EP0479344A2 - Working system for internal walls of the water-chamber in a vapour generator of a nuclear plant - Google Patents

Working system for internal walls of the water-chamber in a vapour generator of a nuclear plant Download PDF

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Publication number
EP0479344A2
EP0479344A2 EP19910122369 EP91122369A EP0479344A2 EP 0479344 A2 EP0479344 A2 EP 0479344A2 EP 19910122369 EP19910122369 EP 19910122369 EP 91122369 A EP91122369 A EP 91122369A EP 0479344 A2 EP0479344 A2 EP 0479344A2
Authority
EP
European Patent Office
Prior art keywords
arm
vehicle
steam generator
water box
suction cup
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
EP19910122369
Other languages
German (de)
French (fr)
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EP0479344A3 (en
EP0479344B1 (en
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
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Electricite de France SA
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Filing date
Publication date
Application filed by Electricite de France SA filed Critical Electricite de France SA
Publication of EP0479344A2 publication Critical patent/EP0479344A2/en
Publication of EP0479344A3 publication Critical patent/EP0479344A3/en
Application granted granted Critical
Publication of EP0479344B1 publication Critical patent/EP0479344B1/en
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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.
  • 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.
  • FIGS. 1a and 1b The system which is the subject of the invention will now be described in connection with FIGS. 1a and 1b, this embodiment being adapted to the decontamination of the internal wall of the bowl of the BAE water box of a nuclear power plant steam generator.
  • FIG. 1a shows the deflection plane of the orientable hinge denoted 1200, by the longitudinal axis ⁇ 'of the second arm denoted 2 and the orientation rotation axis denoted D3, axis of rotation of the hinge 1200, the deflection of the hinge, that is to say the orientation of the longitudinal axis ⁇ 'of the arm forming the second arm 2 in the deflection plane formed by the axes D3 and ⁇ ' then takes place around a axis D4 orthogonal to the plane of travel of the hinge 1200.
  • the deflection plane of the hinge 1200 constitutes in operation, the first element denoted 1 and the second element denoted 2 forming an arm being in the deployed position, a diametral plane of the hemispherical bowl of the BAE water box of the steam generator.
  • the adjustable hinge 1200 may advantageously include a bearing denoted 12000 fixed at the end of the first arm 1.
  • the bearing is provided with a contact plate denoted 12000 with the tubular plate PT of the generator. steam.
  • the contact plate can advantageously be made of a material conforming to the profile of the tube plate or tube plate of a set of retractable fingers distributed on the contact plate or not of tubes on the tube plate and coming to engage in these to ensure the fixing of the assembly.
  • the orientable hinge 1200 further comprises a turntable denoted 12001, this turntable freely around the bearing.
  • the axis of rotation of the turntable constitutes the orientation axis of rotation denoted D3, of the deflection plane of the orientable hinge 1200.
  • the turntable 12001 has at its periphery an articulation denoted 12002 whose axis D4 is orthogonal to the orientation rotation axis D3 of the hinge 1200 and thus forms the aforementioned orientable hinge.
  • the second element 2 forming an arm is articulated around the joint 12002, as shown in FIG.
  • the vehicle 3 is mounted at the end of the second arm 2, by means of a pusher member denoted 2000, allowing the vehicle 3 to press against the internal wall of the bowl in operation.
  • a pusher member denoted 2000 allowing the vehicle 3 to press against the internal wall of the bowl in operation.
  • the pusher member 2000 can be produced by a hydraulic cylinder for example.
  • the stroke of the aforementioned hydraulic cylinder advantageously makes it possible to compensate for the variations in the radius of action of the assembly constituted by the second element 2 forming the arm and the vehicle, these variations in the radius of action being due to the slight offset from the center of rotation of the hinge 1200, axis of rotation D3, with respect to the axis of symmetry of the hemispherical bowl of the water box of the steam generator.
  • the vehicle 3 is also movable in rotation relative to the longitudinal axis of the second arm, by means of a gear motor noted 2001.
  • the vehicle 3 on the action of the jack or pusher member 2000 is thus pressed against the internal wall of the hemispherical bowl of the water box of the steam generator.
  • the vehicle 3 can then be moved, thereby driving the element 2 forming the arm of the system, by means of a displacement system disposed on the vehicle 3.
  • the displacement system mentioned above consists of a plurality of motorized drive rollers, the motorized drive rollers being denoted 331, 332, 333 in FIG.
  • the motorized rollers 331, 332, 333 form a tripod system.
  • the drive control of each roller can advantageously be provided independently.
  • each roller can advantageously include a drive motor noted 3310, consisting of a gear motor coupled to a drive system by pinion and chain 3311 of the drive wheel of the roller 3312.
  • each roller such as the roller 331 shown in FIG. 1b, can be oriented by means of an orientation motor 3313, coupled by a gear 3314, to the axis integral with the body of the roller 331.
  • the rollers forming the tripod system can then be oriented simultaneously in the same direction and the independent traction control of the roller can allow, if necessary, independent control of one or more rollers or of all of the rollers, in order to ensure the displacement by traction of the assembly constituted by the element 2 forming an arm and of the v vehicle 3.
  • FIGS. 2a, 2b 2c, 2d, 2e A more detailed description of the installation of the system which is the subject of the invention, in its embodiment as shown in FIG. 1a and 1b, will be given in conjunction with FIGS. 2a, 2b 2c, 2d, 2e.
  • FIG. 2a the system which is the subject of the invention is implemented by means of an elevator 50 as previously described.
  • the system is slid by translation on the inclined plane of the elevator and the contact plate is brought in the vicinity of the tubular plate, in order to ensure the fixing thereon.
  • the system thus fixed both on the tubular plate PT and on the flange of the manhole TH is shown in FIG. 2b.
  • the formation of the positioning position of the support plate on the tube plate is given for example by three proximity detectors arranged on the support plate for this purpose.
  • the drive movement of the rollers then ensures the working movements to ensure decontamination by means of decontamination means 30 carried by the vehicle 3 and of sector change so as to pass from a decontaminated zone to an uncontaminated zone , to be subjected to the decontamination process.
  • the extraction of the system which is the subject of the invention can then be carried out after the end of the decontamination process by returning the element 2 forming an arm shown in FIG. 2c to the vertical position, folding the element 2 forming an arm, vehicle having been brought back by the thrust element 2000 to its position furthest from the internal wall of the bowl of the steam generator, folding of the arm 2 inside the element 1 forming an arm by return of a cable recall for example or any other suitable means for this purpose.
  • the system which is the subject of the invention can then be brought back to the elevator as described above.
  • Figures 2d and 2e provide a better understanding of the principle of monitoring the arm 2 during its movement in the hemispherical bowl of the water box BAE of the steam generator.
