EP0045454A2 - Manipulateur destiné au positionement d'une sonde de tuyau - Google Patents

Manipulateur destiné au positionement d'une sonde de tuyau 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
Other languages
German (de)
English (en)
Other versions
EP0045454A3 (en
EP0045454B1 (fr
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
Original Assignee
Kraftwerk Union AG
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 Kraftwerk Union AG filed Critical Kraftwerk Union AG
Publication of EP0045454A2 publication Critical patent/EP0045454A2/fr
Publication of EP0045454A3 publication Critical patent/EP0045454A3/de
Application granted granted Critical
Publication of EP0045454B1 publication Critical patent/EP0045454B1/fr
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.

Landscapes

  • 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)
EP81105840A 1980-08-06 1981-07-23 Manipulateur destiné au positionement d'une sonde de tuyau Expired EP0045454B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3029811 1980-08-06
DE19803029811 DE3029811A1 (de) 1980-08-06 1980-08-06 Manipulator zur fernbedienbaren inspektion und gegebenenfalls reparatur von waermtauscherrohren

Publications (3)

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

Family

ID=6109031

Family Applications (1)

Application Number Title Priority Date Filing Date
EP81105840A Expired EP0045454B1 (fr) 1980-08-06 1981-07-23 Manipulateur destiné au positionement d'une sonde de tuyau

Country Status (5)

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

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2513927A1 (fr) * 1981-10-05 1983-04-08 Framatome Sa Tele-manipulateur d'intervention dans une boite a eau de generateur de vapeur
EP0120355A2 (fr) * 1983-03-22 1984-10-03 Kraftwerk Union Aktiengesellschaft Outil pour le nettoyage à distance des extrémités des tubes d'un faisceau tubulaire
FR2585501A1 (fr) * 1985-07-24 1987-01-30 Thome Jean Patrick Automatismes d'intervention pour generateurs de vapeur de reacteurs nucleaires
FR2613652A1 (fr) * 1987-04-10 1988-10-14 Thome Paul Telemanipulateur de metrologie pour generateurs de vapeur de centrales nucleaires
FR2895791A1 (fr) * 2005-12-29 2007-07-06 Framatome Anp Sas Procede de reparation d'au moins une zone de raccordement d'une plaque de partition sur une plaque tubulaire d'une boite a eau d'un echangeur de chaleur.
CN112680848A (zh) * 2020-12-08 2021-04-20 安徽颍上县富颍纺织有限公司 一种具有防静电效果的混纺棉纱

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2503920B1 (fr) * 1981-04-08 1987-08-21 Intercontrole Sa Dispositif pour le positionnement d'un organe en vis-a-vis des perforations d'une plaque
DE3122660C2 (de) * 1981-06-06 1986-06-19 Brown Boveri Reaktor GmbH, 6800 Mannheim Einrichtung zur Inspektion und/oder zur Reparatur der Rohre eines Dampferzeugers einer Kernkraftanlage
US4576546A (en) * 1981-10-15 1986-03-18 Westinghouse Electric Corp. Method for servicing a steam generator
FR2526532A1 (fr) * 1982-05-07 1983-11-10 Intercontrole Sa Appareil pour le controle des tubes d'un echangeur de chaleur a une distance donnee de l'extremite de ces tubes
DE3300460C2 (de) * 1983-01-08 1985-12-12 Brown Boveri Reaktor GmbH, 6800 Mannheim Vorrichtung zur Prüfung und/oder zur Reparatur von Dampferzeugerrohren
US4804038A (en) * 1983-10-11 1989-02-14 The Babcock & Wilcox Company Remotely installed, operated and removed manipulator for steam generator
DE3430384A1 (de) * 1984-08-17 1986-02-20 Kraftwerk Union AG, 4330 Mülheim Verfahren und vorrichtung zum elektropolieren der innenoberflaeche von u-foermigen waermetauscherrohren
DE3509177C1 (de) * 1985-03-14 1986-10-02 Brown Boveri Reaktor GmbH, 6800 Mannheim Einrichtung zum Einbringen eines zylindrischen Koerpers,insbesondere einer Huelse,in ein Rohr eines Dampferzeugers
US4757258A (en) * 1985-11-27 1988-07-12 Westinghouse Electric Corp. Probe carrier system for inspecting boiler tubes
US4793056A (en) * 1986-04-25 1988-12-27 Mitsubishi Jukogyo Kabushiki Kaisha Plug removal apparatus
JPS6367702U (fr) * 1986-10-15 1988-05-07
US4945979A (en) * 1988-06-23 1990-08-07 Westinghouse Electric Corp. Robotic arm for delivering a tube plugging tool
US5265667A (en) * 1989-09-14 1993-11-30 Westinghouse Electric Corp. Robotic arm for servicing nuclear steam generators
NL9100543A (nl) * 1991-03-27 1992-10-16 Vermaat Technics Bv Robot voor het uitvoeren van werkzaamheden in een warmtewisselaar.
US5265129A (en) * 1992-04-08 1993-11-23 R. Brooks Associates, Inc. Support plate inspection device
US5543599A (en) * 1994-12-14 1996-08-06 Westinghouse Electric Corporation Electron discharge machining apparatus and method
US5675096A (en) * 1994-12-14 1997-10-07 Westinghouse Electric Corporation Apparatus and method for removing a wall portion from a wall of a tubular member
DE19837683C2 (de) * 1998-08-19 2003-02-20 Framatome Anp Gmbh Auffangvorrichtung und Auffanggefäß zum Auffangen von Ablagerungen aus Wärmetauschrohren
US7314343B2 (en) * 2002-07-22 2008-01-01 Westinghouse Electric Co. Llc Miniature manipulator for servicing the interior of nuclear steam generator tubes
US7533715B1 (en) * 2003-09-26 2009-05-19 Areva Np Inc. Tube walker for examination and repair of steam generators
CN100582641C (zh) * 2005-04-30 2010-01-20 江从铨 汽轮发电机凝汽器在线自动冲洗装置及方法
FR2895790B1 (fr) * 2005-12-29 2008-09-12 Framatome Anp Sas Dispositif et procede d'intervention dans une boite a eau d'un echangeur de chaleur.
US20100329408A1 (en) * 2009-06-24 2010-12-30 Sergey Fiodorov Systems, Apparatuses and Methods of Gripping, Cutting and Removing Objects
JP5314609B2 (ja) * 2010-01-27 2013-10-16 三菱重工業株式会社 水室内作業装置
JP2011247829A (ja) * 2010-05-28 2011-12-08 Mitsubishi Heavy Ind Ltd 水室内作業装置および水室内作業装置の設置方法
JP5656674B2 (ja) * 2011-02-02 2015-01-21 三菱重工業株式会社 伝熱管の検査装置および検査方法
CA3083053A1 (fr) * 2019-06-07 2020-12-07 Battelle Memorial Institute Procedes et ensembles d`echangeurs de chaleur

