lineaire d'une lance a haute pression dans un generateur de vapeur.

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4575185A (en) * 1983-08-01 1986-03-11 Combustion Engineering, Inc. System for a fiber optic cable for remote inspection of internal structure of a nuclear steam generator
US4822238A (en) * 1986-06-19 1989-04-18 Westinghouse Electric Corp. Robotic arm
EP0387131A1 (fr) * 1989-03-09 1990-09-12 Framatome Dispositif de stabilisation des tubes du faisceau d'un générateur de vapeur comportant des barres antivibratoires

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 10, no. 290 (P-503)2. Oktober 1986 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5860138A (en) * 1995-10-02 1999-01-12 International Business Machines Corporation Processor with compiler-allocated, variable length intermediate storage
FR2773255A1 (fr) * 1997-12-30 1999-07-02 Framatome Sa Procede d'amenagement des structures internes d'un generateur de vapeur
EP0927853A1 (fr) * 1997-12-30 1999-07-07 Framatome Procédé d'aménagement des structures internes d'un générateur de vapeur

Also Published As

Publication number Publication date
EP0655118A1 (fr) 1995-05-31
DE4226855A1 (de) 1994-02-17

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