EP0281433B1 - Système d'intervention sur les tuyauteries primaires et la boîte à eau d'un générateur de vapeur centrale nucléaire - Google Patents

Système d'intervention sur les tuyauteries primaires et la boîte à eau d'un générateur de vapeur centrale nucléaire Download PDF

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Publication number
EP0281433B1
EP0281433B1 EP88400163A EP88400163A EP0281433B1 EP 0281433 B1 EP0281433 B1 EP 0281433B1 EP 88400163 A EP88400163 A EP 88400163A EP 88400163 A EP88400163 A EP 88400163A EP 0281433 B1 EP0281433 B1 EP 0281433B1
Authority
EP
European Patent Office
Prior art keywords
arm
vehicle
forming
partition plate
water box
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
Application number
EP88400163A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0281433A3 (en
EP0281433A2 (fr
Inventor
Antoine Gemma
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.)
Electricite de France SA
Original Assignee
Electricite de France SA
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 Electricite de France SA filed Critical Electricite de France SA
Priority to AT88400163T priority Critical patent/ATE78949T1/de
Priority to EP91122369A priority patent/EP0479344B1/fr
Publication of EP0281433A2 publication Critical patent/EP0281433A2/fr
Publication of EP0281433A3 publication Critical patent/EP0281433A3/fr
Application granted granted Critical
Publication of EP0281433B1 publication Critical patent/EP0281433B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F9/00—Treating radioactively contaminated material; Decontamination arrangements therefor
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F9/00—Treating radioactively contaminated material; Decontamination arrangements therefor
    • G21F9/001—Decontamination of contaminated objects, apparatus, clothes, food; Preventing contamination thereof
    • 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
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F9/00—Treating radioactively contaminated material; Decontamination arrangements therefor
    • G21F9/001—Decontamination of contaminated objects, apparatus, clothes, food; Preventing contamination thereof
    • G21F9/002—Decontamination of the surface of objects with chemical or electrochemical processes
    • G21F9/004—Decontamination of the surface of objects with chemical or electrochemical processes of metallic surfaces

