EP0045454A2 - Manipulator for the positioning of a tubular sonde - Google Patents

Manipulator for the positioning of a tubular sonde Download PDF

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Publication number
EP0045454A2
EP0045454A2 EP81105840A EP81105840A EP0045454A2 EP 0045454 A2 EP0045454 A2 EP 0045454A2 EP 81105840 A EP81105840 A EP 81105840A EP 81105840 A EP81105840 A EP 81105840A EP 0045454 A2 EP0045454 A2 EP 0045454A2
Authority
EP
European Patent Office
Prior art keywords
boom
tube
pipe
support
manipulator
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.)
Granted
Application number
EP81105840A
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German (de)
French (fr)
Other versions
EP0045454A3 (en
EP0045454B1 (en
Inventor
Georg Gugel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kraftwerk Union AG
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Kraftwerk Union AG
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Filing date
Publication date
Application filed by Kraftwerk Union AG filed Critical Kraftwerk Union AG
Publication of EP0045454A2 publication Critical patent/EP0045454A2/en
Publication of EP0045454A3 publication Critical patent/EP0045454A3/en
Application granted granted Critical
Publication of EP0045454B1 publication Critical patent/EP0045454B1/en
Expired legal-status Critical Current

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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
    • F22B37/003—Maintenance, repairing or inspecting equipment positioned in or via the headers
    • F22B37/005—Positioning apparatus specially adapted therefor
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S165/00—Heat exchange
    • Y10S165/001—Heat exchange with alarm, indicator, recorder, test, or inspection means
    • Y10S165/003—Remote control inspection means
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49718—Repairing

Definitions

  • the invention relates to a manipulator for the remote-controlled positioning of inspection and, if necessary, repair pipe probes according to the preamble of claim 1.
  • Such a manipulator is known from DE-PS 22 63 143.
  • the support body - referred to there as the device carrier - covers the pipe openings located in the area of its base area. Without moving the support body, there is no access to the covered pipe orifices for the pipe probe.
  • Another known manipulator of the type mentioned in DE-OS 25 52 341 works on the so-called finger walker principle.
  • a finger walker basically consists of two mutually movable, sliding parts, each of which has its own expanding mandrels, which must be sufficient to lock the entire manipulator on the pipe field, even in an overhead position, so that the other part is loosened Spreader mandrels can move or stride and - after his spreader mandrels are locked again after executing the step - the other manipulator part can take a step, and so on.
  • the two manipulator parts consist of two arms arranged at right angles to one another, which are relative to one another in the X or Y direction of an imaginary coordinate system and thus also are displaceable to the pipe field and each of which is provided with expanding mandrels at its ends.
  • a finger walker is a relatively complicated structure, which must not only have the location control for the boom carrying the mouthpiece, but also the locomotion control for the striding mechanism.
  • the invention has for its object to provide a manipulator of the type mentioned, with which a 100% inspection of the tube field of a heat exchanger, in particular within the primary chamber of a steam generator for nuclear reactors, is possible without the manipulator being implemented after its one-time attachment and without it having to have the mechanics and controls of a finger walker.
  • the object is achieved in a manipulator of the type mentioned at the outset by the features specified in the characterizing part of claim 1.
  • Advantageous further developments are described in the subclaims.
  • the advantages that can be achieved with the invention are to be seen primarily in the fact that the manipulator once fixed and centered on the pipe field with the expanding mandrels of its supporting body no longer needs to be implemented and does not need to be advanced for a 100% pipe test; the straight movement of the support and the stepless swiveling movement of the boom are sufficient to paint over all pipe orifices.
  • the expanding mandrels are therefore not retracted to advance, but only in order to enable the boom to be pivoted or adjusted longitudinally in this area and / or in order to make the pipe mouth occupied by the expanding mandrel accessible; Once the manipulator has been assembled and centered, it is retained.
  • the steam generator DE shown in FIG. 1 for pressurized water nuclear reactors has a boiler wall 1 with a welded-in tube sheet 2 and a dome wall part 1a for the two primary chamber halves Ia, Ib.
  • the heat exchanger tubes 3 are welded into the tube sheet, of which only three are more clearly drawn out and the others are only indicated by dashed lines, with tube openings 3a pointing into the primary chamber 1a, 1b.
  • the primary medium, treated normal water, which is heated in the core of the reactor pressure vessel, not shown passes via a primary circuit pipeline, also not shown, via an invisible inlet connection, for example, into the primary chamber half 1a, which is separated from the primary chamber half 1b by a curved partition wall 4.
  • the manipulator M is used to manipulate all of these probes, which consequently serves for the remote-controlled positioning of the tube probes RS, which are used for inspection and, if necessary, repair, on the tube mouths 3a of the tubes 3 of steam generators DE for the nuclear reactors, which tubes 3 are contained in the tube plate 2.
  • the probe RS is connected to a flexible supply hose 5.1, which at the same time serves as a push hose for the pipe probe RS at its end and which is mounted so that it can move back and forth within a flexible guide hose 5.2.
  • Supply and guide hose 5.1, 5.2 are drawn out enlarged for a section in FIG. 1 and designated 5 as a whole.
  • the guide hose 5.2 ends in a mouthpiece 6, which is supported by the free end of a boom 7 pivotably mounted in a tube-transverse plane.
  • the manipulator M has a supporting body 9 with a guideway 10 in the form of a spindle, which can be fastened to the pipe orifices 3a by means of spaced-apart expanding mandrels 8, a bearing mounted on the supporting body 9 and on its guideway 10 rectilinear in the direction of x rectilinearly movable support 11 as well as the already mentioned arm 7 pivotably supported on the support 11 in a tube-transverse plane.
  • the supporting body 9 consists of an elongated frame construction with end plates 9.1, which with the pivot bearings for the two ends of the one having an external thread Spindle 10 are provided.
  • a drive motor 12 for the spindle 10 is also flanged to one of the circuit boards 9.1.
  • the support 11 is a rigid cantilever beam, which is mounted with its traveling nut body 11.1 'on the spindle 10 so that when the spindle 10 is rotated, the support can be moved back and forth in the x direction depending on the direction of rotation, but cannot rotate with it .
  • the support 11 grips with a U-shaped holding part 11.2, indicated schematically in FIG. 1, with upper and lower holding arms 11.21, 11.22, corresponding upper and lower guideways 9.2 of the support body 9. Through the angled end 11.23 of the upper guiding arm 11.21, which is not a engages shown guide bar of the support body 9, it is ensured that the support 11 can not fold down.
  • All the guide surfaces on the support 11 and their counter surfaces on the support body 9 for moving the support in the x direction can be provided with roller bodies (not shown in more detail) in order to achieve a rolling instead of a sliding friction.
  • the housing of a rotary actuator 14 is flanged, which is to be an infinitely adjustable rotary motor, with the axis of rotation 13 of which serves as the joint head bearing body 7.1 of the boom 7 is connected.
  • the length of the support body 9, the support 11 and the boom 7 is now each dimensioned such that by moving the support 11 in the x direction and by pivoting the boom 7 by the angle ⁇ in an angular range of at least 360 ° - 2 ⁇ , as explained in detail later, with the mouthpiece 6 of the boom 7 any pipe mouth 3a of the pipe field 30 can be reached (FIG. 2).
  • the tube field 30 is indicated in detail in FIG. 2 by a grid of lines crossing at right angles and by the dash-dotted outline of a circular section.
  • FIG. 2 and 3 show that at least three, in the present case there are four expandable mandrels 8 that can be extended and retracted and distributed over the length of the supporting body 9.
  • Fig. 2 also illustrates using the boom positions 7, 7 ', 7 "and 7''' that the boom 7 is pivotable in an angular range of 360 ° - 2 ⁇ , and that is infinitely pivotable, so that the mouthpiece 6 is aligned with any pipe mouth 3a and thus the pipe probe RS without problems
  • the tube probe RS is also expediently tapered at its retracting end in order to facilitate insertion with slight lateral deviations
  • the expansion mandrels are briefly retracted or retracted in the direction z1 (FIG. 1), but the remaining expansion mandrels 8a, 8b and 8d (in the case of the lifted expansion mandrel 8c) remain in engagement receive the fastening and centering position of the manipulator M or of the support body 9.
  • the mouthpiece 6 of the boom 7 reaches all pipe orifices 3a of the pipe field 30 by appropriate adjustment operations, irrespective of whether the pipe field is based on a cartesian or a polar coordinate system.
  • its rotary motor 14 is assigned an angle encoder, and the support 11 can, for example, engage with the pinion of a length encoder with a toothed rack attached to the support body 9 parallel to the spindle 10, so that from the corresponding pulses of length -and angle encoder can be calculated using a computer on a control panel, the exact tube position in Cartesian coordinates that the mouthpiece-6 is currently occupying.
  • the manipulator M is positioned symmetrically to the axis of symmetry y and the length of the arm 7 is also matched to this position.
  • the electrical supply lines for the adjusting motors 12 and 14 as well as the length and angle encoders, and also the pneumatic supply lines for the expanding mandrel cylinders 8.3 are omitted for the sake of simplicity.
  • an expanding mandrel 8 ' is indicated by dashed lines, which could be used in a second embodiment instead of the two expanding mandrels 8c and 8b, so that the manipulator M with the expanding mandrels 8a, 8' and 8d would be equipped.
  • Three expanding mandrels represent the minimum per manipulator, since two of them must always be in engagement in the manipulator M test position.
  • the first embodiment with four expanding mandrels provides increased clamping security, since if one of the at least three expanding mandrels that fail to engage at the same time fails, two are still engaged. It is also possible to provide more than four expanding mandrels.
  • Fig. 4 shows in detail a boom 70 which is adjustable in length, due to a telescopic linkage with cylinder part 71 and piston part 72.
  • a boom can be shortened in length by almost half, which e.g. has the advantage that - see FIG. 2 - for pivoting the boom from position 7 to position 7 'it does not need to be moved into the middle position.
  • the advantage can be achieved that no such precise adjustment of the boom length and the dimensions of the support 11 and the support body 9 need be made to the inner contours of the steam generator chamber; this would make such a manipulator more universal, i.e. Can be used for different steam generator sizes with different primary chamber dimensions.
  • the support body 9 has a support device 15 with at least one support leg 15.1 which can be braced laterally against the partition 4.
  • This is advantageously a pneumatic piston-cylinder arrangement.
  • the support leg 15.1 is e.g. articulated with a ball joint to the piston rod 15.2 in order to adapt to the curvature of the partition 4.
  • the dash-dotted partial representation of the manipulator M in the left part of FIG. 1 within the primary chamber half 1a illustrates that it is possible to move the mouthpiece 6 into acute-angled niches 16, which are caused by the convex curvature of the partition wall 4, but with the flexibility of guide and supply hose 5.2, 5.1 special requirements are made.
  • the primary chamber of the steam generator is not divided by a partition 4; in this case it would be advantageous to use a manipulator M which by doubling, i.e. Reflection on its expanding mandrel connection axis is to be thought and thus has a support 11 with a bracket 7 on each side of the longitudinal axis of a support body 9 doubled in this way. In this case, both swivel arms could even work at the same time, which would allow around half the test time compared to a manipulator with only one arm.
  • the manipulator M is inserted through the manhole ML (the cover, not shown, of which is removed for this purpose) when the steam generator primary chamber is drained, and is brought into the test position that can best be seen in FIG. 2. All that is required is a short stay of operating personnel in protective suits in the primary chamber. After the test has been carried out, the manipulator M is dismantled and removed accordingly. It is also fundamentally possible, in order to prevent operators from entering the steam generator primary chamber, by a rail system projecting from the outside through the nozzle into the primary chamber at the manhole connector ML1 attach to which the manipulator M is raked up on the outside and can then be moved remotely into its test position, as already explained in DE-OS 28 30 306.