  • the pusher arm 2 via the jack 2000 applies the vehicle 3 against the spherical surface of the water box and follows the movements of the vehicle 3 thanks to the two degrees of freedom present at the joint 1200.
  • the axis of rotation D3 allows the element 2 forming an arm to bypass the structure as shown in particular in FIG. 2e.
  • This system advantageously makes it possible to ensure the passage of the vehicle around the manhole as will be easily understood on observation of FIG. 2e, only a substantially circular zone denoted ZE cannot be reached by the vehicle and by the decontamination means 30.
  • the pusher arm 20 - vehicle 3 interface consists of a geared motor assembly allowing the orientation of the decontamination means 30 in order to respect the direction of arrival and exit of the decontamination fluid.
  • the element 2 forming an arm can then advantageously be linked to the vehicle 3 by means of a ball joint of the Cardan type. This type of connection makes it possible to transmit the orientation command to the vehicle 3 while guaranteeing the transmission of the force from the pusher arm 20 and an application of the vehicle 3 to the surface to be decontaminated.
  • the pusher arm 20 retains its pusher function and maintains the position of the vehicle 3. This is made possible in particular by reducing the range of action of the pusher arm 20 from top to bottom. the steam generator water box.
  • the upper plate 12001 of the joint 1200 can be mechanically oriented from the outside of the water box BAE of the steam generator in order to reposition the element 2 forming the arm and the vehicle 2 in the fold axis of the element 2 forming an arm in the event of a major breakdown.
  • the system which is the subject of the invention is suitable for decontaminating the bowl of the water box BAE of the steam generator
  • the system is controlled by an operator having on the control console control means 6 shown on the FIG. 2d, the elementary movement commands such as the displacement and the orientation of the traction rollers, the orientation of the vehicle as well as the commands emergency stop.
  • a display assembly mounted on a turret fixed to the element 2 forming an arm makes it possible to follow the vehicle 3 during its evolutions.
  • the object system of the invention can advantageously make it possible to ensure decontamination by electrodecontamination.
  • the decontamination can be carried out by electrodecontamination from outside the water box of the steam generator.
  • the decontamination means 30 may advantageously comprise an electropolishing cell as shown in FIG. 11a.
  • FIGS. 4 a and 4 b A more detailed description of an electropolishing cell which is particularly suitable for the decontamination system which is the subject of the invention will be given in conjunction with FIGS. 4 a and 4 b.
  • an electropolishing cell denoted 30, which comprises a suction cup formed of a suction cup body 300, substantially of revolution.
  • a permeable electrode denoted 301 is located in the suction cup body 300 and delimits therein a chamber.
  • a seal denoted 304 is placed at the periphery of the suction cup body 300.
  • the electrolyte contained in an electrolyte reservoir circulates through the cathode 301 pierced with small diameter holes, the assembly constituted by the body of suction cup and the cathode moving along the wall and the sealing of the electropolishing cell is ensured by the aforementioned seal 304.
  • a set of rollers 305 is integral with the suction cup body 300, the rollers being intended to form a bearing stop for the suction cup on the surface S in order to keep the distance from l electrode 301 at the surface S to be treated.
  • the seal 304 Under the effect of the vacuum induced by the suction of the electrolyte, the seal 304 is normally crushed.
  • the aforementioned set of rollers consisting of polytetrafluoroethylene rollers for example, is mounted on ball bearings with pivoting axis fixed on the body of the suction cup. This set of rollers has the function of ensuring and facilitating the sliding of the suction cup on the surface S, and prevents the chattering phenomenon which appears when the seal 304 is too crushed.
  • the intake chamber 302 and the suction chamber 303 respectively comprise an intake tank 306 and a suction nozzle 307 of the above-mentioned electrolyte.
  • the electropolishing suction cup is made integral with the vehicle 3 by means of an indexing table 308 mounted movable in rotation relative to a axis perpendicular to the direction formed by the intake nozzle 306 and the suction nozzle 307 of the electrolyte.
  • the indexing table 308 is provided with adjustment means 3080 making it possible, when the vehicle 3 is moving, to maintain the plane containing the axis of the electrolyte intake and suction nozzles, nozzles denoted 306, 307, substantially vertical. .
  • the adjustment of the orientation of the aforementioned plane can be adjusted once and for all.
  • the surface to be treated is constituted by a spherical surface, in particular in the case of decontamination of the bowl of the water box BAE of the steam generator
  • the path of movement of the vehicle can be constituted by a large circle of the sphere for example, and the orientation of the plan can thus be established for a given path.
  • the aforementioned adjustment means 3080 can then be constituted by a stepping motor secured to the indexing table and allowing remote adjustment of the latter as a function of the path chosen.
  • the suction cup body 300 is made integral with the indexing table 308 by means of an elastic suspension 309.
  • the latter comprises at least two spring jacks denoted 3091, 3092 in FIG. 4b, the mandrel of which is made integral with the suction cup body 300 by means of an articulation with ball joint noted 3100, 3110.
  • the above-mentioned ball joint 3100, 3110 is mounted on two fixing lugs 3101, 3111 secured to the suction cup body 300 and arranged according to a diameter thereof.
  • each ball joint 3100, 3110 is mounted to slide according to the aforementioned diameter.
  • the spring jacks 3091, 3092 are mounted fixed on the table or indexing table and are arranged so that the force exerted by the springs of the jack or pressing force ensures permanent contact of the suction cup with the wall to be treated.
  • the aforementioned cylinders make it possible to compensate for any variations in level of the wall by allowing a movement back and forth along the axis previously described.
  • the connection of the jacks or suction cup body 300 by the sliding ball joints 3100, 3110 allows the suction cup to take any angular position without introducing bending stress in the jack rods and in the fixing lugs 3101, 3111 previously described.
  • two flanges fixed on the body of the cylinders 3091, 3092 make it possible to ensure compressing them while maintaining the suction cup body and the suction cup in the high position.
  • the suction cup body 300 can advantageously be made of a synthetic material such as hydrogenated polypropylene, PPH, or difluorinated polyvinyl denoted PVDH.
  • each element 2 forming an arm can be directly associated as a function of the zone to be decontaminated from the water box of the steam generator with a corresponding articulation 1200, this articulation being able to be fixed on an arm or element 1 forming a universal arm, capable of to receive the corresponding joint.
  • the elements 2 forming arms constitute a set of arms capable of being adapted to the element 1 forming a single arm.
  • the electrical energy supply means 7 are advantageously constituted by a battery of controlled rectifiers, in order to allow the electrical energy supply to the vehicle and, in particular, electrodecontamination means previously described.

