DE9415987U1 - Shielded, swiveling camera manipulator with lighting, for inspection in the core area of boiling and pressurized water reactors - Google Patents
Shielded, swiveling camera manipulator with lighting, for inspection in the core area of boiling and pressurized water reactorsInfo
- Publication number
- DE9415987U1 DE9415987U1 DE9415987U DE9415987U DE9415987U1 DE 9415987 U1 DE9415987 U1 DE 9415987U1 DE 9415987 U DE9415987 U DE 9415987U DE 9415987 U DE9415987 U DE 9415987U DE 9415987 U1 DE9415987 U1 DE 9415987U1
- Authority
- DE
- Germany
- Prior art keywords
- pos
- camera
- shielded
- inspection
- boiling
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Lifetime
Links
- 238000007689 inspection Methods 0.000 title claims description 10
- 238000009835 boiling Methods 0.000 title claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims description 7
- 230000005855 radiation Effects 0.000 claims description 8
- 230000001681 protective effect Effects 0.000 claims 1
- 239000000446 fuel Substances 0.000 description 7
- 238000011179 visual inspection Methods 0.000 description 3
- 244000309464 bull Species 0.000 description 2
- 239000005355 lead glass Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000011258 core-shell material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Examining Or Testing Airtightness (AREA)
Description
# ·# ·
• · ·· ·
- Beschreibung -- Description -
Titel: Abgeschirmter, schwenkbarer Kameramanipulator mit Beleuchtung, zur Inspektion im Kernmantelbereich von Siede- und Druckwasserreaktoren. Title: Shielded, pivoting camera manipulator with lighting for inspection in the core shroud area of boiling and pressurized water reactors.
Stand derState of
Technik: Es ist bekannt, daß ein einwandfreier Zustand von Material und Schweißnähten des Kernmantels in Siede- und Druckwasserreaktoren nachgewiesen werden muß. Die bisherigen Sichtprüfungen erfolgten bei entladenem Kern aus folgendem Grund: Technology: It is known that the perfect condition of the material and welds of the core shroud in boiling and pressurized water reactors must be demonstrated. The previous visual inspections were carried out with the core unloaded for the following reason:
Die eingesetzten Unterwasserkameras halten die hohe Strahlung der Brennelemente bei beladenem Kern nicht aus.The underwater cameras used cannot withstand the high radiation from the fuel elements when the core is loaded.
Der Anmelder selbst ist in Kernkraftwerken als Schichtleiter in Revisionen am Reaktordruckbehälter bei dem Brennelementwechsel beschäftigt und kennt somit die Arbeitsweise bei wiederkehrenden Prüfungen.The applicant himself is employed in nuclear power plants as a shift supervisor in inspections of the reactor pressure vessel during fuel element replacement and is therefore familiar with the working methods of recurring inspections.
Problem:Problem:
Lösung:Solution:
Mit der im Schutzanspruch angegebenen Erfindung liegt das Problem zugrunde, eine einwandfreie Sichtprüfung bei beladenem Kern durchzuführen.The invention specified in the protection claim is based on the problem of carrying out a flawless visual inspection with a loaded core.
Der Kameramanipulator ist so konstruiert, daß er mit dem Arbeitsgestänge, montiert an der Befestigungsplatte ( Fig.1 Pos.1 ) durch das obere Kerngitter (Siedewasserreaktor) in eine freigemachte Kernzelle hängend am Hilfshub der BE-Wechselmaschine geführt wird. Die axiale Drehbewegung wird mit dem Arbeitsgestänge durchgeführt.The camera manipulator is designed in such a way that it is guided with the working rod, mounted on the fastening plate (Fig.1 Pos.1) through the upper core grid (boiling water reactor) into a cleared core cell hanging on the auxiliary lift of the fuel exchange machine. The axial rotary movement is carried out with the working rod.
- Beschreibung -- Description -
Lösung:Solution:
Die Höhenverstellung der Unterwasserkamera ( Fig.1 Pos.11) wird mit dem Arbeitszylinder C Fig.1 Pos.4 ) mittels der Zahnstange ( Fig.1 Pos.3 ) und dem am Kamerahalter ( Fig.1 Pos.10 ) befestigten Zahnkranz ( Fig.1 Pos.9 ) getätigt. Die Bleiabschirmung < Fig.1 Pos.6 ) hält die von hinten einfallende sehr hohe Strahlung der Brennelemente auf die Unterwasserkamera ab. Die seitliche Streustrahlung auf die UW-Kamera wird durch die Bleiabschirmung im Kamerahalter ( Fig.1 Pos.10 ) abgeschirmt.The height adjustment of the underwater camera (Fig.1 Pos.11) is carried out with the working cylinder C Fig.1 Pos.4) using the rack (Fig.1 Pos.3) and the gear ring (Fig.1 Pos.9) attached to the camera holder (Fig.1 Pos.10). The lead shielding (Fig.1 Pos.6) keeps the very high radiation from the fuel elements falling from behind off the underwater camera. The side scattered radiation on the underwater camera is shielded by the lead shielding in the camera holder (Fig.1 Pos.10).