Definitions

  • the present invention relates to an intervention system on the primary pipes and on the water box of a nuclear power plant steam generator.
  • EP-A-0 178 971 describes an intervention system making it possible to carry out the maintenance and repairs of the water boxes of the steam generators of nuclear power plants.
  • One possibility of reducing the aforementioned doses received during this type of intervention may consist, before the interventions necessary for carrying out these operations, of decontaminating the primary piping of the water box, over a length of the order of a few meters for example, the internal wall of the water box and the partition plate for example.
  • This decontamination can be carried out by electrodecontamination for example and, advantageously, by intervention from the outside of the water box by the implementation of the system which is the subject of the invention.
  • the intervention system on the primary pipes and the water box of the steam generators of a nuclear power plant, object of the invention, is remarkable in that it comprises a first element having a substantially elongated shape and forming a first arm. of the system and a second element having a substantially elongated shape, articulated to one of its ends at one end of the first element, the second element forming a second arm of the system.
  • the assembly of the first and second arms is capable of being introduced into the water box of the steam generator via the manhole and said second element can be put in the deployed position relative to the first element.
  • a vehicle is mounted on the second arm, the vehicle being mounted movable relative to the second arm and a decontamination means is carried by the vehicle.
  • the intervention means due to its movement relative to the second arm and the relative opening between the first and the second arm, is capable of reaching a plurality of areas of the internal surface of the steam generator such as in particular the primary pipes, the partition plate and the internal wall of the spherical bowl of the steam generator water box. Means for remote control of the vehicle and intervention means are also provided.
  • the system which is the subject of the invention can advantageously be used prior to any intervention by an operator on or in the water box of a steam generator, operations such as plugging the tubes, checking the tubes, fitting types shutter.
  • the intervention system on the primary pipes and on the water box of steam generators in a nuclear power plant comprises a first element denoted 1 having a substantially elongated shape and forming a first arm of the system. It also comprises a second element denoted 2 having a shape which is also substantially elongated, this second element being articulated at 12 at one of its ends at one end of the first element denoted 1.
  • the second element 2 forms a second arm of the system and the assembly of the first 1 and of the second arm 2 is capable of being introduced into the water box denoted BAE in FIG. 1a of the steam generator, via of the manhole noted TH.
  • the second element 2 can thus be placed in the deployed position relative to the first element 1, the deployed position with an opening angle ⁇ shown in FIG. 1a.
  • a vehicle denoted 3 is mounted on the second arm 2.
  • the vehicle 3 is mounted movable relative to the second arm 2 as will be described in more detail below in the description.
  • An intervention means such as a decontamination means 30 is also carried by the vehicle 3.
  • the intervention means 30, due to its movement relative to the second arm 2 and the relative opening between the first 1 and the second arm 2 is capable of reaching a plurality of zones of the internal surface of the steam generator, such as in particular the primary pipes denoted TP, the partition plate denoted PP, the internal wall of the spherical bowl of the water box marked BAE of the steam generator.
  • control means 6 are provided so as to allow remote control of the vehicle 3 and intervention means 30 from outside the water box BAE of the generator. steam.
  • Auxiliary control means 6 are also associated with auxiliary elements such as an electrical energy supply system, noted 7, and a tank of decontaminating products noted 8. These two accessory auxiliary elements will be described more detailed later in the text of this description.
  • the device object of the invention is based on the compass theory and thus allows, by deployment of the second arm noted 2 with respect to the first arm noted 1, to reach substantially all the points inside the water box BAE of the steam generator, which must be subjected to a decontamination process as described below in the description.
  • the first element 1 is a hollow element of substantially semi-cylindrical shape so as to form a protective corset for the second element 2, when the latter is in position not deployed.
  • the non-deployed position is understood to mean a value of the angle ⁇ which is substantially zero, this second element or second arm 2 then being brought back against the first element or first arm 1 and inside the hollow part of the latter.
  • the second arm denoted 2 is advantageously constituted by a telescopic arm denoted 20 and the vehicle 3 is then removably mounted at the end of the second element 2 forming a second arm.
