WO2022058767A1 - Non-destructive inspection system for the inspection of a nuclear reactor vessel head - Google Patents

Non-destructive inspection system for the inspection of a nuclear reactor vessel head Download PDF

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Publication number
WO2022058767A1
WO2022058767A1 PCT/IB2020/001131 IB2020001131W WO2022058767A1 WO 2022058767 A1 WO2022058767 A1 WO 2022058767A1 IB 2020001131 W IB2020001131 W IB 2020001131W WO 2022058767 A1 WO2022058767 A1 WO 2022058767A1
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WO
WIPO (PCT)
Prior art keywords
inspection
chain
head
base
inspection system
Prior art date
Application number
PCT/IB2020/001131
Other languages
French (fr)
Inventor
Patrick Ancrenaz
Ralf Seifert
Georg Schirner
Eric ARTILLAN
Original Assignee
Framatome
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 Framatome filed Critical Framatome
Priority to PCT/IB2020/001131 priority Critical patent/WO2022058767A1/en
Publication of WO2022058767A1 publication Critical patent/WO2022058767A1/en

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Classifications

    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/003—Remote inspection of vessels, e.g. pressure vessels
    • G21C17/007—Inspection of the outer surfaces of vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • 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

  • Non-destructive inspection system for the inspection of a nuclear reactor vessel head
  • the present invention relates to a non-destructive inspection system for the inspection of a reactor vessel head of a nuclear reactor.
  • a nuclear reactor comprises a reactor vessel for receiving the reactor core, the reactor vessel extending along a vertical axis and having an opened top end closed by a reactor vessel head secured to the top end of the reactor vessel.
  • the reactor vessel head comprises a lid for closing the top end of the reactor vessel, the lid having a central portion surrounded by a peripheral flange configured for securing the lid to the reactor vessel.
  • the central portion of the lid has a convex dome shaped upper surface that is for example substantially in the shape of a portion of a sphere.
  • the peripheral flange is for example provided with holes for securing the lid to the reactor vessel top end by using screws or bolts extending through the holes.
  • the reactor vessel head comprises tubular penetrations extending through the central portion of the lid for allowing passage of control rod drive mechanisms (or CRDM) through the lid. Each penetration protrudes from the upper surface of the central portion of the lid. Each control rod drive mechanism extends through a respective penetration for controlling vertical movement of a control rod, the vertical movement of each control rod allowing to adjust the reactivity of the nuclear core.
  • control rod drive mechanisms or CRDM
  • the nuclear reactor also comprises a reactor vessel head insulation positioned above the reactor vessel head.
  • the reactor vessel head insulation is generally in the shape of a horizontal plate.
  • Non-destructive inspection of the nuclear reactor head is performed for example via ultrasonic inspection.
  • US5109718A discloses an ultrasonic inspection system for the inspection of a reactor vessel head having a dome shaped lid provided with a flange, the ultrasonic inspection system comprising a rail secured to the flange, a carriage movable along the rail, a telescopic arm mounted on the carriage and an inspection head that is supported at the end of telescopic arm opposite the carriage.
  • the telescopic arm is provided with a drive mechanism comprising a pusher tube for extending and retracting the telescopic arm such as to move the inspection head along the lid.
  • the telescopic arm is made of curved members for moving the inspection head along the dome shaped lid.
  • One of the aims of the invention is to provide a non-destructive inspection system for the inspection of a reactor vessel head, the non-destructive inspection system being simple to use while allowing to perform inspection efficiently.
  • the invention proposes a non-destructive inspection system for the inspection of a reactor vessel head of a nuclear reactor, the inspection system comprising a base, an inspection head carrying one or several inspection probe(s), a chain having a distal end supporting the inspection head, the chain being movable relative to the base via a driving unit configured for driving the chain to selectively push the inspection head away from the base and pull the inspection head closer to the base.
  • the chain supporting the inspection head with extending between the inspection head and the base and the drive unit for extending or retracting the chain relative to the base form a supporting and manipulating assembly for the inspection head that is simple and reliable, and can be operated simply for moving the inspection head along the lid between penetration extending through the lid and protruding on the upper surface of the lid.
  • the inspection system comprises one or several of the following optional features, taken individually or according to any technically feasible combination:
  • the chain is made of a series of links connected by pivot connections, each pivot connection having a pivot axis, the pivot axes of the pivot connections being parallel;
  • the inspection head is connected to the distal end via an inspection head connection configured for a rotation of the inspection head relative distal end about a pivot axis parallel to the pivot axes of the pivot connections and/or a pivot axis perpendicular to the pivot axes of the pivot connections;
  • the chain storage is configured to reel the retracted portion of the chain
  • the distal end of the chain and/or the inspection head is/are provided with a guiding device configured to guide the distal end of the chain and/or the inspection head laterally between two rows of penetrations of the reactor vessel head defining a corridor into which the inspection head is inserted, the guiding device having a width corresponding to the distance between the two rows of penetrations and a length that exceeds the spacing between two adjacent penetrations in each one of the two rows of penetrations; - the width of the inspection head corresponds to the distance between two rows of penetrations of the reactor vessel head;
  • the inspection head includes one or several of injection nozzle(s) for injecting a liquid between the inspection head and the reactor vessel head;
  • the inspection probe includes one or several suction nozzle(s) for suction of a liquid present between the inspection head and the reactor vessel head;
  • the base is rotatable about a vertical axis relative to the carriage
  • the inspection probe or at least one of the inspection probe(s) has a plurality of ultrasonic transducers arranged in an array for implementing a phase array technique to generate a deviation of the incidence plane;
  • the nuclear reactor is a pressurized water reactor.
  • FIG. 1 is a partial perspective view of a reactor vessel head with a nondestructive inspection system installed thereon, along a view angle and with an inspection head being retracted ;
  • FIG. 2 is another partial perspective view of the reactor vessel head with the nondestructive inspection system installed thereon, along another view angle and with the inspection head extended ;
  • FIG. 3 is a partial perspective view of the non-destructive inspection system
  • FIG. 4 is a diagrammatic bottom view of an inspection probe holder of the inspection head.