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

Abstract

Der Manipulator (M) zum fernbedienbaren Positionieren von der Inspektion und gegebenenfalls Reparatur dienenden, an flexible Versorgungsschläuche angeschlossenen Rohrsonden an den Rohrmündungen der in einer Rohrplatte gefaßten Rohre von Wärmetauschern, insbesondere von Dampferzeugern für Kernreaktoren, weist einen mittels zueinander beabstandeten Spreizdornen (8, 8a, 8b, 8c, 8d) an den Rohrmündungen befestigbaren Tragkörper (9) mit Führungsbahn (10) auf, ferner einen am Tragkörper (9) gelagerten und an dessen Führungsbahn geradlinig verfahrbaren Support (11) sowie einen am Support in der rohrqueren Ebene schwenkbar gelagerten Ausleger (7), der an seinem freien Ende ein Mundstück (6) trägt, das auf die jeweils angewählte Rohrmündung ausricht- bzw. aufsetzbar ist und durch welches die jeweilige Rohrsonde in das zugehörige Wärmetauscherrohr einfahrbar ist. Es sind mindestens drei aus- und einfahrbare, über die Länge des Tragkörpers (9) verteilte Spreizdorne (8) vorgesehen. Der Ausleger (7) ist in einem Winkelbereich (φ) von mindestens 360° - 2α schwenkbar, wobei α durch die Beziehung cos α = m/n definiert ist, n die Länge des Auslegers und m das Lot vom Auslegerschwenkpunkt auf die Rohrfeld-Begrenzungssehne (301) bedeutet. Jeweils einer der mindestens drei Spreizdorne (8) ist zwecks Zugänglichkeit der von ihm abgedeckten Rohrmündung für das Mundstück (6) und/oder zwecks Ausführung einer durch den betreffenden Spreizdorn (8) andernfalls behinderten Schwenk- oder Längsverstellung des Auslegers (7) unter Beibehaltung des Spreizeingriffs der anderen Spreizdorne einziehbar.The manipulator (M) for remote-controlled positioning of the tube probes connected to flexible supply hoses and serving for inspection and, if necessary, repairs, on the tube mouths of the tubes of a heat exchanger, in particular of steam generators for nuclear reactors, has a spacing mandrel (8, 8a, 8b, 8c, 8d) on the pipe mouths can be fastened to the support body (9) with guide track (10), furthermore a support (11) mounted on the support body (9) and linearly movable on its guide track and a bracket pivotally mounted on the support in the pipe-transverse plane (7), which carries at its free end a mouthpiece (6) which can be aligned or fitted onto the respectively selected pipe mouth and through which the respective pipe probe can be inserted into the associated heat exchanger pipe. There are at least three expandable and retractable expanding mandrels (8) distributed over the length of the supporting body (9). The boom (7) can be pivoted in an angular range (φ) of at least 360 ° - 2α, where α is defined by the relationship cos α = m / n, n the length of the boom and m the plumb line from the boom pivot point to the pipe field boundary chord (301) means. In each case one of the at least three expanding mandrels (8) is for the accessibility of the pipe mouth covered by it for the mouthpiece (6) and / or for the purpose of executing a swiveling or longitudinal adjustment of the boom (7) which is otherwise impeded by the expanding mandrel (8) in question while maintaining the Spreading intervention of the other expanding mandrels retractable.