  • the telescopic arm 20 can be constituted in a conventional manner, by an arm provided with a hydraulic jack controlled by the control means 6.
  • the removable attachment of the vehicle 3 at the end of the telescopic arm 20 can advantageously be carried out by means of a jaw 21 controlled by the control means 6 and a corresponding fixing system 35, directly integral with the vehicle 3 as will be described later in the description.
  • the vehicle 3 having been placed in position at the inlet of the primary piping TP by means of the telescopic arm 20 controlled by the control means 6, the release of the jaw 21 is then controlled and the vehicle 3, a self-propelled vehicle as will be described later in the description, can then move in the aforementioned primary piping TP.
  • FIG. 1b shows a partial sectional view along a plane of symmetry common to the manhole TH and to the primary piping TP of the water box of a steam generator and of the system according to the invention, the vehicle 3 having moved through the primary piping TP.
  • the vehicle is mechanically secured to a tensor cable denoted 4, the tensor cable circulating during the movement of the removable vehicle 3 in the primary pipes TP by means of end pulleys denoted 200 of the second arm 2, of articulation pulleys noted 100 of the first and second arms for example.
  • a pulley will be understood to mean any suitable guide means allowing movement of the cable without excessive wear of the latter and in particular possibly of guide grooves provided with a self-lubricating coating for example, such as a polytetrafluoroethylene coating.
  • the tensioning cable 4 is distributed by a balancing reel denoted 5 located near the free end of the first element 1 outside the manhole TH when the system and in particular the element 1 is in position, as will be described later in the description.
  • the vehicle 3 makes it possible to move the decontamination means 30 along the primary piping TP.
  • the vehicle makes it possible to print, by means of decontamination 30, a rotational movement around the axis of the piping TP during decontamination and an incremental longitudinal movement allowing the progression of the vehicle assembly 3- decontamination means 30, along the piping.
  • the vehicle 3 may advantageously include a vehicle body denoted 31 consisting of a longitudinal element arranged along the longitudinal axis ⁇ of the vehicle.
  • the latter also comprises a chassis 32 rotatably mounted on the longitudinal element forming the vehicle body 31.
  • the chassis 32 comprises a plate denoted 320, intended to support the decontamination means 30.
  • means for supporting the vehicle 3 are provided. These lift means are constituted by a first denoted 33, and a second denoted 34, sets of jacks. Each set of jacks is integral with the vehicle body 31 and has a tripod configuration in a plane orthogonal to the longitudinal axis ⁇ of the vehicle.
  • Each cylinder forming the sets of cylinders 33 and 34 are provided at their end with an application suction cup intended to bear on the internal wall of the primary wall TP. It will be noted in FIG. 2a that the set of jacks 33 has been shown with only two jacks, the third jack having been omitted so as not to unnecessarily overload the drawing.
  • the chassis 32 is rotatably mounted on the longitudinal element 31 by means of a ring gear 310 and a motor 321 comprising a pinion meshing on the aforementioned toothed crown.
  • the motor 321 is of course integral with the chassis 32. The rotation of the pinion of the motor 321 thus makes it possible to ensure the rotation of the chassis 32 and all the elements which are subject to it.
  • the decontamination means 30 are supported by the plate 320, by means of jacks denoted 3201, 3202.
  • the jacks 3201, 3202 are each connected by a ball joint 3203, 3204 to the decontamination means.
  • a radial translation of the assembly that is to say in a direction orthogonal to the longitudinal axis ⁇ of the vehicle body 31, is controlled by a motor 3205 secured to the decontamination means 30, in order to allow docking of these means on the primary pipe wall to be treated.
  • the motor 3205 is mounted integral with the plate 320 and therefore with decontamination means 30, the motor 3205 meshing a transmission chain 3206, which drives two nuts 3207, 3208, driving the plate solidly 320 and the decontamination means 30, by means of two threaded rods 3209 secured to the chassis 32.
  • the rotation of the motor 3205 thus makes it possible to set the transmission chain 3206 in motion, the movement in translation of the assembly of the crew formed by the plate 320, the motor 3205 and the decontamination means 30, in a direction perpendicular to the axis ⁇ .
  • the vehicle body 31 comprises at one of its ends a frustoconical part 35 provided with a groove 3500, and intended to come to engage in the fixing jaw disposed at the end of the telescopic arm 20.
  • CA represents the power cord of the vehicle
  • this power cord being deemed to include a hose for supplying and discharging the liquid or fluid decontaminating towards the decontamination means 30, as will be described later in the description, as well as an electrical power supply pipe and a hydraulic fluid pipe allowing the actuation of the various cylinders constituting the vehicle 3.