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Abstract

System for carrying out work on the water box of a steam generator of a nuclear power station. The system comprises a first member (1) of substantially elongate shape, forming a first arm of the system, and a second member (2) of substantially elongate shape. The second member (2) is articulated at one of its ends to an end of the first member (1). The combination of the first and of the second arm (2) is capable of being introduced into the water box (BAE) of the steam generator through the manhole. The second member (2) can be placed in an extended position in relation to the first member (1). A vehicle (3) mounted movably in relation to the second arm (2) makes it possible to explore and to ensure the decontamination of the internal walls of the water box (BAE) of the steam generator. A means of carrying out work such as decontamination (30) is carried by the vehicle (3). It is capable of reaching a plurality of regions of the surface of the said inner walls. Means for remote control of the vehicle (3) and means for carrying out work (30) are provided. <IMAGE>

Description

La présente invention est relative à un système d'intervention sur les tuyauteries primaires et sur la boîte à eau d'un générateur de vapeur de centrale nucléaire.The present invention relates to an intervention system on the primary pipes and on the water box of a nuclear power plant steam generator.

Dans le cadre du remplacement d'un générateur de vapeur de centrale nucléaire, les opérations telles que découpe des tuyauteries, chanfreinage, soudage doivent être réaliséessur les parties à remplacer et en particulier sur la boîte à eau. La dose de rayonnement reçue par les opérateurs au cours de ces opérations est importante en raison de la contamination en substances radioactives qui se déposent sur les parois internes des parties précitées.When replacing a nuclear power plant steam generator, operations such as cutting pipes, chamfering, welding must be carried out on the parts to be replaced and in particular on the water box. The radiation dose received by the operators during these operations is significant due to the contamination of radioactive substances which are deposited on the internal walls of the abovementioned parts.

Une possibilité de diminuer les doses précitées reçues au cours de ce type d'intervention peut consister, préalablement aux interventions nécessaires à la réalisation de ces opérations, à décontaminer la tuyauterie primaire de la boîte à eau, sur une longueur de l'ordre de quelques mètres par exemple, la paroi interne de la boîte à eau et la plaque de partition par exemple.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.

Cette décontamination peut être effectuée par électrodécontamination par exemple et, avantageusement, par intervention de l'extérieur de la boîte à eau par la mise en oeuvre du système objet de l'invention.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.

Le système d'intervention sur les tuyauteries primaires et de la boîte à eau des générateurs de vapeur de centrale nucléaire, objet de l'invention, est remarquable en ce qu'il comprend un premier élément ayant une forme sensiblement allongée et formant un premier bras du système et un deuxième élément ayant une forme sensiblement allongée, articulé à une de ses extrémités à une extrémité du premier élément, le deuxième élément formant un deuxième bras du système. L'ensemble du premier et du deuxième bras est susceptible d'être introduit dans la boîte à eau du générateur de vapeur par l'intermédiaire du trou d'homme et ledit deuxième élément peut être mis en position déployée par rapport au premier élément. Un véhicule est monté sur le deuxième bras, le véhicule étant monté mobile par rapport au deuxième bras et un moyen de décontamination est porté par le véhicule. Le moyen d'intervention, du fait de son mouvement par rapport au deuxième bras et de l'ouverture relative entre le premier et le deuxième bras est susceptible d'atteindre une pluralité de zones de la surface interne du générateur de vapeur telles que notamment les tuyauteries primaires, la plaque de partition et la paroi interne du bol sphérique de la boîte à eau du générateur de vapeur. Des moyens de commande à distance du véhicule et des moyens d'intervention sont en outre prévus.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.