Description

Die Erfindung bezieht sich auf einen Manipulator zum fernbedienbaren Positionieren von der Inspektion und gegebenenfalls Reparatur dienenden Rohrsonden gemäß Oberbegriff des Anspruchs 1.The invention relates to a manipulator for the remote-controlled positioning of inspection and, if necessary, repair pipe probes according to the preamble of claim 1.

Ein solcher Manipulator ist durch die DE-PS 22 63 143 bekannt. Bei diesem bekannten Manipulator deckt der Tragkörper - dort als Geräteträger bezeichnet - die im Bereich seiner Grundfläche liegenden Rohrmündungen ab. Ohne ein Umsetzen des Tragkörpers ist also eine Zugänglichkeit zu den abgedeckten Rohrmündungen für die Rohrsonde nicht gegeben.Such a manipulator is known from DE-PS 22 63 143. In this known manipulator, the support body - referred to there as the device carrier - covers the pipe openings located in the area of its base area. Without moving the support body, there is no access to the covered pipe orifices for the pipe probe.

Ein anderer bekannter Manipulator der eingangs genannten Art nach der DE-OS 25 52 341 arbeitet nach dem sogenannten Fingerwalker-Prinzip. Ein solcher Fingerwalker besteht im Prinzip aus zwei relativ zueinander beweglichen, ineinandergleitenden Teilen, von denen jeder Teil seine eigenen Spreizdorne aufweist, die zur Arretierung des gesamten Manipulators am Rohrfeld, auch in einer Uberkopf-Position, ausreichen müssen, so daß der andere Teil bei gelösten Spreizdornen sich fortbewegen bzw. schreiten kann und - nachdem nach Ausführung des Schrittes seine Spreizdorne wieder verriegelt sind - der andere Manipulatorteil einen Schritt ausführen kann, und so fort. Bei dem vorgenannten bekannten Manipulator nach der DE-OS.25 52 341 bestehen die beiden Manipulatorteile aus zwei rechtwinklig zueinander angeordneten Armen, welche in X- bzw. Y-Richtung eines gedachten Koordinatensystems relativ zueinander und damit auch zum Rohrfeld verschiebbar sind und deren jeder an seinen Enden mit Spreizdornen versehen ist. Ein solcher Fingerwalker ist ein verhältnismäßig kompliziert aufgebautes Gebilde, welches nicht nur die Ortssteuerung für den das Mundstück tragenden Ausleger, sondern auch die Fortbewegungssteuerung für das Schreitwerk aufweisen muß.Another known manipulator of the type mentioned in DE-OS 25 52 341 works on the so-called finger walker principle. Such a finger walker basically consists of two mutually movable, sliding parts, each of which has its own expanding mandrels, which must be sufficient to lock the entire manipulator on the pipe field, even in an overhead position, so that the other part is loosened Spreader mandrels can move or stride and - after his spreader mandrels are locked again after executing the step - the other manipulator part can take a step, and so on. In the aforementioned known manipulator according to DE-OS.25 52 341, the two manipulator parts consist of two arms arranged at right angles to one another, which are relative to one another in the X or Y direction of an imaginary coordinate system and thus also are displaceable to the pipe field and each of which is provided with expanding mandrels at its ends. Such a finger walker is a relatively complicated structure, which must not only have the location control for the boom carrying the mouthpiece, but also the locomotion control for the striding mechanism.

Der Erfindung liegt die Aufgabe zugrunde, einen Manipulator der eingangs genannten Art zu schaffen, mit dem eine 100%-ige Prüfung des Rohrfeldes eines Wärmetauschers, insbesondere innerhalb der Primärkammer eines Dampferzeugers für Kernreaktoren, ermöglicht ist, ohne daß der Manipulator nach seiner einmaligen Befestigung umgesetzt werden und ohne daß er die Mechanik und Steuerung eines Fingerwalkers aufweisen müßte.The invention has for its object to provide a manipulator of the type mentioned, with which a 100% inspection of the tube field of a heat exchanger, in particular within the primary chamber of a steam generator for nuclear reactors, is possible without the manipulator being implemented after its one-time attachment and without it having to have the mechanics and controls of a finger walker.

Erfindungsgemäß wird die gestellte Aufgabe bei einem Manipulator der eingangs genannten Art durch die im Kennzei- - chen des Anspruchs 1 angegebenen Merkmale gelöst. Vorteilhafte Weiterbildungen sind in den Unteransprüchen beschrieben. Die mit der Erfindung erzielbaren Vorteile sind vor allem darin zu sehen, daß der einmal mit den Spreizdornen seines Tragkörpers am Rohrfeld befestigte und zentrierte Manipulator für eine 100%-ige Rohrprüfung nicht mehr umgesetzt zu werden und auch nicht fortzuschreiten braucht; es genügt zum Überstreichen aller Rohrmündungen die geradlinige Bewegung des Supports und die stufenlose Schwenkbewegung des Auslegers. Die Spreizdorne werden also nicht zum Fortschreiten eingefahren, sondern nur, um eine Schwenkung oder Längsverstellung des Auslegers in diesem Bereich und/oder um eine Zugänglichkeit zu der vom Spreizdorn besetzten Rohrmündung zu ermöglichen; die einmal vorgenommene Montage und Zentrierung des Manipulators bleibt erhalten.According to the invention, the object is achieved in a manipulator of the type mentioned at the outset by the features specified in the characterizing part of claim 1. Advantageous further developments are described in the subclaims. The advantages that can be achieved with the invention are to be seen primarily in the fact that the manipulator once fixed and centered on the pipe field with the expanding mandrels of its supporting body no longer needs to be implemented and does not need to be advanced for a 100% pipe test; the straight movement of the support and the stepless swiveling movement of the boom are sufficient to paint over all pipe orifices. The expanding mandrels are therefore not retracted to advance, but only in order to enable the boom to be pivoted or adjusted longitudinally in this area and / or in order to make the pipe mouth occupied by the expanding mandrel accessible; Once the manipulator has been assembled and centered, it is retained.

Im folgenden wird anhand der mehrere Ausführungsbeispiele darstellenden Zeichnung die Erfindung noch näher erläutert. Darin zeigt in vereinfachter Darstellung unter Fortlassung der für das Verständnis der Erfindung nicht erforderlichen Teile:

  • Fig. 1 in einem Längsschnitt eines Dampferzeugers die Seitenansicht des in der einen Primärkammerhälfte am Rohrboden befestigten und zentrierten Manipulators;
  • Fig. 2 die Draufsicht auf den Manipulator nach Fig. 1 mit Blickrichtung von unten, wobei vier Ausleger-und zwei Support-Positionen.dargestellt sind;
  • Fig. 3 die Ansicht in Blickrichtung A auf den Manipulator nach Fig. 2 und
  • Fig. 4 im Ausschnitt eine Variante für den Ausleger des Manipulators mit Teleskopverstellung.
The invention is explained in more detail below with reference to the drawing which shows several exemplary embodiments. It shows in a simplified representation, leaving out the parts that are not necessary for understanding the invention:
  • 1 shows a longitudinal section of a steam generator, the side view of the manipulator fastened and centered on the tube sheet in one primary chamber half;
  • FIG. 2 shows the top view of the manipulator according to FIG. 1, viewed from below, showing four boom and two support positions;
  • Fig. 3 shows the view in viewing direction A of the manipulator according to Fig. 2 and
  • Fig. 4 in a detail a variant for the boom of the manipulator with telescopic adjustment.