  • Figures 1 and 2 illustrate a reactor vessel head 2 for closing an opened top end of a nuclear reactor vessel of a nuclear reactor (not shown), the nuclear reactor vessel being intended to receive a nuclear reactor core (not shown).
  • the nuclear reactor is for example a pressurized water reactor (or PWR).
  • the reactor vessel head 2 comprises a lid 4 for closing the top end of the nuclear reactor vessel and tubular penetrations 6 extending through the lid 4 for allowing the passage of control rod drive mechanisms (CRDMs) through the lid 4.
  • CRDMs control rod drive mechanisms
  • the lid 4 comprises a central portion 8 and a peripheral flange 10 surrounding the central portion 8.
  • the central portion 8 is configured to extend across the top end of the nuclear reactor vessel.
  • the peripheral flange 10 is configured for securing the lid 4 to the edges of the top end of a reactor vessel.
  • the peripheral flange 10 is for example provided with holes for receiving screws or bolts.
  • the peripheral flange 10 extends along a substantially horizontal plane.
  • the term “upper”, “lower”, “horizontal” and “vertical” refer to the use position of the reactor vessel head 2.
  • the central portion 8 has an upper surface 8A that is orientated upwardly.
  • the upper surface 8A is convex and is dome shaped.
  • the upper surface 8A has for example the shape of a portion of a sphere.
  • the penetrations 6 extend through the central portion 8. Each penetration 6 protrudes on the upper surface 8A of the central portion 8.
  • Each penetration 6 is tubular and defines a passage through the lid 4.
  • Each penetration 6 is intended to receive a respective control rod drive mechanism (or CRDM), said control rod drive mechanism being configured to adjust the vertical position of a control rod for adjusting the reactivity of the reactor core received in the nuclear reactor vessel.
  • the penetrations 6 are distributed over the central portion 8 of the lid 4 with defining between them corridors on the upper surface 8A of the central portion of the lid 4. Each corridors is defined between two rows of penetrations 6.
  • the penetrations 6 are for example distributed such that rows of penetrations 6 are formed along a plurality of distinct alignment direction, thus defining corridors along said alignment directions.
  • the corridors may have different widths, e.g. as a function of the alignment direction of the corridors.
  • Corridors extending in one alignment direction may have a width that is different from that of the corridors extending in another alignment direction.
  • Figures 1 and 2 also illustrate a non-destructive inspection system 12 configured for non-destructive inspection of the reactor vessel head 2, e.g. for ultrasonic inspection of the reactor vessel head 2.
  • the non-destructive inspection system 12 comprises a base 14 adapted to be mounted on the reactor vessel head 2, in particular onto the peripheral flange 10, an inspection head 16 to be moved along the lid 4, in particular along the central portion 8 thereof, for inspecting the lid 4, and a chain 18 for supporting and manipulating the inspection head 16 remotely from the base 14, the inspection head 16 being mounted at a distal end 20 of the chain 18.
  • the inspection head 16 is mechanically connected to the base 14 solely via the chain 18.
  • the chain 18 is the only cinematic connection between the inspection head 16 and the base 14.
  • the non-destructive inspection system 12 is deprived of any system other than the chain 18 for mechanically connecting the inspection head 16 to the base 14 with supporting and controlling movement of the inspection head 16 relative to the base 14.
  • the non-destructive inspection system 12 is deprived of a static guiding device extending along the extended portion of the chain 18 for guiding the inspection head 16 and/or the chain 18 along the lid 4.
  • the inspection head 16 is supported solely by the chain 18, which is in turn support by the base 14.
  • the portion of the chain 18 extending between the base 14 and the inspection head 16 extends in cantilever from the base 14, with supporting the inspection head 16 at its distal end 20.
  • the non-destructive inspection system 12 is deprived of a telescopic arms extending from the base or a rail secured to the lid 4 for supporting and/or guiding the inspection head 16 when travelling along the lid 4.
  • the chain 18 has the distal end 20 supporting the inspection head 16 and a proximal end 22 opposed to the distal end 20.
  • the chain 18 is opened.
  • the distal end 20 and the proximal end 22 are not connected.
  • the distal end 20 and the proximal end 22 are distant one from the other.
  • the chain 18 is movable relative to the base 14 such as to selectively extend the chain 18 from the base 14 and retract the chain 18 towards the base 14.
  • Moving the chain 18 relative to the base 14 such as to push the inspection head 16 away from the base 14 increases the length of an extended portion of the chain 18 that extends between the base 14 and the inspection head 16.
  • Moving the chain 18 relative to the base 14 such as to pull the inspection head 16 closed to the base 14 decreases the length of the extended portion of the chain 18 that extends between the base 14 and the inspection head 16.
  • the chain 18 has a retracted portion of the chain 18 that is retracted relative to the base 14.
  • the retracted portion of the chain 18 is the portion that does not extend between the base 14 and the inspection head 16.
  • the non-destructive inspection system 12 comprises a driving unit 28 configured for driving the chain 18 relative to the base 14 such as to selectively push the inspection head 16 away from the base 14 via the chain 18 and pull the inspection head 16 closer to the base 14 via the chain 18.
  • the driving unit 28 comprises for example a driving wheel 30 that is mounted onto the base 14 in rotation about a driving axis A and that engages the chain 18 such that a rotation of the driving wheel 30 in one direction moves the chain 18 relative to the base 14 such as to push the inspection head 16 away from the base 14 and a rotation of the driving wheel 30 in the opposite direction moves the chain 18 relative to the base 14 such as to pull the inspection head 16 closer to the base 14.
  • the driving unit 28 comprises an actuator 32 configured for rotating the driving wheel 30 about the driving axis A.
  • the actuator 32 is for example a motor, in particular an electric motor or a hydraulic motor.
  • the non-destructive inspection system 12 comprising a storage 34 for storing the retracted portion of the chain 18 that does not extend between the base 14 and the inspection head 16.
  • the storage 34 is configured such that upon driving the chain 18 for pushing the inspection head 16 away from the base 14, the chain 18 is extended out of the storage 34 and upon driving the chain 18 for pulling the inspection head 16 closer to the base 14, the chain 18 is retracted into the storage 34.
  • the storage 34 is for example provided as a guiding rail into which the retracted portion of the chain 18 slides.