Le système objet de l'invention peut avantageusement être utilisé préalablement à toute intervention d'un opérateur sur ou dans la boîte à eau d'un générateur de vapeur, opérations telles que le bouchage des tubes le contrôle des tubes, mise en place des types d'obturation.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.

Il est remarquable en ce que l'intervention telle que la décontamination peut être effectuée et commandée de l'extérieur de la boîte à eau du générateur de vapeur, toute entrée ou sortie d'un opérateur dans la boîte à eau d'un générateur de vapeur préalablement à une décontamination mise en oeuvre conformément au système selon l'invention ayant pour effet de soumettre celui-ci à une dose d'irradiation trop importante.It is remarkable in that the intervention such as decontamination can be carried out and controlled from outside the water box of the steam generator, any entry or exit of an operator in the water box of a steam generator. steam prior to decontamination implemented in accordance to the system according to the invention having the effect of subjecting it to a too high irradiation dose.

L'invention sera mieux comprise à la lecture de la description et à l'observation des dessins ci-après dans lesquels :

  • la figure 1a représente une vue en perspective éclatée d'un système selon l'invention plus particulièrement adapté à la décontamination de la paroi interne du bol de la boîte à eau d'un générateur de vapeur de centrale nucléaire,
  • la figure 1b représente une vue partielle d'un détail de réalisation de l'agencement du véhicule sur le deuxième élément formant deuxième bras dans le mode de réalisation du système objet de l'invention,
  • les figures 2a à 2e représentent des phases de mise en place du système selon l'invention,
  • la figure 3 représente un schéma illustratif des moyens de commande et de leur utilisation en liaison avec un système de décontamination objet de l'invention,
  • les figures 4a et 4b représentent respectivement un schéma de principe illustratif des moyens de décontamination dans le cas où ces moyens de décontamination sont constitués par une cellule d'électropolissage et un schéma détaillé en coupe partielle d'un mode de réalisation avantageux d'une telle cellule.
The invention will be better understood on reading the description and on observing the drawings below in which:
  • FIG. 1a represents an exploded perspective view of a system according to the invention more particularly adapted to the decontamination of the internal wall of the bowl of the water box of a nuclear power plant steam generator,
  • FIG. 1b represents a partial view of a detail of the arrangement of the vehicle on the second element forming the second arm in the embodiment of the system which is the subject of the invention,
  • FIGS. 2a to 2e represent phases for setting up the system according to the invention,
  • FIG. 3 represents an illustrative diagram of the control means and their use in connection with a decontamination system which is the subject of the invention,
  • FIGS. 4a and 4b respectively represent a schematic diagram illustrating the decontamination means in the case where these decontamination means consist of an electropolishing cell and a detailed diagram in partial section of an advantageous embodiment of such cell.

Le système objet de l'invention sera maintenant décrit en liaison avec les figures 1a et 1b, ce mode de réalisation étant adapté à la décontamination de la paroi interne du bol de la boîte à eau BAE d'un générateur de vapeur de centrale nucléaire.The system which is the subject of the invention will now be described in connection with FIGS. 1a and 1b, this embodiment being adapted to the decontamination of the internal wall of the bowl of the BAE water box of a nuclear power plant steam generator.

Dans le mode de réalisation représenté en figure 1a notamment, un élément 2 formant deuxième bras, est articulé à un premier bras 1 par l'intermédiaire d'une charnière dont le plan de débattement est orientable en rotation. Sur la figure la on a représenté le plan de débattement de la charnière orientable notée 1200, par l'axe longitudinal Δ' du deuxième bras noté 2 et l'axe de rotation d'orientation noté D3, axe de rotation de la charnière 1200, le débattement de la charnière, c'est-à-dire l'orientation de l'axe longitudinal Δ' du bras formant deuxième bras 2 dans le plan de débattement constitué par les axes D3 et Δ' s'effectue alors autour d'un axe D4 orthogonal au plan de débattement de la charnière 1200.In the embodiment shown in FIG. 1a in particular, an element 2 forming a second arm is articulated to a first arm 1 by means of a hinge whose plane of movement is orientable in rotation. FIG. 1a shows the deflection plane of the orientable hinge denoted 1200, by the longitudinal axis Δ 'of the second arm denoted 2 and the orientation rotation axis denoted D3, axis of rotation of the hinge 1200, the deflection of the hinge, that is to say the orientation of the longitudinal axis Δ 'of the arm forming the second arm 2 in the deflection plane formed by the axes D3 and Δ' then takes place around a axis D4 orthogonal to the plane of travel of the hinge 1200.

Selon une caractéristique avantageuse du système objet de l'invention, tel que représenté en figure la, le plan de débattement de la charnière 1200 constitue en fonctionnement, le premier élément noté 1 et le deuxième élément noté 2 formant bras étant en position déployée, un plan diamétral du bol hémisphérique de la boîte à eau BAE du générateur de vapeur.According to an advantageous characteristic of the system which is the subject of the invention, as shown in FIG. La, the deflection plane of the hinge 1200 constitutes in operation, the first element denoted 1 and the second element denoted 2 forming an arm being in the deployed position, a diametral plane of the hemispherical bowl of the BAE water box of the steam generator.