Der in Fig. 1 dargestellte Dampferzeuger DE für Druckwasser-Kernreaktoren hat eine Kesselwandung 1 mit eingeschweißtem Rohrboden 2 und Bodenkalotten-Wandteil 1a für die beiden Primärkammerhälften Ia, Ib. In den Rohrboden sind die Wärmetauscherrohre 3 eingeschweißt, von denen nur drei deutlicher herausgezeichnet und die anderen lediglich gestrichelt angedeutet sind, mit in die Primärkammer 1a, 1b weisenden Rohrmündungen 3a. Das Primärmedium, aufbereitetes normales Wasser, welches im Kern des nicht dargestellten Reaktordruckbehälters erwärmt wird, gelangt über eine gleichfalls nicht dargestellte Primärkreisrohrleitung über einen nicht ersichtlichen Einlaßstutzen z.B. in die Primärkammerhälfte 1a, welche von der Primärkammerhälfte 1b durch eine gewölbte Trennwand 4 abgetrennt ist. Es tritt über die Mündungen 3a in das Rohrbündel 3.1 ein, gibt seine Wärme an das in der Sekundärkammer II enthaltene, zu verdampfende Sekundärmedium ab und strömt über die U-RohrBögen in das zweite Rohrbündel 3.2, welches es über die Rohrmündungen 3a verläßt und so in die Primärkammerhälfte Ib und deren nicht gezeichneten Auslaßstutzen in den Primärkreislauf zwecks erneuter Aufheizung im Reaktorkern zurückgespeist werden kann. Die wärmetauschenden Rohre 3 des Dampferzeugers DE müssen einer periodischen Überprüfung auf Anrisse unterzogen werden. Das geschieht mit einer in die Rohre 3 einfahrbaren Rohrsonde RS eines Wirbelstrommeßgerätes, welche in Fig. 1 in einer Einfahrposition im Rohrmündungsbereich gezeigt ist. Außer der erwähnten Wirbelstrommeß-Sonde RS kann es sich dabei auch um Reinigungswerkzeuge zur Rohrreinigung von innen handeln oder um Reparaturwerkzeuge, durch welche ebenfalls Sprengstopfen zur Abdichtung von Rissen eingebracht werden können.The steam generator DE shown in FIG. 1 for pressurized water nuclear reactors has a boiler wall 1 with a welded-in tube sheet 2 and a dome wall part 1a for the two primary chamber halves Ia, Ib. The heat exchanger tubes 3 are welded into the tube sheet, of which only three are more clearly drawn out and the others are only indicated by dashed lines, with tube openings 3a pointing into the primary chamber 1a, 1b. The primary medium, treated normal water, which is heated in the core of the reactor pressure vessel, not shown, passes via a primary circuit pipeline, also not shown, via an invisible inlet connection, for example, into the primary chamber half 1a, which is separated from the primary chamber half 1b by a curved partition wall 4. It enters the tube bundle 3.1 via the orifices 3a, gives its heat to the ver contained in the secondary chamber II steaming secondary medium and flows via the U-tube bends into the second tube bundle 3.2, which it leaves via the tube orifices 3a and can thus be fed back into the primary chamber half 1b and their outlet connections (not shown) into the primary circuit for the purpose of reheating in the reactor core. The heat-exchanging pipes 3 of the steam generator DE must be subjected to a periodic check for cracks. This is done with a tube probe RS of an eddy current measuring device which can be moved into the tubes 3 and which is shown in FIG. 1 in a retracted position in the area of the tube mouth. In addition to the eddy current measuring probe RS mentioned, this can also be cleaning tools for cleaning pipes from the inside or repair tools, by means of which detonators can also be inserted to seal cracks.

Zur Manipulation all dieser Sonden dient der Manipulator M, welcher folglich zum fernbedienbaren Positionieren von der Inspektion und gegebenenfalls Reparatur dienenden Rohrsonden RS an den Rohrmündungen 3a der in der Rohrplatte 2 gefaßten Rohre 3 von Dampferzeugern DE für Kernreaktoren dient. Anstelle von Dampferzeugern könnte es sich auch allgemein um Wärmetauscher mit einer entsprechenden Rohrplatte 2 handeln. Die Sonde RS ist an einen flexiblen Versorgungsschlauch 5.1 angeschlossen, welcher zugleich als Schubschlauch für die Rohrsonde RS an seinem Ende dient und der innerhalb eines flexiblen Führungsschlauches 5.2 hin und her bewegbar gelagert ist. Versorgungs- und Führungsschlauch 5.1, 5.2 sind für ein Teilstück in Fig. 1 vergrößert herausgezeichnet und als Ganzes mit 5 bezeichnet. Der Führungsschlauch 5.2 endet in einem Mundstück 6, welches von dem freien Ende eines in einer rohrqueren Ebene schwenkbar gelagerten Auslegers 7 getragen ist.The manipulator M is used to manipulate all of these probes, which consequently serves for the remote-controlled positioning of the tube probes RS, which are used for inspection and, if necessary, repair, on the tube mouths 3a of the tubes 3 of steam generators DE for the nuclear reactors, which tubes 3 are contained in the tube plate 2. Instead of steam generators, it could also generally be a heat exchanger with a corresponding tube plate 2. The probe RS is connected to a flexible supply hose 5.1, which at the same time serves as a push hose for the pipe probe RS at its end and which is mounted so that it can move back and forth within a flexible guide hose 5.2. Supply and guide hose 5.1, 5.2 are drawn out enlarged for a section in FIG. 1 and designated 5 as a whole. The guide hose 5.2 ends in a mouthpiece 6, which is supported by the free end of a boom 7 pivotably mounted in a tube-transverse plane.

Wie es Fig. 1 in Verbindung mit Fig. 2 und 3 zeigt, weist der Manipulator M einen mittels zueinander beabstandeten Spreizdornen 8 an den Rohrmündungen 3a befestigbaren Tragkörper 9 mit Führungsbahn 10 in Form einer Spindel auf, einen am Tragkörper 9 gelagerten und an dessen Führungsbahn 10 geradlinig in Richtung x geradlinig verfahrbaren Support 11 sowie den bereits erwähnten, am Support 11 in einer rohrqueren Ebene schwenkbar gelagerten Ausleger 7. Der Tragkörper 9 besteht aus einer langgestreckten Rahmenkonstruktion mit Endplatinen 9.1, welche mit den Drehlagern für die beiden Enden der ein Außengewinde aufweisenden Spindel 10 versehen sind. An die eine der Platine 9.1 ist weiterhin ein Antriebsmotor 12 für die Spindel 10 angeflanscht. Der Support 11 ist ein biegesteifer Kragbalken, welcher mit seinem Wandermutterkörper 11.1' auf der Spindel 10 so gelagert ist, daß sich bei Drehung der Spindel 10 der Support in x-Richtung je nach der Drehrichtung hin und her verschieben läßt, sich jedoch nicht mitdrehen kann. Hierzu umgreift der Support 11 mit einem U-förmigen, schematisch in Fig. 1 angedeuteten Halteteil 11.2 mit oberem und unteren Haltearum 11.21, 11.22 entsprechende obere und untere Führungsbahnen 9.2 des Tragkörpers 9. Durch das abgewinkelte Ende 11.23 des oberen Führungsarmes 11.21, welches eine nicht dargestellte Führungsleiste des Tragkörpers 9 hintergreift, ist gewährleistet, daß der Support 11 nicht nach unten wegklappen kann. Alle die Führungsflächen am Support 11 und ihre Gegenflächen am Tragkörper 9 zur Bewegung des Supports in x-Richtung können mit nicht näher dargestellten Rollenkörpern zur Erzielung einer rollenden anstatt einer gleitenden Reibung versehen sein.As shown in FIG. 1 in connection with FIGS. 2 and 3, the manipulator M has a supporting body 9 with a guideway 10 in the form of a spindle, which can be fastened to the pipe orifices 3a by means of spaced-apart expanding mandrels 8, a bearing mounted on the supporting body 9 and on its guideway 10 rectilinear in the direction of x rectilinearly movable support 11 as well as the already mentioned arm 7 pivotably supported on the support 11 in a tube-transverse plane. The supporting body 9 consists of an elongated frame construction with end plates 9.1, which with the pivot bearings for the two ends of the one having an external thread Spindle 10 are provided. A drive motor 12 for the spindle 10 is also flanged to one of the circuit boards 9.1. The support 11 is a rigid cantilever beam, which is mounted with its traveling nut body 11.1 'on the spindle 10 so that when the spindle 10 is rotated, the support can be moved back and forth in the x direction depending on the direction of rotation, but cannot rotate with it . For this purpose, the support 11 grips with a U-shaped holding part 11.2, indicated schematically in FIG. 1, with upper and lower holding arms 11.21, 11.22, corresponding upper and lower guideways 9.2 of the support body 9. Through the angled end 11.23 of the upper guiding arm 11.21, which is not a engages shown guide bar of the support body 9, it is ensured that the support 11 can not fold down. All the guide surfaces on the support 11 and their counter surfaces on the support body 9 for moving the support in the x direction can be provided with roller bodies (not shown in more detail) in order to achieve a rolling instead of a sliding friction.