  • the storage device 34 is configured to reel the chain 18.
  • the storage 34 is provided as guiding rail that extends along a curve line for reeling the chain 18.
  • the chain 18 is made of a series of chain elements or links 36 that are connected two-by-two such that the chain 18 is flexible.
  • the links 36 of the chain 18 are pivotally connected two- by-two such that the chain 18 is flexible in one single flexing plane P (see Figure 3).
  • the flexible plane P is preferably vertical in use. Hence, the inspection head 16 supported at the distal end 20 of the chain 18 is guided by the chain 18 to stay in said vertical plane P while being allowed to move up or down by flexion of the chain 18 in the flexing plane P, in particular to follow the curvature of the dome shaped upper surface 8A of the lid 4 when the inspection head 16 is move along the lid 4.
  • each link 36 is connected to the preceding one via a pivot connection 38 having one degree of freedom that is a rotation about a pivot axis B, the pivot axes B of the pivot connections 38 of the chain 18 being parallel.
  • the flexing plane P is thus the plane that is perpendicular to the pivot axes B of the pivot connections 38.
  • Each link 36 is connected to the preceding one with being able to pivot about the corresponding pivot axis B, starting from an aligned configuration in which the link 36 is aligned with the preceding one, in a first direction up to a first maximum angle and in an opposite second direction up to a second maximum angle.
  • the first direction is the direction in which the chain 18 flexes to follow the curvature of the upper surface 8A of the lid 4 when the chain 18 is extended over the lid 4.
  • the chain 18 is intrinsically resistant to traction. Using the driving unit 28 to pull on the chain 18 allows pulling the inspection head 16 closer to the base 14.
  • the chain 18 is configured to be resistant to compression such as to be able to push the inspection head 16 away from the base 14 wihtout buckling.
  • the first maximum angle is limited such that the chain 18 will no buckle upon pushing the inspection head 16.
  • the links 36 are preferably pivotally connected together such that the chain 18 may flex at maximum in the flexing plane P in the first direction with extending along an imaginary circular line having a curvature radius that is substantially equal to the minimal curvature radius of the upper surface 8A of the lid 4.
  • the chain 18 can follow the curvature of the upper surface 8A with forming an arch between the base 14 and the inspection head 16 that will not buckle upon pushing the chain 18 as the chain 18 cannot flex more that the predefined maximum flexion.
  • the second direction is the direction in which the retracted portion of the chain 18 is flexed upon retraction into the storage 34 when such a storage 34 is provided.
  • the link 36 are pivotally connected such that the chain 18 is able to flex more in the second direction that in the first direction.
  • the second maximum angle is strictly greater than the first maximum angle.
  • the inspection head 16 is preferably pivotally connected to the distal end 20 of the chain 18 via an inspection head connection 40.
  • the inspection head connection 40 is advantageously configured for rotation of the inspection head 16 relative to the terminal link 36 about a pivot axis C parallel to the pivot axes B of the link connections 38. This allows the inspection head 16 to follow the curvature of the upper surface 8A in the continuation of the chain 18.
  • the inspection head connection 40 is configured for allowing rotation of the inspection head 16 relative to the distal end 20 about a pivot axis D that is perpendicular to the pivot axis C. This allows accommodating a slight cant of the upper surface 8A, depending on the corridor in which the inspection head 16 is moved, in particular when the inspection head 16 is moved in a corridor that is offset relative to a center of the lid 4.
  • the distal end 20 of the chain 18 and/or the inspection head 16 is/are provided with a guiding device 41 configured to guide the distal end 20 of the chain 18 and/or the inspection head 16 laterally between two rows of penetrations of the cover head defining a corridor into which the inspection head 16 is inserted, the guiding device 41 having a width corresponding to the distance between the two rows of penetrations 6 and a length that exceeds the spacing between two adjacent penetrations 6 in each one of the two rows of penetrations 6.
  • the guide device 41 is made for example of one or several guiding plates secured to the distal end 20 of the chain 18 and/or the inspection head 16, the guiding plate(s) defining two parallel guiding edges 41 A, the distance between the guiding edges 41 A corresponding to the distance between the two rows of penetrations 6, each guiding edge having a length that exceeds the maximal spacing between two adjacent penetrations 6 in each one of the two rows of penetrations 6.
  • the guiding device 41 is advantageously removably mounted on the inspection head 16 and/or the chain 18.
  • a guiding device 41 with the appropriate width and/or length can be mounted on the inspection head 16 and/or the chain 18 as a function of the corridor to be inspected. It is also possible to attach no guiding device 41 to the inspection head 16 and/or the chain 18 in case the width of the inspection head 16 and/or the width of the chain 18 matches that of a corridor to be inspected.
  • the base 14 of the non-destructive inspection system 12 is mounted onto a carriage 42 that is movable along a railway 44 extended at the periphery of the lid 4, here onto the peripheral flange 10. Hence, the base 14 is movable relative to the lid 4 for positioning the base 14 in register with a corridor to be inspected.
  • the base 14 is pivotally mounted onto the carriage 42 about a vertical orientation axis E.
  • the base 14 can be oriented to align the flexing plane P of the chain 18 with the direction of extension of the corridor that is to be inspected.
  • the inspection head 16 comprises at least one inspection probe 48 for nondestructive inspection of the lid 4 when moving the inspection head along the lid 4.
  • the inspection head 16 has at least one probe holder 46, each probe holder 46 supporting an inspection probe 48 for non-destructive inspection of the lid 4 when moving the inspection head along the lid 4.
  • the inspection head 16 has three probe holders 46 (Figure 3) arranged side-by-side, each probe holder 46 supporting an inspection probe 48 ( Figure 4).
  • the number of probe holders may vary, e.g. as a function of a width of the corridor to be inspected.
  • the inspection head 16 may have one single probe holder 46, two probe holders 46, three probe holders 46 or more.
  • the inspection head 16 is configured for ultrasonic inspection.
  • the inspection head 16 supports at least one inspection probe 48 that is an ultrasonic inspection probe configured for emitting ultrasonic waves into the lid 4 when the inspection head 16 is move onto the lid 4 and receiving ultrasonic reflections generated by the ultrasonic waves.