  • the two sets of jacks, 33, 34 are, in order to allow the traction of the vehicle 3 to be ensured in the primary piping tp, mounted on a seat plate denoted 330, 340, the orientation of which relative to a plane orthogonal to the longitudinal axis ⁇ of the vehicle body is adjustable according to a value angle determined by means of ball-joint fasteners denoted 331, 332 respectively 341, 342.
  • the fasteners at ball joints can consist of lockable and unlockable ball joints.
  • the support or seat plate 330 is in fact mechanically independent of the anchoring point of the tensor cable on the vehicle body 31.
  • the seat plate 340 is movable in translation in a direction parallel to the longitudinal axis ⁇ of the vehicle 3, by means of traction jacks denoted 343 and 344.
  • traction jacks denoted 343 and 344.
  • the vehicle 3 as shown in Figures 2a and 2b allows in particular through the set of cylinders 33 and 34 having the above tripod configuration, centering and holding the vehicle 3 in the primary piping TP.
  • the advance of the vehicle 3 is ensured by the aforementioned set of jacks 343, 344, articulated at their end so as to allow the angular offset of the set of jacks 34, with respect to the assembly constituted by the other set of jacks 33 and the vehicle body 31 and the chassis 32 during the progression of the assembly in the curved parts of the primary piping TP.
  • the entire vehicle 3 is held by the tensioning cables 4 mentioned above, the latter being actuated in order to prevent the fall of the vehicle 3, during the possible failure of one of the sets of jacks 33 or 34.
  • the decontamination process of the primary piping TP can then be carried out as follows. Vehicle 3 is lowered to the lowest point to be decontaminated from the primary piping TP. The decontamination of the walls of the primary piping TP is then ensured by means of the decontamination means 30, which are rotated around the longitudinal axis ⁇ of the vehicle, via the chassis 32 set in motion by the engine. 321 cited above. A side strip of the piping primary TP having been decontaminated, the vehicle is then moved by an increment and the ascent thereof is effected by means of the second set of jacks 34 previously described. It is at this point that the tensioning cables 4 fully play their role of means ensuring safety in the event of a failure in the aforementioned cylinders.
  • the tensor cable or cables 4 being wound on the balancer 5, these facilitate the ascent of the vehicle 3, in particular when the vehicle and in particular the support jacks of the sets of jacks 33 or 34, pass in front of a decontaminated surface, that is to say a surface having a surface condition exhibiting adhesion difficulties.
  • FIGS. 3a, 3b , 3c, 3d, 3e, 3f, 3g, 3h, 3i, 3d A detailed description of the installation of the systems which are the subject of the invention in the BAE water box of a steam generator, installation from the outside thereof, will be described in conjunction with FIGS. 3a, 3b , 3c, 3d, 3e, 3f, 3g, 3h, 3i, 3d.
  • FIGS. 3a and 3b the installation of the system which is the subject of the invention is shown on an elevator marked 50 brought near the manhole marked TH.
  • the elevator system 50 can consist, for example, of an inclined plane, the angle of inclination of which allows the assembly, that is to say of the system which is the subject of the invention, to position the articulation 12 of the first and second arms in the vicinity of the center of the tube plate denoted PT of the water box of the steam generator.
  • FIGS. 3c and 3d show in particular the position of the system which is the subject of the invention, after translation of the system on the elevator 50 and positioning of the articulation 12 in the vicinity of the center of the tube plate PT.
  • the position of the assembly being as shown in Figure 3b for example, the vehicle 3 is then, as shown in Figure 3e and 3f, docked at the end of the telescopic arm 20 and locked at the end thereof.
  • the telescopic arm can then be retracted so as to bring the vehicle inside the BAE water box.
  • the power cord connections are also made beforehand.
  • the second element noted 2 forming an arm is then unlocked and put in the deployed position relative to the first element forming an arm noted 1.
  • the second element forming an arm 2 is then deployed so as to bring it and the vehicle 3 to the right of the primary piping TP as shown in Figure 3g.
  • the deployment of the arm 2 can be carried out by means of a jack or by means of a motor driving the arm 2 in rotation in its deployed position.
  • the telescopic arm is then actuated so as to introduce the vehicle 3 into the primary piping TP.
  • the jacks of the sets of jacks 33 and 34 of the vehicle 3 are then actuated in order to actuate the docking. of vehicle 3 on the walls of the primary piping TP as shown in Figure 3i.
  • the vehicle 3 can then be disconnected from the telescopic arm 20 by means of the jaw previously described and the progression of the vehicle 3 in the primary piping can be achieved as already mentioned, by sequential progression along the axis piping as shown in Figure 3j.