Ainsi qu'on le remarquera sur la figure la, la charnière orientable 1200 peut avantageusement comporter un palier noté 12000 fixé en extrémité du premier bras 1. Le palier est muni d'une plaque de contact notée 12000 avec la plaque tubulaire PT du générateur de vapeur. La plaque de contact peut être avantageusement constituée d'un matériau épousant le profil de la plaque à tube ou plaque tubulaire d'un ensemble de doigts escamotables distribués sur la plaque de contact ou pas des tubes sur la plaque tubulaire et venant s'engager dans ces derniers afin d'assurer la fixation de l'ensemble. Ces éléments ne sont pas représentés en figure la, afin de ne pas surcharger le dessin.As will be seen in FIG. 1a, the adjustable hinge 1200 may advantageously include a bearing denoted 12000 fixed at the end of the first arm 1. The bearing is provided with a contact plate denoted 12000 with the tubular plate PT of the generator. steam. The contact plate can advantageously be made of a material conforming to the profile of the tube plate or tube plate of a set of retractable fingers distributed on the contact plate or not of tubes on the tube plate and coming to engage in these to ensure the fixing of the assembly. These elements are not shown in Figure la, so as not to overload the drawing.

La charnière orientable 1200 comporte en outre un plateau tournant noté 12001, ce plateau tournant librement autour du palier. L'axe de rotation du plateau tournant constitue l'axe de rotation d'orientation noté D3, du plan de débattement de la charnière orientable 1200. Le plateau tournant 12001 comporte à sa périphérie une articulation notée 12002 dont l'axe D4 est orthogonal à l'axe de rotation d'orientation D3 de la charnière 1200 et forme ainsi la charnière orientable précitée. Le deuxième élément 2 formant bras est articulé autour de l'articulation 12002, ainsi que représenté sur la figure la.The orientable hinge 1200 further comprises a turntable denoted 12001, this turntable freely around the bearing. The axis of rotation of the turntable constitutes the orientation axis of rotation denoted D3, of the deflection plane of the orientable hinge 1200. The turntable 12001 has at its periphery an articulation denoted 12002 whose axis D4 is orthogonal to the orientation rotation axis D3 of the hinge 1200 and thus forms the aforementioned orientable hinge. The second element 2 forming an arm is articulated around the joint 12002, as shown in FIG.

Dans le mode de réalisation de la figure la, le véhicule 3 est monté en extrémité du deuxième bras 2, par l'intermédiaire d'un organe pousseur noté 2000, permettant en fonctionnement la mise en appui du véhicule 3 contre la paroi interne du bol hémisphérique de la boîte à eau BAE du générateur de vapeur. L'organe pousseur 2000 peut être réalisé par un vérin hydraulique par exemple. La course du vérin hydraulique précité permet avantageusement de compenser les variations du rayon d'action de l'ensemble constitué par le deuxième élément 2 formant bras et le véhicule, ces variations du rayon d'action étant dues au léger déport du centre de rotation de la charnière 1200, axe de rotation D3, par rapport à l'axe de symétrie du bol hémisphérique de la boîte à eau du générateur de vapeur.In the embodiment of FIG. 1a, the vehicle 3 is mounted at the end of the second arm 2, by means of a pusher member denoted 2000, allowing the vehicle 3 to press against the internal wall of the bowl in operation. hemispherical of the steam generator BAE water box. The pusher member 2000 can be produced by a hydraulic cylinder for example. The stroke of the aforementioned hydraulic cylinder advantageously makes it possible to compensate for the variations in the radius of action of the assembly constituted by the second element 2 forming the arm and the vehicle, these variations in the radius of action being due to the slight offset from the center of rotation of the hinge 1200, axis of rotation D3, with respect to the axis of symmetry of the hemispherical bowl of the water box of the steam generator.

Selon une autre caractéristique avantageuse du mode de réalisation du système objet de l'invention représenté en figure la, le véhicule 3 est également mobile en rotation par rapport à l'axe longitudinal du deuxième bras, par l'intermédiaire d'un moto-réducteur noté 2001.According to another advantageous characteristic of the embodiment of the system which is the subject of the invention shown in FIG. 1a, the vehicle 3 is also movable in rotation relative to the longitudinal axis of the second arm, by means of a gear motor noted 2001.

Le véhicule 3 sur action du vérin ou organe pousseur 2000 est ainsi plaqué contre la paroi interne du bol hémisphérique de la boîte à eau du générateur de vapeur. Le véhicule 3 peut alors être déplacé, entraînant en celà l'élément 2 formant bras du système, par l'intermédiaire d'un système de déplacement disposé sur le véhicule 3. Le système de déplacement précité consiste en une pluralité de galets d'entraînement motorisés, les galets d'entraînement motorisés étant notés 331, 332, 333 sur la figure la.The vehicle 3 on the action of the jack or pusher member 2000 is thus pressed against the internal wall of the hemispherical bowl of the water box of the steam generator. The vehicle 3 can then be moved, thereby driving the element 2 forming the arm of the system, by means of a displacement system disposed on the vehicle 3. The displacement system mentioned above consists of a plurality of motorized drive rollers, the motorized drive rollers being denoted 331, 332, 333 in FIG.

Selon une autre caractéristique avantageuse, les galets motorisés 331, 332, 333 forment un système tripode. La commande d'entraînement de chaque galet peut avantageusement être prévue indépendante.According to another advantageous characteristic, the motorized rollers 331, 332, 333 form a tripod system. The drive control of each roller can advantageously be provided independently.