Am freien Ende des Supports 11 ist auf einer oberen Tragfläche 9.3 desselben mit in Arbeitsposition des Mani- pulators M vertikaler Drehachse 13 das Gehäuse eines Schwenkantriebes 14 angeflanscht, bei dem es sich um einen stufenlos verstellbaren Drehmotor handelt, mit dessen Drehachse 13 der als Gelenkkopf dienende Lagerkörper 7.1 des Auslegers 7 verbunden ist. Die Längenerstreckung des Tragkörpers 9, des Supports 11 und des Auslegers 7 ist nun jeweils so bemessen, daß durch ein Verfahren des Supports 11 in x-Richtung und durch ein Verschwenken des Auslegers 7 um den Winkel ϕ in einem Winkelbereich von mindestens 360° - 2α, wie später noch im einzelnen erläutert, mit dem Mundstück 6 des Auslegers 7 jede beliebige Rohrmündung 3a des Rohrfeldes 30 erreichbar ist (Fig. 2). Das Rohrfeld 30 ist in Fig.2 ausschnittsweise durch einen Raster sich rechwinklig kreuzender Linien und durch die strichpunktierten Umrißlinien eines Kreisabschnittes angedeutet.At the free end of the support 11 is formed on an upper support surface 9.3 of the same with in the working position of the Mani - pulators vertical axis of rotation M 13, the housing of a rotary actuator 14 is flanged, which is to be an infinitely adjustable rotary motor, with the axis of rotation 13 of which serves as the joint head bearing body 7.1 of the boom 7 is connected. The length of the support body 9, the support 11 and the boom 7 is now each dimensioned such that by moving the support 11 in the x direction and by pivoting the boom 7 by the angle ϕ in an angular range of at least 360 ° - 2α , as explained in detail later, with the mouthpiece 6 of the boom 7 any pipe mouth 3a of the pipe field 30 can be reached (FIG. 2). The tube field 30 is indicated in detail in FIG. 2 by a grid of lines crossing at right angles and by the dash-dotted outline of a circular section.

Das Aus- und Einfahren der Spreizdorne 8 (siehe insbe- sondere Fig. 1) erfolgt mittels Spreizdornantrieben,. bestehend aus einer den Spreizdorn 8 an ihrem freien Ende aufweisenden Schubstange 8.2 und einem Antriebsgehäuse 8.3 für die Schubstange 8.2, welche als Pneumatikzylinder für die entsprechende. (nicht dargestellte) Pneumatikkolben aufweisenden Schubstangen 8.2 ausgeführt sein kann. Das Aus- und Einfahren der Spreizdorne 8 erfolgt bei der dargestellten Arbeitsposition des Manipulators in z-Richtung, vergleiche Pfeil. Aufbau und Funktion derartiger Spreizdorne sind an sich bekannt und z.B. in der DE-OS 25 52 341 näher beschrieben, so daß. hier auf eine nähere Erläuterung verzichtet werden kann.Takes place - (sondere Figure 1, see in particular.) By means of Spreizdornantrieben ,. extension and retraction of the spreading mandrels 8 Consisting of a push rod 8.2 having the expanding mandrel 8 at its free end and a drive housing 8.3 for the push rod 8.2, which acts as a pneumatic cylinder for the corresponding. Pneumatic pistons (not shown) having push rods 8.2 can be designed. The expansion mandrels 8 are extended and retracted in the shown working position of the manipulator in the z direction, see arrow. Structure and function of such expanding mandrels are known per se and described in more detail, for example, in DE-OS 25 52 341, so that. a detailed explanation can be dispensed with here.