  • FIGS. 4a, 4b and 4c A more detailed description of the progression of the vehicle 3, in particular in the curved part of the primary piping TP, will be given in connection with FIGS. 4a, 4b and 4c.
  • FIG. 4a there is shown the two sets of cylinders 33 and 34 in the support position on the inner wall of the primary pipe TP in a curved part thereof.
  • the system can easily move in the curved parts.
  • the cylinders constituting the sets of cylinders 33 and 34 are under pressure and allow the application of the suction cups on the wall, in order to constitute a support point.
  • the ball joints can then be locked as shown by the letter V.
  • the jacks of the jack set 34 are placed under vacuum in order to place them in the withdrawn position, the ball joints 341 and 342 being unlocked, position noted. V .
  • the set of jacks 34 having translated with a length substantially equal to the stroke of the jacks 343 and 344, the pressure is restored at the jacks of the set of jacks 34, the vehicle 3 then being in its new equilibrium position , as shown in Figure 4b in point (2).
  • the length of elongation of the rods of each cylinder of the cylinder set 34 can then be adjusted, by means of the control means, in order to obtain perfect centering of the central point of the ball joints 341, 342 on the axis of the primary pipe TP, the ball joints 331 , 332 having been placed in the unlocked position V as shown in Figure 4b in point (2).
  • a video camera can advantageously be fixed on the vehicle 3, so as to facilitate the maneuvers of approaching the vehicle and its fixing endpiece in the vicinity of the fixing jaw of the telescopic arm 20.
  • the arm telescopic 20, when the vehicle 3 is again fixed at the end of the latter is then retracted and the element 2 forming an arm is then returned to its non-deployed position corresponding to the position of positioning of the start of the operations.
  • the system which is the subject of the invention can then be removed by means of the elevator 50 as described above.
  • the partition plate PP is a plate substantially orthogonal to the tube plate PT of the water box of the steam generator, the aforementioned partition plate dividing the water box into two half-hemispheres substantially.
  • the second element 2 forming the second arm is articulated to the first arm 1 by means of a joint of the Cardan joint type denoted 120.
  • the joint 120 comprises in position a first axis denoted D1, substantially parallel to the partition plate PP, and a second axis denoted D2 substantially perpendicular to the partition plate PP.
  • the vehicle 3 is then mounted movable in translation along the second arm 2.
  • the second arm 2 advantageously comprises a first central jack denoted 200 in FIG. 5c, which ensures the fixing in translation of the assembly constituted by the first arm denoted 1 and the second arm denoted 2 in the direction D2 perpendicular to the partition plate PP.
  • a plurality of jacks denoted 21, 22, respectively 23, 24 are arranged at the free end of the second arm 2 or in the vicinity thereof.
  • at least two opposite jacks, for example jacks 21 and 23, form a moving element with respect to the second arm, this moving element being able to be moved perpendicular to the direction ⁇ ', longitudinal axis of the second arm 2, this direction of movement being parallel to the partition plate PP.
  • This movement ensures the corresponding movement of the second arm 2 relative to the axis D2 forming an axis of rotation for the second arm 2 relative to the fixed point formed by the central cylinder 200.
  • the fixing of the suction cups is of course carried out by placing them in depression.
  • the jack 200 forming the central jack is provided with a suction cup 201 allowing the system object of the invention to be supported at the joint 120 between the arms 1 and 2, in the vicinity of the central point of the tubular plate PT previously described.
  • the vehicle 3 is provided with decontamination means such as those described in connection with the previous embodiment.
  • the system according to the invention is set up at the level of the manhole TH by means of an elevator 50, as has been previously described. It will be noted in FIG. 5b above that the articulation 120 is brought in the vicinity of the center of the tube plate PT of the steam generator. The system is then mounted by translation on the elevator 50 and engaged in the manhole TH, a locking on false studs fixed on the manhole flange being then carried out. The object of the invention system is in position as shown in Figure 5b. The element 2 forming an arm is then retracted into the hollow part of the arm 1 constituted, as described above, by a semi-cylindrical hollow part for example.
  • the element 2 forming an arm is subjected, as shown in FIG. 5c, to a rotational movement around the axis D1 element 2 forming an arm being thus brought into position substantially parallel to the partition plate PP, as shown in FIG. 5c.
  • the assembly of the element 2 forming an arm and the articulation 120 has been brought into the deployed position around the axis D1.
  • the central cylinder 200 is then docked, the suction cup 201 then being applied in the vicinity of the center of the tube plate PT, as shown in FIG. 5c.