Ainsi que représenté en figure 1b, un seul galet motorisé étant représenté sur cette figure afin de ne pas surcharger le dessin, chaque galet peut comporter avantageusement un moteur d'entraînement noté 3310, constitué par un moto-réducteur couplé à un système d'entraînement par pignon et chaîne 3311 de la roue motrice du galet 3312. En outre, et de manière avantageuse, chaque galet tel que le galet 331 représenté en figure 1b, peut être orienté au moyen d'un moteur d'orientation 3313, couplé par un engrenage 3314, à l'axe solidaire du corps du galet 331. Bien entendu, de manière avantageuse, les galets formant système tripode peuvent alors être orientés simultanément dans la même direction et la commande de traction indépendante de galet peut permettre, le cas échéant, la commande indépendante d'un ou plusieurs galets ou de l'ensemble des galets, afin d'assurer le déplacement par traction de l'ensemble constitué par l'élément 2 formant bras et du véhicule 3.As shown in Figure 1b, a single motorized roller being shown in this figure so as not to overload the drawing, each roller can advantageously include a drive motor noted 3310, consisting of a gear motor coupled to a drive system by pinion and chain 3311 of the drive wheel of the roller 3312. In addition, and advantageously, each roller such as the roller 331 shown in FIG. 1b, can be oriented by means of an orientation motor 3313, coupled by a gear 3314, to the axis integral with the body of the roller 331. Of course, advantageously, the rollers forming the tripod system can then be oriented simultaneously in the same direction and the independent traction control of the roller can allow, if necessary, independent control of one or more rollers or of all of the rollers, in order to ensure the displacement by traction of the assembly constituted by the element 2 forming an arm and of the v vehicle 3.

Une description plus détaillée de la mise en place du système objet de l'invention, dans son mode de réalisation tel que représenté en figure 1a et 1b, sera donnée en liaison avec les figures 2a, 2b 2c, 2d, 2e.A more detailed description of the installation of the system which is the subject of the invention, in its embodiment as shown in FIG. 1a and 1b, will be given in conjunction with FIGS. 2a, 2b 2c, 2d, 2e.

Ainsi qu'on le remarquera sur la figure 2a, le système objet de l'invention est mis en place au moyen d'un ascenseur 50 ainsi que précédemment décrit. Le système est glissé par translation sur le plan incliné de l'ascenseur et la plaque de contact est amenée au voisinage de la plaque tubulaire, afin d'assurer la fixation sur celle-ci. Le système ainsi fixé à la fois sur la plaque tubulaire PT et sur la bride du trou d'homme TH est représenté en figure 2b. La formation de la mise en position d'appui de la plaque d'appui sur la plaque tubulaire est donnée par exemple par trois détecteurs de proximité disposés sur la plaque d'appui à cet effet.As will be seen in FIG. 2a, the system which is the subject of the invention is implemented by means of an elevator 50 as previously described. The system is slid by translation on the inclined plane of the elevator and the contact plate is brought in the vicinity of the tubular plate, in order to ensure the fixing thereon. The system thus fixed both on the tubular plate PT and on the flange of the manhole TH is shown in FIG. 2b. The formation of the positioning position of the support plate on the tube plate is given for example by three proximity detectors arranged on the support plate for this purpose.

Le système ayant été fixé au niveau de la bride du trou d'homme TH par verrouillage de contreécrou prévu à cet effet, l'élément 2 formant bras est alors déployé, le véhicule 3 est alors descendu de façon à amener celui-ci en fond du bol de la boîte à eau BAE du générateur de vapeur. Une poussée convenable est assurée par le vérin de poussée 2000 sur le véhicule, afin de permettre une bonne adhérence des galets sur la paroi interne du bol du générateur de vapeur. La position correspondante est représentée en figure 2c.The system having been fixed at the level of the flange of the manhole TH by locking the lock nut provided for this purpose, the element 2 forming an arm is then deployed, the vehicle 3 is then lowered so as to bring the latter to the bottom from the bowl of the BAE water box of the steam generator. A suitable thrust is provided by the thrust cylinder 2000 on the vehicle, in order to allow good adhesion of the rollers on the internal wall of the bowl of the steam generator. The corresponding position is shown in Figure 2c.

Le mouvement d'entraînement des galets assure alors les déplacements de travail pour assurer la décontamination par l'intermédiaire des moyens de décontamination 30 portés par le véhicule 3 et de changement de secteur de façon à passer d'une zone décontaminée à une zone non décontaminée, devant être soumise au procédé de décontamination.The drive movement of the rollers then ensures the working movements to ensure decontamination by means of decontamination means 30 carried by the vehicle 3 and of sector change so as to pass from a decontaminated zone to an uncontaminated zone , to be subjected to the decontamination process.

L'extraction du système objet de l'invention peut alors après la fin du processus de décontamination être réalisée par le retour en position verticale de l'élément 2 formant bras représenté en figure 2c, le repli de l'élément 2 formant bras, le véhicule ayant été ramené par l'élément de poussée 2000 en sa position la plus éloignée de la paroi interne du bol du générateur de vapeur, repli du bras 2 à l'intérieur de l'élément 1 formant bras par rappel d'un câble de rappel par exemple ou de tout autre moyen adapté à cet effet. Le système objet de l'invention peut alors être ramené sur l'ascenseur ainsi que décrit précédemment.The extraction of the system which is the subject of the invention can then be carried out after the end of the decontamination process by returning the element 2 forming an arm shown in FIG. 2c to the vertical position, folding the element 2 forming an arm, vehicle having been brought back by the thrust element 2000 to its position furthest from the internal wall of the bowl of the steam generator, folding of the arm 2 inside the element 1 forming an arm by return of a cable recall for example or any other suitable means for this purpose. The system which is the subject of the invention can then be brought back to the elevator as described above.

Les figures 2d et 2e permettent de mieux appréhender le principe de suivi du bras 2 au cours de son déplacement dans le bol hémisphérique de la boîte à eau BAE du générateur de vapeur.Figures 2d and 2e provide a better understanding of the principle of monitoring the arm 2 during its movement in the hemispherical bowl of the water box BAE of the steam generator.