Fig. 2 und 3 zeigen, daß mindestens drei, im vorliegenden Falle sind es vier, aus- und einfahbare, über die Länge des Tragkörpers 9 verteilte Spreizdorne 8 vorgesehen sind. Fig. 2 verdeutlicht ferner anhand der Auslegerpostionen 7, 7', 7" und 7''', daß der Ausleger 7 in einem Winkelbereich von 360° - 2α schwenkbar ist, und zwar stufenlos schwenkbar, damit das Mundstück 6 auf eine beliebige Rohrmündung 3a ausgerichtet und so die Rohrsonde RS problemlos eingefahren werden kann. Die Rohrsonde RS ist darüber hinaus an ihrem Einfahrende zweckmäßig konisch zulaufend, um die Einführung bei geringfügigen Seitenabweichungen zu erleichtern. Der Vtinkel α ist durch die Beziehung cos α= m : n definiert, wobei n die Länge des Auslegers 7 und m das Lot vom Auslegerschwenkpunkt 13 auf die Rohrfeldbegrenzungssehne 301 bedeutet. Dies wird deutlicher bei Betrachtung von Fig. 2 und der Auslegerpositionen 7, 7", 7''' und 7'. Von der mit ausgezogenen Linien dargestellten Position 7 des Auslegers kann dieser durch Verschwenken in Uhrzeigerrichtung pu in die Position 7" verfahren werden. Er erreicht damit die Rohrfeld- Begrenzungssehne 301 und die auf dieser Sehne liegenden Rohrmündungen. Wird jetzt der Support 11 in Richtung x1 verfahren, so können alle in dieser Richtung liegenden Rohrmündungen vom Mundstück 6 erreicht werden bis zur äußersten Position 7''' mit Ausnahme der von den Spreizdornen 8c und 8d besetzten Rohrmündungen. Deshalb werden, wenn der Ausleger mit seinem Mundstück 6 kurz vor der durch den Spreizdorn 8c bzw. 8d abgedeckten Rohrmündung steht, die Spreizdorne kurzzeitig zurück- bzw. eingefahren in Richtung z1 (Fig. 1), wobei aber die übrigen Spreizdorne 8a, 8b und 8d (im Falle des gelifteten Spreizdorns 8c) im Eingriff bleiben. Damit bleibt die Befestigungs- und Zentrierposition des Manipulators M bzw. des Tragkörpers 9 erhalten. Entsprechendes gilt beim Anfahren der vom Spreizdorn 8d bedeckten Rohrmündung; dieser Spreizdorn 8d wird zur Prüfung des entsprechenden Wärmetauscherrohres außer Eingriff gebracht, während die übrigen 8a, 8b und 8c in Eingriff bleiben. Wenn die restlichen auf der Begrenzungssehne 301 liegenden Rohrmündungen angefahren werden sollen, so muß der Ausleger 7 in die Position 7' verschwenkt werden, wozu es erforderlich ist, ihn in eine Mittenposition zu bringen, d.h. den Support 11 so zu verfahren, daß der Schwenkpunkt 13 auf der Symmetrieachse y liegt. Dann ist es möglich, den Ausleger 7 in Gegenzeigerrichtung G in die Position 7' zu verschwenken. Bei dem dann möglichen Abfahren der Rohrmündungen auf der Begrenzungssehne 301 wird, wie bereits grundsätzlich erläutert, der Spreizdorn 8a kurzzeitig eingezogen, damit 1. ein Weiterfahren des Auslegers möglich ist und 2. auch eine Prüfung des vom Spreizdorn versperrt gewesenen Rohres. Wie man sieht, erreicht das Mundstück 6 des Auslegers 7 durch entsprechende Verstelloperationen sämtliche Rohrmündungen 3a des Rohrfeldes 30, und zwar gleichgültig, ob dem Rohrfeld ein karthesiches..oder ein Polar-Koordinatensystem zugrunde liegt. Zur Rückmeldung der jeweiligen Position des Auslegers 7 ist seinem Drehmotor 14 ein Winkelkodierer zugeordnet, und der Support 11 kann z.B. mit dem Ritzel eines Längenkodierers mit einer parallel zur Spindel 10 am Tragkörper 9 angebrachten Zahnstange in Eingriff stehen, so daß aus den entsprechenden Impulsen des Längen-und Winkel-Kodierers über einen Rechner an einem Bedienungspult die genaue Rohrposition in karthesischen Koordinaten, die das Mundstück-6 gerade einnimmt, berechnet werden kann. Der Manipulator M ist, wie ersichtlich, symmetrisch zur Symmetrieachse y positioniert und auf diese Position ist auch die Länge des Auslegers 7 abgestimmt. Die elektrischen Zuleitungen für die Verstellmotoren 12 und 14 sowie die Längen- und WinkelKodierer, ferner die pneumatischen Zuleitungen für die Spreizdorn-Zylinder 8.3 sind der Einfachheit halber weggelassen.2 and 3 show that at least three, in the present case there are four expandable mandrels 8 that can be extended and retracted and distributed over the length of the supporting body 9. Fig. 2 also illustrates using the boom positions 7, 7 ', 7 "and 7''' that the boom 7 is pivotable in an angular range of 360 ° - 2α, and that is infinitely pivotable, so that the mouthpiece 6 is aligned with any pipe mouth 3a and thus the pipe probe RS without problems The tube probe RS is also expediently tapered at its retracting end in order to facilitate insertion with slight lateral deviations The angle α is defined by the relationship cos α = m: n, where n is the length of the arm 7 and m means the solder from the boom pivot point 13 to the pipe field limiting chord 301. This becomes clearer when looking at FIG. 2 and the boom positions 7, 7 ", 7""and7". From position 7 of the boom shown with solid lines, it can be moved by swiveling clockwise p u into position 7 ". It thus reaches the pipe field limiting chord 301 and the pipe orifices lying on this chord. Now the support 11 in direction x1 all pipe orifices lying in this direction can be reached from the mouthpiece 6 to the outermost position 7 "" with the exception of the pipe orifices occupied by the expanding mandrels 8c and 8d. Therefore, if the boom with its mouthpiece 6 shortly before the through the The expansion mandrel 8c or 8d is covered, the expansion mandrels are briefly retracted or retracted in the direction z1 (FIG. 1), but the remaining expansion mandrels 8a, 8b and 8d (in the case of the lifted expansion mandrel 8c) remain in engagement receive the fastening and centering position of the manipulator M or of the support body 9. The same applies accordingly when moving away from the expanding mandrel 8d bedec kten pipe mouth; this expanding mandrel 8d is disengaged to test the corresponding heat exchanger tube, while the remaining 8a, 8b and 8c remain engaged. If the remaining pipe orifices lying on the limiting chord 301 are to be approached, so the boom 7 must be pivoted to the position 7 ', for which it is necessary to bring it into a central position, ie to move the support 11 so that the pivot point 13 lies on the axis of symmetry y. Then it is possible to pivot the boom 7 in the counter-pointer direction G into the position 7 '. When the pipe mouths on the limiting chord 301 can then be moved down, the expanding mandrel 8a is pulled in briefly, as has already been explained in principle, so that 1. the boom can continue to be moved and 2. also a check of the pipe blocked by the expanding mandrel. As can be seen, the mouthpiece 6 of the boom 7 reaches all pipe orifices 3a of the pipe field 30 by appropriate adjustment operations, irrespective of whether the pipe field is based on a cartesian or a polar coordinate system. To report the respective position of the boom 7, its rotary motor 14 is assigned an angle encoder, and the support 11 can, for example, engage with the pinion of a length encoder with a toothed rack attached to the support body 9 parallel to the spindle 10, so that from the corresponding pulses of length -and angle encoder can be calculated using a computer on a control panel, the exact tube position in Cartesian coordinates that the mouthpiece-6 is currently occupying. As can be seen, the manipulator M is positioned symmetrically to the axis of symmetry y and the length of the arm 7 is also matched to this position. The electrical supply lines for the adjusting motors 12 and 14 as well as the length and angle encoders, and also the pneumatic supply lines for the expanding mandrel cylinders 8.3 are omitted for the sake of simplicity.

In Fig. 3 ist gestrichelt ein Spreizdorn 8' angedeutet, der anstelle der beiden Spreizdorne 8c und 8b in einer zweiten Ausführungsform Verwendung finden könnte, so daß der Manipulator M mit den Spreizdornen 8a, 8' und 8d ausgerüstet wäre. Drei Spreizdorne stellen das Minimum pro Manipulator dar,da zwei von ihnen in Prüfposition des Manipulators M immer in Eingriff stehen müssen. Eine vergrößerte Klemmsicherheit ergibt indessen die erste Ausführung mit vier Spreizdornen, da dann, wenn einer der mindestens drei gleichzeitig in Eingriff befindlichen Spreizdorne versagen sollte, immer noch zwei in Eingriff sind. Es ist auch möglich, mehr als vier Spreizdorne vorzusehen.3, an expanding mandrel 8 'is indicated by dashed lines, which could be used in a second embodiment instead of the two expanding mandrels 8c and 8b, so that the manipulator M with the expanding mandrels 8a, 8' and 8d would be equipped. Three expanding mandrels represent the minimum per manipulator, since two of them must always be in engagement in the manipulator M test position. The first embodiment with four expanding mandrels, however, provides increased clamping security, since if one of the at least three expanding mandrels that fail to engage at the same time fails, two are still engaged. It is also possible to provide more than four expanding mandrels.