  • the analysis of the ultrasonic reflections as a function of the emitted ultrasonic wave allows detecting and/or characterizing and/or classifying defects in the lid 4, such as cracks.
  • each inspection probe 48 is an ultrasonic inspection probe for ultrasonic inspection of the lid 4.
  • the inspection probe 48 or at least one of the inspection probes 48 of the inspection head 16 is configured for implementing a phase array technique.
  • Each inspection probe 48 configured for implementing a phase array technique comprises a plurality of ultrasonic transducers arranged in an array.
  • using the ultrasonic transducers for emitting elementary ultrasonic waves with a phase shift between the ultrasonic transceivers allows emitting a composite ultrasonic wave resulting from the combination of the elementary ultrasonic waves in a given incidence plane, with varying the incidence plane as a function of the phase shifts.
  • the non-destructive inspection device 12 is configured for the injection of a liquid, preferably water, between the inspection head 16 and the lid 4.
  • the injection of liquid allows improving a sound coupling between the inspection head 16 and the lid 4.
  • the inspection head 16 comprises on a lower face thereof one or several injection nozzles 52 for injecting a liquid, preferably water, between the inspection nozzle and the lid 4.
  • Each inspection nozzle 52 is fed via an injection hose (not shown).
  • the non-destructive inspection device 12 is configured for suction of the liquid injected between the inspection head 16 and the lid 4. Suction of the liquid prevents uncontrolled spilling of the liquid on the lid 4.
  • the inspection head 16 comprises, on a lower face thereof, one or several suction nozzles 54 for suction of the liquid.
  • Each suction nozzle is fluidly connected to a suction device such as a pump via a suction hose (not shown).
  • the inspection head 16 comprises one or several injection nozzles 52 surrounded by several suction nozzle 54. This allows efficient suction of the liquid injected by the injection nozzle(s).
  • Each hose for injection of liquid or suction of liquid connect the inspection head 16 to at least one pump for injection or suction of liquid.
  • Each pump is provided for example on the base 14, with each hose extending for example along the chain 18 such as to be extended and retracted with the chain 18.
  • the chain 18 is initially fully retracted such that the inspection head 16 is adjacent the base 14, and the base 14 is positioned in register with a corridor defined between two rows of penetrations 6.
  • the carriage 42 is for example move along the railway 44 and the base 14 is pivoted about the orientation axis E relative to the carriage for aligning the chain 18 with the chosen corridor.
  • the driving unit 28 is operated to extend and retract the chain 18 in view of moving the inspection head 16 in the corridor respectively to away from and closer to the base 14.
  • each inspection probe 48 is used for inspection the lid 4, here by emitting ultrasonic waves and collecting reflections of said ultrasonic waves.
  • the chain 18 is used to push the inspection head 16 until the end of the corridor remote to the base 14 without performing inspection (i.e. here without emitting ultrasonic waves), and then the chain 18 is used to pull the inspection head 16 towards the base 14 with performing inspection (i.e. here with emitting ultrasonic waves).
  • the non-destructive inspection device 12 using solely a chain 18 for supporting and selectively pushing and pulling an inspection head 16 along the lid 4 is simple to manufacture, to maintain and to use. The operation is simply implemented with a driving unit 28 engaging the chain 18 for pushing the chain 18 or pulling the chain 18.
  • the chain 18 and the associated drive unit 28 form together a supporting and moving assembly for supporting and moving the inspection head 16 along the lid 4.
  • the chain 18 extends between the base 14 and the inspection head 16 with being the only mechanical member cinetically connecting the inspection head 16 to the base 14 and supporting the inspection head 16.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Abstract

The non-destructive inspection system comprises a base (14), an inspection head (16) carrying one or several inspection probe(s) (48), a chain (18) having a distal end (20) supporting the inspection head (16), the chain (18) being movable relative to the base (14) via a driving unit (28) configured for driving the chain (18) to selectively push the inspection head (16) away from the base (14) and pull the inspection head (16) closer to the base (14).

Description

Non-destructive inspection system for the inspection of a nuclear reactor vessel head
The present invention relates to a non-destructive inspection system for the inspection of a reactor vessel head of a nuclear reactor.
A nuclear reactor comprises a reactor vessel for receiving the reactor core, the reactor vessel extending along a vertical axis and having an opened top end closed by a reactor vessel head secured to the top end of the reactor vessel.
The reactor vessel head comprises a lid for closing the top end of the reactor vessel, the lid having a central portion surrounded by a peripheral flange configured for securing the lid to the reactor vessel. The central portion of the lid has a convex dome shaped upper surface that is for example substantially in the shape of a portion of a sphere. The peripheral flange is for example provided with holes for securing the lid to the reactor vessel top end by using screws or bolts extending through the holes.
The reactor vessel head comprises tubular penetrations extending through the central portion of the lid for allowing passage of control rod drive mechanisms (or CRDM) through the lid. Each penetration protrudes from the upper surface of the central portion of the lid. Each control rod drive mechanism extends through a respective penetration for controlling vertical movement of a control rod, the vertical movement of each control rod allowing to adjust the reactivity of the nuclear core.
The nuclear reactor also comprises a reactor vessel head insulation positioned above the reactor vessel head. The reactor vessel head insulation is generally in the shape of a horizontal plate.
It is possible to inspect the nuclear reactor head for detecting potential mechanical defects, such as cracks, that may exist or appear in the nuclear reactor head. Defects generally appear in areas of the lid located between penetrations and/or at the junction between each penetration and the lid. Non-destructive inspection of the nuclear reactor head is performed for example via ultrasonic inspection.
US5109718A discloses an ultrasonic inspection system for the inspection of a reactor vessel head having a dome shaped lid provided with a flange, the ultrasonic inspection system comprising a rail secured to the flange, a carriage movable along the rail, a telescopic arm mounted on the carriage and an inspection head that is supported at the end of telescopic arm opposite the carriage. The telescopic arm is provided with a drive mechanism comprising a pusher tube for extending and retracting the telescopic arm such as to move the inspection head along the lid. The telescopic arm is made of curved members for moving the inspection head along the dome shaped lid. One of the aims of the invention is to provide a non-destructive inspection system for the inspection of a reactor vessel head, the non-destructive inspection system being simple to use while allowing to perform inspection efficiently.