  • the jacks 21, 22, 23, 24 can then also be approached on the partition plate PP, as shown in FIG. 5c and the corresponding suction cups 210, 220, 230, 240 can then be put under vacuum to ensure the maintenance of the arm 2 in a position substantially parallel to the partition plate PP.
  • the two opposite jacks 21 and 23 forming a moving assembly are made mobile by means of a double-acting jack denoted 25, the body of which is mounted floating on the second arm 2, and recalled to an average position by means of an elastic system.
  • a double-acting jack denoted 25 the body of which is mounted floating on the second arm 2, and recalled to an average position by means of an elastic system.
  • the elastic system is constituted by two return springs denoted 251 and 252, the jack 25 being guided in its movement to return it to its mean position by means of a light and pin system denoted 250
  • the mobile assembly constituted by the cylinders 21 and 23 and their corresponding suction cup 210 and 230 moves in a direction perpendicular to the longitudinal axis of the element 2 forming an arm of the system which is the subject of the invention, this movement being carried out in one or the other direction.
  • FIG. 6b the different stages corresponding to the movement of the movable assembly constituted by the jacks 21 and 23 and by the element 2 forming an arm, are shown respectively 1, 2, 3, 4, 5, 6, 7.
  • Position 7 corresponds substantially to the initial position 1 after displacement of the element 2 forming an arm with an increment of displacement in rotation corresponding to the movement of the element 2 forming an arm relative to the movable assembly constituted by the jacks 21 and 23 actuated by the jack 25.
  • the vehicle 3 supporting the decontamination means 30 can move parallel to the element 2 forming an arm thanks to a motor driving a worm screw housed in the element 2 forming an arm. Such an arrangement will not be described in detail since it is within the reach of those skilled in the art.
  • the decontamination means can advantageously be rotatable along an axis perpendicular to the axis of the element 2 forming an arm and to the partition plate PP, as will be described later in the description.
  • a so-called safety cylinder denoted 26 may be provided at the free end of the element 2 forming an arm. This cylinder is directed in the direction of the longitudinal axis ⁇ 'of the second element 2 forming an arm. In the event of a power supply fault, it makes it possible to block the second elements 2 forming arms in its current position.
  • Figure 7 a partial sectional view of the element 2 forming an arm, front view in a direction parallel to the axis ⁇ 'shown in Figure 5a.
  • G a circle surrounding the element 2 forming an arm, provided with its accessories, and representing the size of the manhole.
  • the opposite jacks 21 and 23 form the above-mentioned mobile assembly and are, for this purpose, mounted so as to have a spacing greater than the pair of fixed jacks 22, 24, according to a direction perpendicular to the longitudinal axis ⁇ 'of the second arm 2 and parallel to the partition plate PP.
  • the above-mentioned jacks 21 and 23 are mounted integral with the motor mandrel of the jack 25 by means of arched arms denoted 2123 and 2321. As will be seen in FIG.
  • one of the jacks, the jack 21 by example, constituting the mobile assembly is retractable in order to allow the retraction of the assembly in the protective corset formed by the first arm 1, in order to allow the introduction of the assembly through the manhole TH .
  • the retraction of the jack 21 is shown in FIG. 7, the assembly constituted by the element 2 forming an arm and its accessories being inscribed in the circle G representative of the size of the manhole TH. As shown in FIG.
  • the accessories can advantageously comprise a motor for orienting the decontamination means 30, this motor being denoted 400, the orientation of the decontamination means 30 being produced by a rotation about the axis ⁇ " perpendicular to the longitudinal axis ⁇ 'of the element 2 forming an arm as previously mentioned.
  • the accessories also include guide axes 4001, 4002 of the trolley carrying the decontamination element, the vehicle proper being noted in this embodiment 4003 and consisting of a trolley sliding on the guide pins 4001, 4002, a worm-type drive screw, denoted 4004 and a worm drive motor noted 4005.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Food Science & Technology (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Thermal Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Manipulator (AREA)
  • Structure Of Emergency Protection For Nuclear Reactors (AREA)
  • Domestic Plumbing Installations (AREA)
  • Cleaning In General (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
EP88400163A 1987-01-28 1988-01-26 Système d'intervention sur les tuyauteries primaires et la boîte à eau d'un générateur de vapeur centrale nucléaire Expired - Lifetime EP0281433B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AT88400163T ATE78949T1 (de) 1987-01-28 1988-01-26 Arbeitssystem fuer primaere rohrleitungen und wasserkammer des dampferzeugers eines kernreaktors.
EP91122369A EP0479344B1 (fr) 1987-01-28 1988-01-26 Système d'intervention sur les parois internes de la boîte à eau d'un générateur de vapeur de centrale nucleaire