Auf der Stirnseite des Kamerahalters ist ein Bleiglas angebaut, das die Frontstrahlung auf die UW-Kamera abschirmt. Der Einfädelkonus C Fig.1 Pos.8 ) dient zum leichteren einfädeln in das obere Kerngitter. Weiterhin ist der Kameramanipulator mit einem Unterwasserscheinwerfer ( Fig.1 Pos.7 ) ausgestattet der die aufzuzeichnenden Stellen des Kernmantels ausleuchtet.A lead glass is mounted on the front of the camera holder, which shields the front radiation on the underwater camera. The threading cone C (Fig.1 Pos.8) is used to make threading into the upper core grid easier. The camera manipulator is also equipped with an underwater spotlight (Fig.1 Pos.7) which illuminates the areas of the core mantle that are to be recorded.
- Beschreibung -Beschreibung zu Figur 2- Description -Description of Figure 2
Draufsicht Siedewasserreaktor ohne Maßstab.Top view of boiling water reactor, not scaled.
Position 1: ReaktordruckbehaLterPosition 1: Reactor pressure vessel
Position 2: Zwangsumwälzpumpe.Position 2: forced circulation pump.
Position 3: KernmantelPosition 3: Core mantle
Position 4: Kameramanipulator in freier KernzellePosition 4: Camera manipulator in free core cell
Position 5: Mit X gezeichnete freie Kernzellen.Position 5: Free nuclear cells marked with X.
Position 6: Vier mit + gezeichnete beladene Kernzelle.Position 6: Four loaded core cells marked with +.
Siedewasserreaktor im Schnitt ohne Maßstab Position 1: Brennelementwechselmaschine Position 2: Reaktorgrube Position 3: Flutkompensator Position 4: Reaktordruckbehälter Position 5: Arbeitsgestänge Position 6: Oberes Kerngitter Position 7: Beladener Kern mit Brennelementen Position 8: ZwangsumwälzpumpenBoiling water reactor in section, not to scale Position 1: Fuel element changing machine Position 2: Reactor pit Position 3: Flood compensator Position 4: Reactor pressure vessel Position 5: Working rods Position 6: Upper core grid Position 7: Loaded core with fuel elements Position 8: Forced circulation pumps
Position 9: Kameramanipulator mit ausgeschwenkter Kamera bei der inneren Schweißnahtinspektion vom Kernmantel.Position 9: Camera manipulator with swiveled camera during the internal weld seam inspection of the core shell.
- Beschreibung -- Description -
Bei den jährlichen Revisionen in Kernkraftwerken ist es erforderlich, Prüfungen an bestimmten Bauteilen durchzuführen und somit einen einwandfreien Nachweis dem TuV und der Behörde zu erbringen. Bei Inspektionen im Bereich von Brennelementen fallen Unterwasserkameras aus, oder sie werden sogar von der hohen Strahlung zerstört. Aus diesem Grund ist bei dem in der Erfindung angegebenen Kameramanipulator eine Bleiabschirmung ( Fig.1 Pos.6 ) und im Kamerahalter C Fig.1 Pos.10 ) angebracht. Zusätzlich dient das Bleiglas vor dem Kameraobjektiv noch als Strahlungsabschirmung. Der Kameramanipulator wird mit dem Arbeitsgestänge vei— schraubt ( Fig.3 Pos.5/9 ) und durch das obere Kerngitter < Fig.3 Pos.6 ) in entladene Kernzellen C Fig.2 Pos.5 ) eingeführt. Danach wird die Beleuchtung < Fig.1 Pos.7 ) eingeschaltet. Durch beaufschlagung des Arbeitszylinders ( Fig.1 Pos.4 ) mit Druckluft, geregelt über einen Druckminderer, wird die Zahnstange ( Fig.1 Pos.3 ) in Eingriff mit dem Zahnkranz ( Fig.1 Pos.9 ) in Bewegung gesetzt, und somit ein schwenken des Kamerahalters, bis zu 135Grad, ereicht. Die axiale Ausrichtung des Kameramanipulators wird mit dem Arbeitsgestänge durch drehen in die gewünschte Richtung erzielt. Der ganze Ausrichtvorgang wird mit eingeschalteter Unterwasserkamera am Monitor überwacht. Nach dem ausrichten des Kameramanipulators auf die gewünschte Stelle im Kernmantel kann die Inspektion durchgeführt werden und somit ein Nachweis erbracht werden.During the annual inspections in nuclear power plants, it is necessary to carry out tests on certain components and thus provide impeccable proof to the TÜV and the authorities. During inspections in the area of fuel elements, underwater cameras fail or are even destroyed by the high radiation. For this reason, lead shielding ( Fig.1 Pos.6 ) is installed in the camera manipulator specified in the invention and in the camera holder C Fig.1 Pos.10 ). In addition, the lead glass in front of the camera lens also serves as radiation shielding. The camera manipulator is screwed to the working rod ( Fig.3 Pos.5/9 ) and inserted through the upper core grid < Fig.3 Pos.6 ) into discharged core cells C Fig.2 Pos.5 ). The lighting < Fig.1 Pos.7 ) is then switched on. By applying compressed air to the working cylinder (Fig.1 Pos.4), regulated by a pressure reducer, the rack (Fig.1 Pos.3) is set in motion in engagement with the gear ring (Fig.1 Pos.9), thus enabling the camera holder to swivel by up to 135 degrees. The axial alignment of the camera manipulator is achieved with the working rod by turning it in the desired direction. The entire alignment process is monitored on the monitor with the underwater camera switched on. After aligning the camera manipulator to the desired location in the core mantle, the inspection can be carried out and proof can be provided.