To this end, the invention proposes a non-destructive inspection system for the inspection of a reactor vessel head of a nuclear reactor, the inspection system comprising a base, an inspection head carrying one or several inspection probe(s), a chain having a distal end supporting the inspection head, the chain being movable relative to the base via a driving unit configured for driving the chain to selectively push the inspection head away from the base and pull the inspection head closer to the base.
The chain supporting the inspection head with extending between the inspection head and the base and the drive unit for extending or retracting the chain relative to the base form a supporting and manipulating assembly for the inspection head that is simple and reliable, and can be operated simply for moving the inspection head along the lid between penetration extending through the lid and protruding on the upper surface of the lid.
In specific embodiments, the inspection system comprises one or several of the following optional features, taken individually or according to any technically feasible combination:
- the chain is made of a series of links connected by pivot connections, each pivot connection having a pivot axis, the pivot axes of the pivot connections being parallel;
- the chain is flexible only in one flexing plane;
- the inspection head is connected to the distal end via an inspection head connection configured for a rotation of the inspection head relative distal end about a pivot axis parallel to the pivot axes of the pivot connections and/or a pivot axis perpendicular to the pivot axes of the pivot connections;
- it comprises a chain storage for accommodating a retracted portion of the chain;
- the chain storage is configured to reel the retracted portion of the chain;
- it is deprived of a static guiding device extending along the extended portion of the chain for guiding the inspection head and/or the chain along the lid;
- the distal end of the chain and/or the inspection head is/are provided with a guiding device configured to guide the distal end of the chain and/or the inspection head laterally between two rows of penetrations of the reactor vessel head defining a corridor into which the inspection head is inserted, the guiding device having a width corresponding to the distance between the two rows of penetrations and a length that exceeds the spacing between two adjacent penetrations in each one of the two rows of penetrations; - the width of the inspection head corresponds to the distance between two rows of penetrations of the reactor vessel head;
- the inspection head includes one or several of injection nozzle(s) for injecting a liquid between the inspection head and the reactor vessel head;
- the inspection probe includes one or several suction nozzle(s) for suction of a liquid present between the inspection head and the reactor vessel head;
- it comprises a carriage supporting the base, the carriage being configured for moving along a railway, in particular a railway extending at the periphery of the reactor vessel head;
- the base is rotatable about a vertical axis relative to the carriage;
- the inspection probe or at least one of the inspection probe(s) has a plurality of ultrasonic transducers arranged in an array for implementing a phase array technique to generate a deviation of the incidence plane;
- the nuclear reactor is a pressurized water reactor.
The invention and its advantages will be better understood upon reading the following description, given solely by way of non-limiting example, and made with reference to the appended drawings, in which:
- Figure 1 is a partial perspective view of a reactor vessel head with a nondestructive inspection system installed thereon, along a view angle and with an inspection head being retracted ;
- Figure 2 is another partial perspective view of the reactor vessel head with the nondestructive inspection system installed thereon, along another view angle and with the inspection head extended ;
- Figure 3 is a partial perspective view of the non-destructive inspection system;
- Figure 4 is a diagrammatic bottom view of an inspection probe holder of the inspection head.
Figures 1 and 2 illustrate a reactor vessel head 2 for closing an opened top end of a nuclear reactor vessel of a nuclear reactor (not shown), the nuclear reactor vessel being intended to receive a nuclear reactor core (not shown). The nuclear reactor is for example a pressurized water reactor (or PWR).
The reactor vessel head 2 comprises a lid 4 for closing the top end of the nuclear reactor vessel and tubular penetrations 6 extending through the lid 4 for allowing the passage of control rod drive mechanisms (CRDMs) through the lid 4.
The lid 4 comprises a central portion 8 and a peripheral flange 10 surrounding the central portion 8. The central portion 8 is configured to extend across the top end of the nuclear reactor vessel. The peripheral flange 10 is configured for securing the lid 4 to the edges of the top end of a reactor vessel. To this end, the peripheral flange 10 is for example provided with holes for receiving screws or bolts.
In use, when the reactor vessel head 2 is secured to the top end of the nuclear reactor vessel, the peripheral flange 10 extends along a substantially horizontal plane. In the following, the term “upper”, “lower”, “horizontal” and “vertical” refer to the use position of the reactor vessel head 2.
The central portion 8 has an upper surface 8A that is orientated upwardly. The upper surface 8A is convex and is dome shaped. The upper surface 8A has for example the shape of a portion of a sphere.
The penetrations 6 extend through the central portion 8. Each penetration 6 protrudes on the upper surface 8A of the central portion 8.
Each penetration 6 is tubular and defines a passage through the lid 4. Each penetration 6 is intended to receive a respective control rod drive mechanism (or CRDM), said control rod drive mechanism being configured to adjust the vertical position of a control rod for adjusting the reactivity of the reactor core received in the nuclear reactor vessel.
The penetrations 6 are distributed over the central portion 8 of the lid 4 with defining between them corridors on the upper surface 8A of the central portion of the lid 4. Each corridors is defined between two rows of penetrations 6.
In a top view of the reactor vessel head 2, the penetrations 6 are for example distributed such that rows of penetrations 6 are formed along a plurality of distinct alignment direction, thus defining corridors along said alignment directions.
The corridors may have different widths, e.g. as a function of the alignment direction of the corridors. Corridors extending in one alignment direction may have a width that is different from that of the corridors extending in another alignment direction.
Figures 1 and 2 also illustrate a non-destructive inspection system 12 configured for non-destructive inspection of the reactor vessel head 2, e.g. for ultrasonic inspection of the reactor vessel head 2.
The non-destructive inspection system 12 comprises a base 14 adapted to be mounted on the reactor vessel head 2, in particular onto the peripheral flange 10, an inspection head 16 to be moved along the lid 4, in particular along the central portion 8 thereof, for inspecting the lid 4, and a chain 18 for supporting and manipulating the inspection head 16 remotely from the base 14, the inspection head 16 being mounted at a distal end 20 of the chain 18. The inspection head 16 is mechanically connected to the base 14 solely via the chain 18. The chain 18 is the only cinematic connection between the inspection head 16 and the base 14.