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8700994 1987-01-28
FR8700994A FR2610137B1 (fr) 1987-01-28 1987-01-28 Systeme de decontamination des tuyauteries primaires et de la boite a eau d'un generateur de vapeur de centrale nucleaire

Related Child Applications (1)

Application Number Title Priority Date Filing Date
EP91122369.1 Division-Into 1988-01-26

Publications (3)

Publication Number Publication Date
EP0281433A2 EP0281433A2 (fr) 1988-09-07
EP0281433A3 EP0281433A3 (en) 1988-09-21
EP0281433B1 true EP0281433B1 (fr) 1992-07-29

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Family Applications (2)

Application Number Title Priority Date Filing Date
EP88400163A Expired - Lifetime EP0281433B1 (fr) 1987-01-28 1988-01-26 Système d'intervention sur les tuyauteries primaires et la boîte à eau d'un générateur de vapeur centrale nucléaire
EP91122369A Expired - Lifetime EP0479344B1 (fr) 1987-01-28 1988-01-26 Système d'intervention sur les parois internes de la boîte à eau d'un générateur de vapeur de centrale nucleaire

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP91122369A Expired - Lifetime EP0479344B1 (fr) 1987-01-28 1988-01-26 Système d'intervention sur les parois internes de la boîte à eau d'un générateur de vapeur de centrale nucleaire

Country Status (10)

Country Link
US (1) US4984598A (ko)
EP (2) EP0281433B1 (ko)
JP (1) JP2755586B2 (ko)
KR (1) KR880009389A (ko)
AT (2) ATE78949T1 (ko)
CA (1) CA1308497C (ko)
DE (2) DE3873117T2 (ko)
ES (2) ES2034282T3 (ko)
FR (1) FR2610137B1 (ko)
ZA (1) ZA88544B (ko)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5265129A (en) * 1992-04-08 1993-11-23 R. Brooks Associates, Inc. Support plate inspection device
US5305356B1 (en) * 1992-05-14 1998-09-01 Brooks Support Systems Inc Inspection device
JP5314609B2 (ja) * 2010-01-27 2013-10-16 三菱重工業株式会社 水室内作業装置
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Also Published As

Publication number Publication date
US4984598A (en) 1991-01-15
ES2076455T3 (es) 1995-11-01
DE3873117T2 (de) 1992-12-03
EP0479344A3 (en) 1992-09-23
DE3854162D1 (de) 1995-08-17
EP0479344A2 (fr) 1992-04-08
JPS63201402A (ja) 1988-08-19
ATE125059T1 (de) 1995-07-15
JP2755586B2 (ja) 1998-05-20
EP0281433A3 (en) 1988-09-21
FR2610137B1 (fr) 1993-09-24
ZA88544B (en) 1988-10-26
EP0479344B1 (fr) 1995-07-12
CA1308497C (fr) 1992-10-06
KR880009389A (ko) 1988-09-15
DE3854162T2 (de) 1996-03-21
FR2610137A1 (fr) 1988-07-29
DE3873117D1 (de) 1992-09-03
ATE78949T1 (de) 1992-08-15
EP0281433A2 (fr) 1988-09-07
ES2034282T3 (es) 1993-04-01

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