- Beschreibung -- Description -
Ereichte Vorteile:Achieved Advantages:
1. Zeit- und Kostenersparnis1. Time and cost savings
Die mit der Erfindung ereichten Vorteile bestehen darin, daß der Kern nicht soweit entladen werden muß, daß nicht abgeschirmte Kameras eingesetzt werden können. Dadurch werden Revisionszeiten verkürzt und somit hohe Kosten eingespart.The advantages achieved with the invention are that the core does not have to be discharged to such an extent that unshielded cameras can be used. This shortens inspection times and thus saves a lot of money.
2. Geringere Strahlenbelastung2. Lower radiation exposure
Dadurch, daß der Kern nicht komplett entladen wird und die Sichtprüfungen durch eine hohe Qualität der Aufzeichnungen schneller durchgeführt werden, ist das Personal einer geringeren Strahlenbelastung, durch verkürzte Zeiten ausgesetzt.Because the core is not completely discharged and the visual inspections are carried out more quickly due to high quality recordings , the personnel are exposed to less radiation due to shorter times.
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE9415987U DE9415987U1 (en) | 1994-10-05 | 1994-10-05 | Shielded, swiveling camera manipulator with lighting, for inspection in the core area of boiling and pressurized water reactors |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE9415987U DE9415987U1 (en) | 1994-10-05 | 1994-10-05 | Shielded, swiveling camera manipulator with lighting, for inspection in the core area of boiling and pressurized water reactors |
Publications (1)
Publication Number | Publication Date |
---|---|
DE9415987U1 true DE9415987U1 (en) | 1994-12-22 |
Family
ID=6914480
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE9415987U Expired - Lifetime DE9415987U1 (en) | 1994-10-05 | 1994-10-05 | Shielded, swiveling camera manipulator with lighting, for inspection in the core area of boiling and pressurized water reactors |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE9415987U1 (en) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3627684A1 (en) * | 1985-08-14 | 1987-02-26 | Framatome Sa | DEVICE FOR CONTROLLING THE GAME BETWEEN THE PERIPHERY OF THE TOP PLATE OF THE REACTOR CORE AND THE INSIDE SURFACE OF THE CORE SHEATH OF A PRESSURE WATER CORE REACTOR |
DE8913402U1 (en) * | 1989-11-13 | 1990-01-04 | Siemens AG, 1000 Berlin und 8000 München | Test manipulator |
WO1993021640A1 (en) * | 1992-04-08 | 1993-10-28 | R. Brooks Associates, Inc. | Support plate inspection device |
WO1993023853A1 (en) * | 1992-05-14 | 1993-11-25 | Brooks Support Systems, Inc. | Inspection device |
-
1994
- 1994-10-05 DE DE9415987U patent/DE9415987U1/en not_active Expired - Lifetime
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3627684A1 (en) * | 1985-08-14 | 1987-02-26 | Framatome Sa | DEVICE FOR CONTROLLING THE GAME BETWEEN THE PERIPHERY OF THE TOP PLATE OF THE REACTOR CORE AND THE INSIDE SURFACE OF THE CORE SHEATH OF A PRESSURE WATER CORE REACTOR |
US4746486A (en) * | 1985-08-14 | 1988-05-24 | Framatome | Device for checking clearance between the periphery of the upper core plate and the inner surface of the core enclosure of a pressurized water nuclear reactor |
DE8913402U1 (en) * | 1989-11-13 | 1990-01-04 | Siemens AG, 1000 Berlin und 8000 München | Test manipulator |
WO1993021640A1 (en) * | 1992-04-08 | 1993-10-28 | R. Brooks Associates, Inc. | Support plate inspection device |
US5265129A (en) * | 1992-04-08 | 1993-11-23 | R. Brooks Associates, Inc. | Support plate inspection device |
WO1993023853A1 (en) * | 1992-05-14 | 1993-11-25 | Brooks Support Systems, Inc. | Inspection device |
US5305356A (en) * | 1992-05-14 | 1994-04-19 | Brooks Support Systems, Inc. | Inspection device |
US5305356B1 (en) * | 1992-05-14 | 1998-09-01 | Brooks Support Systems Inc | Inspection device |
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