The non-destructive inspection system 12 is deprived of any system other than the chain 18 for mechanically connecting the inspection head 16 to the base 14 with supporting and controlling movement of the inspection head 16 relative to the base 14.
In particular, the non-destructive inspection system 12 is deprived of a static guiding device extending along the extended portion of the chain 18 for guiding the inspection head 16 and/or the chain 18 along the lid 4.
The inspection head 16 is supported solely by the chain 18, which is in turn support by the base 14.
The portion of the chain 18 extending between the base 14 and the inspection head 16 extends in cantilever from the base 14, with supporting the inspection head 16 at its distal end 20.
In particular, the non-destructive inspection system 12 is deprived of a telescopic arms extending from the base or a rail secured to the lid 4 for supporting and/or guiding the inspection head 16 when travelling along the lid 4.
The chain 18 has the distal end 20 supporting the inspection head 16 and a proximal end 22 opposed to the distal end 20. The chain 18 is opened. The distal end 20 and the proximal end 22 are not connected. The distal end 20 and the proximal end 22 are distant one from the other.
The chain 18 is movable relative to the base 14 such as to selectively extend the chain 18 from the base 14 and retract the chain 18 towards the base 14.
Moving the chain 18 relative to the base 14 such as to push the inspection head 16 away from the base 14 increases the length of an extended portion of the chain 18 that extends between the base 14 and the inspection head 16.
Moving the chain 18 relative to the base 14 such as to pull the inspection head 16 closed to the base 14 decreases the length of the extended portion of the chain 18 that extends between the base 14 and the inspection head 16.
The chain 18 has a retracted portion of the chain 18 that is retracted relative to the base 14. The retracted portion of the chain 18 is the portion that does not extend between the base 14 and the inspection head 16.
When the inspection head 16 is moved closer to the base 14, the length of the retracted portion increases and when the inspection head 16 is moved away from the base 14 the length of the retracted portion decreases. The non-destructive inspection system 12 comprises a driving unit 28 configured for driving the chain 18 relative to the base 14 such as to selectively push the inspection head 16 away from the base 14 via the chain 18 and pull the inspection head 16 closer to the base 14 via the chain 18.
The driving unit 28 comprises for example a driving wheel 30 that is mounted onto the base 14 in rotation about a driving axis A and that engages the chain 18 such that a rotation of the driving wheel 30 in one direction moves the chain 18 relative to the base 14 such as to push the inspection head 16 away from the base 14 and a rotation of the driving wheel 30 in the opposite direction moves the chain 18 relative to the base 14 such as to pull the inspection head 16 closer to the base 14.
The driving unit 28 comprises an actuator 32 configured for rotating the driving wheel 30 about the driving axis A. The actuator 32 is for example a motor, in particular an electric motor or a hydraulic motor.
Optionally, the non-destructive inspection system 12 comprising a storage 34 for storing the retracted portion of the chain 18 that does not extend between the base 14 and the inspection head 16.
The storage 34 is configured such that upon driving the chain 18 for pushing the inspection head 16 away from the base 14, the chain 18 is extended out of the storage 34 and upon driving the chain 18 for pulling the inspection head 16 closer to the base 14, the chain 18 is retracted into the storage 34.
As illustrated on Figures 1 - 3, the storage 34 is for example provided as a guiding rail into which the retracted portion of the chain 18 slides.
Advantageously, the storage device 34 is configured to reel the chain 18. In the example illustrated on Figures 1 - 3, the storage 34 is provided as guiding rail that extends along a curve line for reeling the chain 18.
As illustrated on Figure 3, the chain 18 is made of a series of chain elements or links 36 that are connected two-by-two such that the chain 18 is flexible.
In a preferred embodiment, the links 36 of the chain 18 are pivotally connected two- by-two such that the chain 18 is flexible in one single flexing plane P (see Figure 3).
The flexible plane P is preferably vertical in use. Hence, the inspection head 16 supported at the distal end 20 of the chain 18 is guided by the chain 18 to stay in said vertical plane P while being allowed to move up or down by flexion of the chain 18 in the flexing plane P, in particular to follow the curvature of the dome shaped upper surface 8A of the lid 4 when the inspection head 16 is move along the lid 4.
In one exemplary embodiment, each link 36 is connected to the preceding one via a pivot connection 38 having one degree of freedom that is a rotation about a pivot axis B, the pivot axes B of the pivot connections 38 of the chain 18 being parallel. The flexing plane P is thus the plane that is perpendicular to the pivot axes B of the pivot connections 38.
Each link 36 is connected to the preceding one with being able to pivot about the corresponding pivot axis B, starting from an aligned configuration in which the link 36 is aligned with the preceding one, in a first direction up to a first maximum angle and in an opposite second direction up to a second maximum angle.
The first direction is the direction in which the chain 18 flexes to follow the curvature of the upper surface 8A of the lid 4 when the chain 18 is extended over the lid 4.
The chain 18 is intrinsically resistant to traction. Using the driving unit 28 to pull on the chain 18 allows pulling the inspection head 16 closer to the base 14.
The chain 18 is configured to be resistant to compression such as to be able to push the inspection head 16 away from the base 14 wihtout buckling.
To this end, the first maximum angle is limited such that the chain 18 will no buckle upon pushing the inspection head 16.
The links 36 are preferably pivotally connected together such that the chain 18 may flex at maximum in the flexing plane P in the first direction with extending along an imaginary circular line having a curvature radius that is substantially equal to the minimal curvature radius of the upper surface 8A of the lid 4.
Hence, the chain 18 can follow the curvature of the upper surface 8A with forming an arch between the base 14 and the inspection head 16 that will not buckle upon pushing the chain 18 as the chain 18 cannot flex more that the predefined maximum flexion.
Preferably, the second direction is the direction in which the retracted portion of the chain 18 is flexed upon retraction into the storage 34 when such a storage 34 is provided.