Fig. 4. zeigt im Ausschnitt einen Ausleger 70, der in seiner Länge verstellbar ist, und zwar bedingt durch ein Teleskopgestänge mit Zylinderteil 71 und Kolbenteil 72. Ein solcher Ausleger kann fast um die Hälfte in seiner Länge verkürzt werden, was z.B. den Vorteil hat, daß - siehe Fig. 2 - zum Verschwenken des Auslegers von Position 7 in Position 7' dieser nicht in die Mittenposition verfahren zu werden braucht. Außerdem ist dadurch der Vorteil erzielbar, daß keine so genaue Abstimmung der Auslegerlänge und der Abmessungen des Supports 11 und des Tragkörpers 9 auf die Innenkonturen der Dampferzeugerkammer vorgenommen zu werden braucht; damit wäre ein solcher Manipulator universeller, d.h. für verschiedene Dampferzeugergrößen mit unterschiedlichen Primärkammerabmessungen, einsetzbar.Fig. 4 shows in detail a boom 70 which is adjustable in length, due to a telescopic linkage with cylinder part 71 and piston part 72. Such a boom can be shortened in length by almost half, which e.g. has the advantage that - see FIG. 2 - for pivoting the boom from position 7 to position 7 'it does not need to be moved into the middle position. In addition, the advantage can be achieved that no such precise adjustment of the boom length and the dimensions of the support 11 and the support body 9 need be made to the inner contours of the steam generator chamber; this would make such a manipulator more universal, i.e. Can be used for different steam generator sizes with different primary chamber dimensions.

Zusätzlich zu den Spreizdornen kann eine noch bessere, schwingungssichere Abstützung des Manipulators M innerhalb der Primärkammerhälfte Ib dadurch erreicht werden, daß der Tragkörper 9 eine Stützeinrichtung 15 mit mindestens einem seitlich gegen die Trennwand 4 verspannbaren Stützfuß 15.1 aufweist. Dabei handelt es sich vorteilhaft um eine Pneumatikkolben-Zylinder-Anordnung. Der Stützfuß 15.1 ist dabei z.B. mit einem Kugelgelenk an die Kolbenstange 15.2 angelenkt, um sich der Wölbung der Trennwand 4 anzupassen.In addition to the expanding mandrels, an even better, vibration-proof support of the manipulator M within the primary chamber half 1b can be achieved in that the support body 9 has a support device 15 with at least one support leg 15.1 which can be braced laterally against the partition 4. This is advantageously a pneumatic piston-cylinder arrangement. The support leg 15.1 is e.g. articulated with a ball joint to the piston rod 15.2 in order to adapt to the curvature of the partition 4.

Die strichpunktierte Teildarstellung des Manipulators M im linken Teil der Figur 1 innerhalb der Primärkammerhälfte 1a verdeutlicht, daß es möglich ist, mit dem Mundstück 6 bis in spitzwinklige Nischen 16, die durch die Konvex-Wölbung der Trennwand 4 bedingt sind, hineinzufahren, wobei jedoch an die Flexibilität von Führungs-und Versorgungsschlauch 5.2, 5.1 besondere Anforderungen gestellt werden.The dash-dotted partial representation of the manipulator M in the left part of FIG. 1 within the primary chamber half 1a illustrates that it is possible to move the mouthpiece 6 into acute-angled niches 16, which are caused by the convex curvature of the partition wall 4, but with the flexibility of guide and supply hose 5.2, 5.1 special requirements are made.

Im Falle eines Geradrohrdampferzeugers ist die Primärkammer des Dampferzeugers nicht durch eine Trennwand 4 unterteilt; in diesem Falle wäre es vorteilhaft, einen Manipulator M zu verwenden, der durch Verdoppelung, d.h. Spiegelung an seiner Spreizdornverbindungsachse entstanden zu denken ist und damit beidseits der Längenachse eines auf diese Weise verdoppelten Tragkörpers'9 je einen Support 11 mit Ausleger 7 aufweist. In diesem Falle konnten sogar beide Schwenkarme gleichzeitig arbeiten, wodurch die etwa halbe Prüfzeit im Vergleich zu einem Manipulator mit nur einem Ausleger erzielbar wäre.In the case of a straight tube steam generator, the primary chamber of the steam generator is not divided by a partition 4; in this case it would be advantageous to use a manipulator M which by doubling, i.e. Reflection on its expanding mandrel connection axis is to be thought and thus has a support 11 with a bracket 7 on each side of the longitudinal axis of a support body 9 doubled in this way. In this case, both swivel arms could even work at the same time, which would allow around half the test time compared to a manipulator with only one arm.

Der Manipulator M wird bei entwässerter Dampferzeuger-Primärkammer durch das Mannloch ML (dessen nicht dargestellter Deckel zu diesem Zweck abgenommen ist) eingeführt und in die aus Fig. 2 am besten erkennbare Prüfposition gebracht. Dazu ist nur ein kurzzeitiger Aufenthalt von Bedienungspersonal in Schutzanzügen in der Primärkammer erforderlich. Nach Durchführung der Prüfung wird der Manipulator M entsprechend-wieder demontiert und herausgenommen. Es ist auch grundsätzlich möglich, um einen Einstieg von Bedienungspersonal in die Dampferzeuger-Primärkammer zu umgehen, am Mannlochstutzen ML1 ein von außen durch den Stutzen bis hinein in die Primärkammer ragendes Schienensystem zu befestigen, an dem der Manipulator M außen aufgegleist wird und sodann fernbedient in seine Prüfposition verfahren werden kann, wie dies in der DE-OS 28 30 306 bereits erläutert ist.The manipulator M is inserted through the manhole ML (the cover, not shown, of which is removed for this purpose) when the steam generator primary chamber is drained, and is brought into the test position that can best be seen in FIG. 2. All that is required is a short stay of operating personnel in protective suits in the primary chamber. After the test has been carried out, the manipulator M is dismantled and removed accordingly. It is also fundamentally possible, in order to prevent operators from entering the steam generator primary chamber, by a rail system projecting from the outside through the nozzle into the primary chamber at the manhole connector ML1 attach to which the manipulator M is raked up on the outside and can then be moved remotely into its test position, as already explained in DE-OS 28 30 306.

Claims (5)