Lors des déplacements duvéhicule 3, le bras pousseur 2 par l'intermédiaire du vérin 2000, applique le véhicule 3 contre la surface sphérique de la boîte à eau et suit les mouvements du véhicule 3 grâce aux deux degrés de liberté présents au niveau de l'articulation 1200.When the vehicle 3 moves, the pusher arm 2 via the jack 2000, applies the vehicle 3 against the spherical surface of the water box and follows the movements of the vehicle 3 thanks to the two degrees of freedom present at the joint 1200.

L'axe de rotation D3 permet à l'élément 2 formant bras de contourner la structure ainsi que représenté notamment en figure 2e. Ce système permet avantageusement d'assurer le passage du véhicule autour du trou d'homme ainsi qu'on le comprendra aisément à l'observation de la figure 2e, seule une zone sensiblement circulaire notée ZE ne pouvant être atteinte par le véhicule et par les moyens de décontamination 30.The axis of rotation D3 allows the element 2 forming an arm to bypass the structure as shown in particular in FIG. 2e. This system advantageously makes it possible to ensure the passage of the vehicle around the manhole as will be easily understood on observation of FIG. 2e, only a substantially circular zone denoted ZE cannot be reached by the vehicle and by the decontamination means 30.

L'interface bras pousseur 20 - véhicule 3 est constituée d'un ensemble moto-réducteur permettant l'orientation des moyens de décontamination 30 afin de respecter le sens d'arrivée et de sortie du fluide de décontamination. L'élément 2 formant bras peut alors être avantageusement lié au véhicule 3 par l'intermédiaire d'une rotule du type Cardan. Ce type de liaison permet de transmettre la commande d'orientation au véhicule 3 tout en garantissant la transmission de l'effort du bras pousseur 20 et une application du véhicule 3 sur la surface à décontaminer.The pusher arm 20 - vehicle 3 interface consists of a geared motor assembly allowing the orientation of the decontamination means 30 in order to respect the direction of arrival and exit of the decontamination fluid. The element 2 forming an arm can then advantageously be linked to the vehicle 3 by means of a ball joint of the Cardan type. This type of connection makes it possible to transmit the orientation command to the vehicle 3 while guaranteeing the transmission of the force from the pusher arm 20 and an application of the vehicle 3 to the surface to be decontaminated.

En cas de panne des fluides d'alimentation le bras pousseur 20 conserve sa fonction pousseur et assure le maintien de la position du véhicule 3. Ceci est permis notamment par la diminution du rayon d'action du bras pousseur 20 du haut vers le bas de la boîte à eau du générateur de vapeur.In the event of a failure of the supply fluids, the pusher arm 20 retains its pusher function and maintains the position of the vehicle 3. This is made possible in particular by reducing the range of action of the pusher arm 20 from top to bottom. the steam generator water box.

Enfin le plateau supérieur 12001 de l'articulation 1200 peut être orienté mécaniquement de l'extérieur de la boîte à eau BAE du générateur de vapeur afin de repositionner l'élément 2 formant bras et le véhicule 2 dans l'axe de repli de l'élément 2 formant bras en cas de panne majeure.Finally, the upper plate 12001 of the joint 1200 can be mechanically oriented from the outside of the water box BAE of the steam generator in order to reposition the element 2 forming the arm and the vehicle 2 in the fold axis of the element 2 forming an arm in the event of a major breakdown.

Une description plus détaillée de moyens de commande du système de l'invention sera décrite en liaison avec la figure 3.A more detailed description of control means of the system of the invention will be described in connection with FIG. 3.

Dans le cas où le système objet de l'invention est adapté à la décontamination du bol de la boîte à eau BAE du générateur de vapeur, le système est piloté par un opérateur possédant sur le pupitre de commande des moyens de commande 6 représentés sur la figure 2d, les commandes de mouvements élémentaires tels que le déplacement et l'orientation des galets tracteurs, l'orientation du véhicule ainsi que les commandes d'arrêt d'urgence. Un ensemble de visualisation monté sur tourelle fixé à l'élement 2 formant bras permet de suivre le véhicule 3 pendant ses évolutions.In the case where the system which is the subject of the invention is suitable for decontaminating the bowl of the water box BAE of the steam generator, the system is controlled by an operator having on the control console control means 6 shown on the FIG. 2d, the elementary movement commands such as the displacement and the orientation of the traction rollers, the orientation of the vehicle as well as the commands emergency stop. A display assembly mounted on a turret fixed to the element 2 forming an arm makes it possible to follow the vehicle 3 during its evolutions.

Afin d'assurer la décontamination des différentes parties telles que la tuyauterie primaire TP de la boîte à eau d'un générateur de vapeur, la plaque de partition PP de cette même boîte à eau et le bol hémisphérique de celle-ci, le système objet de l'invention peut avantageusement permettre d'assurer une décontamination par électrodécontamination. Dans ce cas, ainsi qu'il sera expliqué en détail ci-après dans la description, la décontamination peut être effectuée par électrodécontamiantion depuis l'extérieur de la boîte à eau du générateur de vapeur.In order to ensure the decontamination of the various parts such as the primary piping TP of the water box of a steam generator, the partition plate PP of this same water box and the hemispherical bowl thereof, the object system of the invention can advantageously make it possible to ensure decontamination by electrodecontamination. In this case, as will be explained in detail below in the description, the decontamination can be carried out by electrodecontamination from outside the water box of the steam generator.

Dans le cas où la décontamination est effectuée par électrodécontamination, les moyens de décontamination 30 peuvent comporter avantageusement une cellule d'électropolissage telle que représentée en figure 11a.In the case where the decontamination is carried out by electrodecontamination, the decontamination means 30 may advantageously comprise an electropolishing cell as shown in FIG. 11a.