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DE2830306A1 (de) * 1978-07-10 1980-01-24 Kraftwerk Union Ag Pruefeinrichtung fuer einen waermetauscher

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JPS5157489A (en) * 1974-11-15 1976-05-19 Mitsubishi Heavy Ind Ltd Jidokensasochino kontorooruhoho
FR2309314A1 (fr) * 1974-12-05 1976-11-26 Framatome Sa Dispositif de positionnement selectif d'un organe sur une plaque tubulaire
US4018346A (en) * 1975-11-18 1977-04-19 Combustion Engineering, Inc. Mounting arrangement for anchor fingers on a surface traversing apparatus
JPS60621B2 (ja) * 1976-12-06 1985-01-09 三菱重工業株式会社 細管探傷装置
US4205940A (en) * 1978-03-21 1980-06-03 Westinghouse Electric Corp. Apparatus for remotely repairing tubes in a steam generator
US4213732A (en) * 1978-04-13 1980-07-22 Westinghouse Electric Corp. Apparatus for remotely repairing tubes in a steam generator
US4200424A (en) * 1978-04-14 1980-04-29 Westinghouse Electric Corp. Remotely controlled tool positioning table
US4193735A (en) * 1978-04-24 1980-03-18 Combustion Engineering, Inc. Work table for a stepped platform
US4302146A (en) * 1978-08-23 1981-11-24 Westinghouse Electric Corp. Probe positioner

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Publication number Priority date Publication date Assignee Title
DE2830306A1 (de) * 1978-07-10 1980-01-24 Kraftwerk Union Ag Pruefeinrichtung fuer einen waermetauscher

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2513927A1 (fr) * 1981-10-05 1983-04-08 Framatome Sa Tele-manipulateur d'intervention dans une boite a eau de generateur de vapeur
EP0077245A1 (fr) * 1981-10-05 1983-04-20 Framatome Télé-manipulateur d'intervention dans une boîte à eau de générateur de vapeur
EP0120355A2 (fr) * 1983-03-22 1984-10-03 Kraftwerk Union Aktiengesellschaft Outil pour le nettoyage à distance des extrémités des tubes d'un faisceau tubulaire
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 (fr) * 1985-07-24 1987-01-30 Thome Jean Patrick Automatismes d'intervention pour generateurs de vapeur de reacteurs nucleaires
FR2613652A1 (fr) * 1987-04-10 1988-10-14 Thome Paul Telemanipulateur de metrologie pour generateurs de vapeur de centrales nucleaires
FR2895791A1 (fr) * 2005-12-29 2007-07-06 Framatome Anp Sas Procede de reparation d'au moins une zone de raccordement d'une plaque de partition sur une plaque tubulaire d'une boite a eau d'un echangeur de chaleur.
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 (zh) * 2020-12-08 2021-04-20 安徽颍上县富颍纺织有限公司 一种具有防静电效果的混纺棉纱

Also Published As

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

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