1. Manipulator zum fernbedienbaren Positionieren von der Inspektion und gegebenenfalls Reparatur dienenden, an flexible Versorgungsschläuche angeschlossenen Rohrsonden an den Rohrmündungen der in einer Rohrplatte gefaßten Rohre von Wärmetauschern, insbesondere von Dampferzeugern für Kernreaktoren, wobei der Manipulator einen mittels zueinander beabstandeten Spreizdornen an den Rohrmündungen befestigbaren Tragkörper mit Führungsbahn aufweist, einen am Tragkörper gelagerten und an dessen Führungsbahn geradlinig verfahrbaren Support sowie einen am Support in der rohrqueren Ebene schwenkbar gelagerten Ausleger, der an seinem freien Ende ein Mundstück trägt, das auf die jeweils angewählte Rohrmündung ausricht- bzw. aufsetzbar ist, welches an einen den Versorgungsschläuchen zwecks längenverschieblicher Bewegung umgebenden flexiblen Führungsschlauch angeschlossen und durch welches die jeweilige Rohrsonde in das zugehörige Wärmetauscherrohr einfahrbar ist, dadurch gekennzeichnet , daß mindestens drei aus-und einfahrbare, über die Länge des Tragkörpers (9) verteilte Spreizdorne (8) vorgesehen sind und daß der Ausleger (7) in einem Winkelbereich (ϕ) von mindestens 3600 - 2 α schwenkbar ist, wobei α durch die Beziehung cos α= m/n definiert ist, n die Länge des Auslegers und m das Lot vom Auslegerschwenkpunkt auf die Rohrfeld- Begrenzungssehne (301) bedeutet und jeweils einer der mindestens drei Spreizdorne (8) zwecks Zugänglichkeit der von ihm abgedeckten Rohrmündung (3a) für das Mundstück (6) und/oder zwecks Ausführung einer durch den betreffenden Spreizdorn (8) andernfalls behinderten Schwenk- oder Längsverstellung des Auslegers (7) unter Beibehaltung des Spreizeingriffs der anderen Spreizdorne einziehbar ist.1. Manipulator for the remote-controlled positioning of the inspection and, if necessary, repairing tube probes connected to flexible supply hoses on the tube mouths of the tubes of a heat exchanger, in particular of steam generators for nuclear reactors, which are attached to one another by means of spaced-apart expansion mandrels that can be attached to the tube mouths has a guideway, a support mounted on the support body and linearly movable on its guideway, and a bracket pivotably mounted on the support in the tube-transverse plane, which carries at its free end a mouthpiece which can be aligned or fitted onto the respectively selected tube mouth, which connected to a flexible guide hose surrounding the supply hoses for the purpose of longitudinally displaceable movement and through which the respective tube probe can be moved into the associated heat exchanger tube, characterized in that at least ns three extendable and retractable expanding mandrels (8) distributed over the length of the support body (9) are provided and that the arm (7) can be pivoted in an angular range (ϕ) of at least 360 0 - 2 α, where α is due to the relationship cos α = m / n is defined, n is the length of the boom and m is the plumb line from the boom pivot point to the pipe field limiting chord (301) and one of the at least three expanding mandrels (8) for the purpose of accessibility of the pipe mouth (3a) covered by it the mouthpiece (6) and / or for the purpose of executing a pivoting or longitudinal adjustment of the arm (7) which is otherwise impeded by the expanding mandrel (8) in question, while maintaining the spreading engagement of the other expanding mandrels. 2. Manipulator nach Anspruch 1, dadurch gekennzeichnet , daß der Ausleger (7) in seiner Länge verstellbar ist.2. Manipulator according to claim 1, characterized in that the boom (7) is adjustable in length. 3. Manipulator nach Anspruch 2, dadurch gekennzeichnet , daß der Ausleger ein Teleskopausleger (70) mit einem Teleskopgestänge (71, 72) ist.3. Manipulator according to claim 2, characterized in that the boom is a telescopic boom (70) with a telescopic linkage (71, 72). 4. Manipulator nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet , daß der Tragkörper (9) vier über seine Länge gleichmäßig verteilte Spreizdorne (8a - 8d) aufweist.4. Manipulator according to one of claims 1 to 3, characterized in that the support body (9) has four expansion mandrels evenly distributed over its length (8a - 8d). 5. Manipulator nach einem der Ansprüche 1 bis 4, wobei der zu inspizierende Dampferzeuger ein U-Rohr-Dampferzeuger ist mit einer durch eine gewölbte Trennwand in zwei Primärkammerhälften getrennten Primärkammer, dadurch gekennzeichnet , daß der Trag- körper (9) eine Stützeinrichtung (15) mit mindestens einem seitlich gegen die Trennwand (4) verspannbaren Stützfuß (15.1) aufweist.5. Manipulator according to any one of claims 1 to 4, wherein the subject to be inspected steam generator, a U-tube steam generator is provided with a separated by an arched partition into two primary chamber halves primary chamber, characterized in that the supporting - member (9) comprises a support means (15 ) with at least one support leg (15.1) that can be braced laterally against the partition (4).
EP81105840A 1980-08-06 1981-07-23 Manipulator for the positioning of a tubular sonde Expired EP0045454B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3029811 1980-08-06
DE19803029811 DE3029811A1 (en) 1980-08-06 1980-08-06 MANIPULATOR FOR REMOTE CONTROLLED INSPECTION AND, IF NECESSARY, REPAIR OF HEAT EXCHANGER TUBES

Publications (3)

Publication Number Publication Date
EP0045454A2 true EP0045454A2 (en) 1982-02-10
EP0045454A3 EP0045454A3 (en) 1982-04-14
EP0045454B1 EP0045454B1 (en) 1984-05-02

Family

ID=6109031

Family Applications (1)

Application Number Title Priority Date Filing Date
EP81105840A Expired EP0045454B1 (en) 1980-08-06 1981-07-23 Manipulator for the positioning of a tubular sonde

Country Status (5)

Country Link
US (1) US4438805A (en)
EP (1) EP0045454B1 (en)
JP (1) JPS5754090A (en)
DE (2) DE3029811A1 (en)
ES (1) ES504571A0 (en)

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EP0120355A2 (en) * 1983-03-22 1984-10-03 Kraftwerk Union Aktiengesellschaft Tool for the remote cleaning of the pipe ends of a pipe bundle
FR2585501A1 (en) * 1985-07-24 1987-01-30 Thome Jean Patrick Automatic devices for maintenance or repair of steam generators of nuclear reactors
FR2613652A1 (en) * 1987-04-10 1988-10-14 Thome Paul Metrological remote manipulator for nuclear power station steam generators
FR2895791A1 (en) * 2005-12-29 2007-07-06 Framatome Anp Sas Repairing method for connecting area involves obtaining reference associated with position of robot arm in water chamber while machining connecting area requiring repair to predetermined depth using tool to eliminate crack
CN112680848A (en) * 2020-12-08 2021-04-20 安徽颍上县富颍纺织有限公司 Blending cotton yarn with antistatic effect

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DE3122660C2 (en) * 1981-06-06 1986-06-19 Brown Boveri Reaktor GmbH, 6800 Mannheim Device for inspecting and / or repairing the pipes of a steam generator in a nuclear power plant
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FR2513927A1 (en) * 1981-10-05 1983-04-08 Framatome Sa TELE-MANIPULATOR FOR INTERVENTION IN A STEAM GENERATOR WATER BOX
EP0077245A1 (en) * 1981-10-05 1983-04-20 Framatome Manipulator for remote intervention in a water collector of a steam generator
EP0120355A2 (en) * 1983-03-22 1984-10-03 Kraftwerk Union Aktiengesellschaft Tool for the remote cleaning of the pipe ends of a pipe bundle
EP0120355A3 (en) * 1983-03-22 1985-04-17 Kraftwerk Union Aktiengesellschaft Tool for the remote cleaning of the pipe ends of a pipe bundle
FR2585501A1 (en) * 1985-07-24 1987-01-30 Thome Jean Patrick Automatic devices for maintenance or repair of steam generators of nuclear reactors
FR2613652A1 (en) * 1987-04-10 1988-10-14 Thome Paul Metrological remote manipulator for nuclear power station steam generators
FR2895791A1 (en) * 2005-12-29 2007-07-06 Framatome Anp Sas Repairing method for connecting area involves obtaining reference associated with position of robot arm in water chamber while machining connecting area requiring repair to predetermined depth using tool to eliminate crack
US7896220B2 (en) 2005-12-29 2011-03-01 Areva Np Process for the repair of at least one connecting area between a partition plate and a tube plate of a water chamber of a heat exchanger
CN112680848A (en) * 2020-12-08 2021-04-20 安徽颍上县富颍纺织有限公司 Blending cotton yarn with antistatic effect

Also Published As

Publication number Publication date
DE3163390D1 (en) 1984-06-07
DE3029811A1 (en) 1982-02-18
US4438805A (en) 1984-03-27
JPS5754090A (en) 1982-03-31
EP0045454A3 (en) 1982-04-14
ES8206251A1 (en) 1982-08-16
ES504571A0 (en) 1982-08-16
EP0045454B1 (en) 1984-05-02

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