Advantageously, the link 36 are pivotally connected such that the chain 18 is able to flex more in the second direction that in the first direction. In other words, the second maximum angle is strictly greater than the first maximum angle. This allows the retracted portion of the chain 18 to be flexed in the second direction with following a line having a radius of curvature strictly lower than that of the upper surface 8A of the lid 4. Hence, the retracted portion of the chain 18 may be stored in a compact manner.
As illustrated on Figure 3, the inspection head 16 is preferably pivotally connected to the distal end 20 of the chain 18 via an inspection head connection 40.
The inspection head connection 40 is advantageously configured for rotation of the inspection head 16 relative to the terminal link 36 about a pivot axis C parallel to the pivot axes B of the link connections 38. This allows the inspection head 16 to follow the curvature of the upper surface 8A in the continuation of the chain 18. Optionally, the inspection head connection 40 is configured for allowing rotation of the inspection head 16 relative to the distal end 20 about a pivot axis D that is perpendicular to the pivot axis C. This allows accommodating a slight cant of the upper surface 8A, depending on the corridor in which the inspection head 16 is moved, in particular when the inspection head 16 is moved in a corridor that is offset relative to a center of the lid 4.
As visible on Figure 3, optionnally, the distal end 20 of the chain 18 and/or the inspection head 16 is/are provided with a guiding device 41 configured to guide the distal end 20 of the chain 18 and/or the inspection head 16 laterally between two rows of penetrations of the cover head defining a corridor into which the inspection head 16 is inserted, the guiding device 41 having a width corresponding to the distance between the two rows of penetrations 6 and a length that exceeds the spacing between two adjacent penetrations 6 in each one of the two rows of penetrations 6.
The guide device 41 is made for example of one or several guiding plates secured to the distal end 20 of the chain 18 and/or the inspection head 16, the guiding plate(s) defining two parallel guiding edges 41 A, the distance between the guiding edges 41 A corresponding to the distance between the two rows of penetrations 6, each guiding edge having a length that exceeds the maximal spacing between two adjacent penetrations 6 in each one of the two rows of penetrations 6.
The guiding device 41 is advantageously removably mounted on the inspection head 16 and/or the chain 18. A guiding device 41 with the appropriate width and/or length can be mounted on the inspection head 16 and/or the chain 18 as a function of the corridor to be inspected. It is also possible to attach no guiding device 41 to the inspection head 16 and/or the chain 18 in case the width of the inspection head 16 and/or the width of the chain 18 matches that of a corridor to be inspected.
As illustrated on Figures 1 and 2, optionally, the base 14 of the non-destructive inspection system 12 is mounted onto a carriage 42 that is movable along a railway 44 extended at the periphery of the lid 4, here onto the peripheral flange 10. Hence, the base 14 is movable relative to the lid 4 for positioning the base 14 in register with a corridor to be inspected.
Preferably, the base 14 is pivotally mounted onto the carriage 42 about a vertical orientation axis E. Hence, the base 14 can be oriented to align the flexing plane P of the chain 18 with the direction of extension of the corridor that is to be inspected.
The inspection head 16 comprises at least one inspection probe 48 for nondestructive inspection of the lid 4 when moving the inspection head along the lid 4. In on example, the inspection head 16 has at least one probe holder 46, each probe holder 46 supporting an inspection probe 48 for non-destructive inspection of the lid 4 when moving the inspection head along the lid 4.
As illustrated on Figures 3 and 4, the inspection head 16 has three probe holders 46 (Figure 3) arranged side-by-side, each probe holder 46 supporting an inspection probe 48 (Figure 4).
The number of probe holders may vary, e.g. as a function of a width of the corridor to be inspected. The inspection head 16 may have one single probe holder 46, two probe holders 46, three probe holders 46 or more.
In a preferred embodiment, the inspection head 16 is configured for ultrasonic inspection.
To this end, the inspection head 16 supports at least one inspection probe 48 that is an ultrasonic inspection probe configured for emitting ultrasonic waves into the lid 4 when the inspection head 16 is move onto the lid 4 and receiving ultrasonic reflections generated by the ultrasonic waves.
In a known manner, the analysis of the ultrasonic reflections as a function of the emitted ultrasonic wave allows detecting and/or characterizing and/or classifying defects in the lid 4, such as cracks.
In the illustrated example, each inspection probe 48 is an ultrasonic inspection probe for ultrasonic inspection of the lid 4.
In a preferred embodiment, as illustrated on Figure 4, the inspection probe 48 or at least one of the inspection probes 48 of the inspection head 16 is configured for implementing a phase array technique.
Each inspection probe 48 configured for implementing a phase array technique comprises a plurality of ultrasonic transducers arranged in an array.
In a known manner, using the ultrasonic transducers for emitting elementary ultrasonic waves with a phase shift between the ultrasonic transceivers allows emitting a composite ultrasonic wave resulting from the combination of the elementary ultrasonic waves in a given incidence plane, with varying the incidence plane as a function of the phase shifts.
This allows scanning the lid 4. It also allows a better detection and/or characterization and/or classification of defects in the lid 4.
Optionally, the non-destructive inspection device 12 is configured for the injection of a liquid, preferably water, between the inspection head 16 and the lid 4. The injection of liquid allows improving a sound coupling between the inspection head 16 and the lid 4. As illustrated on Figure 5, in one exemplary embodiment, the inspection head 16 comprises on a lower face thereof one or several injection nozzles 52 for injecting a liquid, preferably water, between the inspection nozzle and the lid 4. Each inspection nozzle 52 is fed via an injection hose (not shown).
Optionally, the non-destructive inspection device 12 is configured for suction of the liquid injected between the inspection head 16 and the lid 4. Suction of the liquid prevents uncontrolled spilling of the liquid on the lid 4.
In one exemplary embodiment, the inspection head 16 comprises, on a lower face thereof, one or several suction nozzles 54 for suction of the liquid. Each suction nozzle is fluidly connected to a suction device such as a pump via a suction hose (not shown).
In a preferred embodiment, the inspection head 16 comprises one or several injection nozzles 52 surrounded by several suction nozzle 54. This allows efficient suction of the liquid injected by the injection nozzle(s).
Each hose for injection of liquid or suction of liquid connect the inspection head 16 to at least one pump for injection or suction of liquid. Each pump is provided for example on the base 14, with each hose extending for example along the chain 18 such as to be extended and retracted with the chain 18.
In use, during an inspection of the lid 4, the chain 18 is initially fully retracted such that the inspection head 16 is adjacent the base 14, and the base 14 is positioned in register with a corridor defined between two rows of penetrations 6.
To that end, the carriage 42 is for example move along the railway 44 and the base 14 is pivoted about the orientation axis E relative to the carriage for aligning the chain 18 with the chosen corridor.
Hence, the driving unit 28 is operated to extend and retract the chain 18 in view of moving the inspection head 16 in the corridor respectively to away from and closer to the base 14.
Upon moving the inspection head 16 along the corridor, each inspection probe 48 is used for inspection the lid 4, here by emitting ultrasonic waves and collecting reflections of said ultrasonic waves.
In a preferred implementation, the chain 18 is used to push the inspection head 16 until the end of the corridor remote to the base 14 without performing inspection (i.e. here without emitting ultrasonic waves), and then the chain 18 is used to pull the inspection head 16 towards the base 14 with performing inspection (i.e. here with emitting ultrasonic waves).
The non-destructive inspection device 12 using solely a chain 18 for supporting and selectively pushing and pulling an inspection head 16 along the lid 4 is simple to manufacture, to maintain and to use. The operation is simply implemented with a driving unit 28 engaging the chain 18 for pushing the chain 18 or pulling the chain 18.
The chain 18 and the associated drive unit 28 form together a supporting and moving assembly for supporting and moving the inspection head 16 along the lid 4. The chain 18 extends between the base 14 and the inspection head 16 with being the only mechanical member cinetically connecting the inspection head 16 to the base 14 and supporting the inspection head 16.

Claims

1 Non-destructive inspection system for the inspection of a reactor vessel head (2) of a nuclear reactor, the inspection system comprising a base (14), an inspection head (16) carrying one or several inspection probe(s) (48), a chain (18) having a distal end (20) supporting the inspection head (16), the chain (18) being movable relative to the base (14) via a driving unit (28) configured for driving the chain (18) to selectively push the inspection head (16) away from the base (14) and pull the inspection head (16) closer to the base (14).
2.- Inspection system according to claim 1 , wherein the chain (18) is made of a series of links (36) connected by pivot connections (38), each pivot connection (38) having a pivot axis (B), the pivot axes (B) of the pivot connections being parallel.
3.- Inspection system according to claim 1 or 2, wherein the chain is flexible only in one flexing plane (P).
4.- Inspection system according to claim 2 or 3, wherein the inspection head (16) is connected to the distal end (20) via an inspection head connection (40) configured for a rotation of the inspection head (16) relative distal end (20) about a pivot axis (C) parallel to the pivot axes (B) of the pivot connections (38) and/or a pivot axis (D) perpendicular to the pivot axes (B) of the pivot connections (38).
5.- Inspection system according to anyone of the preceding claims, comprising a chain storage (34) for accommodating an retracted portion of the chain (18).
6.- Inspection system according to claim 5, wherein the chain storage is configured to reel the retracted portion of the chain (18).
7.- Inspection system according to any one of the preceding claims, deprived of a static guiding device extending along the extended portion of the chain (18) for guiding the inspection head (16) and/or the chain (18) along the lid (4).
8.- Inspection system according to any one of the preceding claims, wherein the distal end (20) of the chain (18) and/or the inspection head (16) is/are provided with a guiding device (41) configured to guide the distal end (20) of the chain (18) and/or the inspection head (16) laterally between two rows of penetrations of the reactor vessel head (2) defining a corridor into which the inspection head (16) is inserted, the guiding device (41) having a width corresponding to the distance between the two rows of penetrations (6) and a length that exceeds the spacing between two adjacent penetrations (6) in each one of the two rows of penetrations 6.
9.- Inspection system according to any one of the preceding claims, wherein the width of the inspection head (16) corresponds to the distance between two rows of penetrations (6) of the reactor vessel head (2).
10.- Inspection system according to any one of the preceding claims, wherein the inspection head (16) includes one or several of injection nozzle(s) (52) for injecting a liquid between the inspection head (16) and the reactor vessel head (2).
11.- Inspection system according to any one of the preceding claims, wherein the inspection probe includes one or several suction nozzle(s) (54) for suction of a liquid present between the inspection head (16) and the reactor vessel head (2).
12.- Inspection system according to any one of the preceding claims, comprising a carriage (42) supporting the base (14), the carriage (42) being configured for moving along a railway (44), in particular a railway (44) extending at the periphery of the reactor vessel head (2).
13.- Inspection system according to claim 11 , wherein the base (14) is rotatable about a vertical axis (E) relative to the carriage (42).
14.- Inspection system according to any one of the preceding claims, wherein the inspection probe (48) or at least one of the inspection probe(s) has a plurality of ultrasonic transducers arranged in an array for implementing a phase array technique to generate a deviation of the incidence plane.
15.- Inspection system according to any one of the preceding claims, wherein the nuclear reactor is a pressurized water reactor.
PCT/IB2020/001131 2020-09-15 2020-09-15 Non-destructive inspection system for the inspection of a nuclear reactor vessel head WO2022058767A1 (en)

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Application Number Priority Date Filing Date Title
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5109718A (en) 1989-05-17 1992-05-05 Siemens Aktiengesellschaft Apparatus and method for testing a vessel wall
DE4222066C1 (en) * 1992-07-04 1993-09-23 Abb Reaktor Gmbh, 6800 Mannheim, De
DE4226854A1 (en) * 1992-08-13 1994-02-17 Siemens Ag Manipulator for remote inspection of difficult to access areas - using a remote inspection system mounted on the free end of a self-supporting wind out chain

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5109718A (en) 1989-05-17 1992-05-05 Siemens Aktiengesellschaft Apparatus and method for testing a vessel wall
DE4222066C1 (en) * 1992-07-04 1993-09-23 Abb Reaktor Gmbh, 6800 Mannheim, De
DE4226854A1 (en) * 1992-08-13 1994-02-17 Siemens Ag Manipulator for remote inspection of difficult to access areas - using a remote inspection system mounted on the free end of a self-supporting wind out chain

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