Une description plus détaillée d'une cellule d'électropolissage particulièrement adaptée au système de décontamination objet de l'invention sera donnée en liaison avec les figures 4 a et 4 b.A more detailed description of an electropolishing cell which is particularly suitable for the decontamination system which is the subject of the invention will be given in conjunction with FIGS. 4 a and 4 b.

Sur la figure 4a, on a représenté de manière schématique une cellule d'électropolissage notée 30, laquelle comprend une ventouse formée d'un corps de ventouse 300, sensiblement de révolution. Une électrode perméable notée 301 est située dans le corps de ventouse 300 et délimite dans celui-ci une chambre d'admission d'électrolyte notée 302 et une chambre d'aspiration d'électrolyte notée 303 lorsque le corps de ventouse est appliqué sur la paroi de la surface à traiter. Un joint d'étanchéité noté 304 est disposé à la périphérie du corps de ventouse 300. L'électrolyte contenu dans un réservoir d'électrolyte circule au travers de la cathode 301 percée de trous de faible diamètre, l'ensemble constitué par le corps de ventouse et la cathode se déplaçant le long de la paroi et l'étanchéité de la cellule d'électropolissage est assurée par le joint d'étanchéité 304 précité.In Figure 4a, there is shown schematically an electropolishing cell denoted 30, which comprises a suction cup formed of a suction cup body 300, substantially of revolution. A permeable electrode denoted 301 is located in the suction cup body 300 and delimits therein a chamber. electrolyte intake denoted 302 and an electrolyte suction chamber denoted 303 when the suction cup body is applied to the wall of the surface to be treated. A seal denoted 304 is placed at the periphery of the suction cup body 300. The electrolyte contained in an electrolyte reservoir circulates through the cathode 301 pierced with small diameter holes, the assembly constituted by the body of suction cup and the cathode moving along the wall and the sealing of the electropolishing cell is ensured by the aforementioned seal 304.

Ainsi qu'il apparaît en outre en figure 4 b, un jeu de roulettes 305 est solidaire du corps de ventouse 300, les roulettes étant destinées à former butée d'appui de la ventouse sur la surface S afin de maintenir constante la distance de l'électrode 301 à la surface S à traiter. Sous l'effet de la dépression induite par l' aspiration de l'électrolyte, le joint d'étanchéité 304 est normalement écrasé. Afin de contrôler cet écrasement, le jeu de roulettes précité,constitué par des roulettes en polytétrafluoréthylène par exemple, est monté sur roulement à billes à axe pivotant fixé sur le corps de la ventouse. Ce jeu de roulettes a pour fonction d'assurer et de faciliter le glissement de la ventouse sur la surface S, et empêche le phénomène de broutage qui apparaît quand le joint d'étanchéité 304 est trop écrasé.As it also appears in FIG. 4 b, a set of rollers 305 is integral with the suction cup body 300, the rollers being intended to form a bearing stop for the suction cup on the surface S in order to keep the distance from l electrode 301 at the surface S to be treated. Under the effect of the vacuum induced by the suction of the electrolyte, the seal 304 is normally crushed. In order to control this crushing, the aforementioned set of rollers, consisting of polytetrafluoroethylene rollers for example, is mounted on ball bearings with pivoting axis fixed on the body of the suction cup. This set of rollers has the function of ensuring and facilitating the sliding of the suction cup on the surface S, and prevents the chattering phenomenon which appears when the seal 304 is too crushed.

Conformément à une caractéristique avantageuse de la cellule d'électropolissage conforme à l'objet de l'invention, la chambre d'admission 302 et la chambre d'aspiration 303 comportent respectivement une cuve d'admission 306 et une buse d'aspiration 307 de l'électrolyte précédemment cité. Conformément à un autre aspect particulièrement avantageux de la cellule d'électropolissage conforme à la présente invention, la ventouse d'électropolissage est rendue solidaire du véhicule 3 par l'intermédiaire d'une table d'indexage 308 montée mobile en rotation par rapport à un axe perpendiculaire à la direction formée par la buse d'admission 306 et la buse d'aspiration 307 de l'électrolyte. La table d'indexage 308 est munie de moyens de réglage 3080 permettant lors du déplacement du véhicule 3 de maintenir le plan contenant l'axe des buses d'admission et d'aspiration de l'électrolyte, buses notées 306, 307, sensiblement verticales. Bien entendu, pour un trajet donné, le réglage de l'orientation du plan précité peut être réglé une fois pour toute. En particulier lorsque la surface à traiter est constituée par une surface sphérique, notamment dans le cas de la décontamination du bol de la boîte à eau BAE du générateur de vapeur, le trajet de déplacement du véhicule peut être constitué par un grand cercle de la sphère par exemple, et l'orientation du plan peut ainsi être établie pour un trajet donné. Les moyens de réglage 3080 précités peuvent alors être constitués par un moteur pas à pas solidaire de la table d'indexation et permettant le réglage à distance de celle-ci en fonction du trajet choisi.In accordance with an advantageous characteristic of the electropolishing cell in accordance with the object of the invention, the intake chamber 302 and the suction chamber 303 respectively comprise an intake tank 306 and a suction nozzle 307 of the above-mentioned electrolyte. In accordance with another particularly advantageous aspect of the electropolishing cell according to the present invention, the electropolishing suction cup is made integral with the vehicle 3 by means of an indexing table 308 mounted movable in rotation relative to a axis perpendicular to the direction formed by the intake nozzle 306 and the suction nozzle 307 of the electrolyte. The indexing table 308 is provided with adjustment means 3080 making it possible, when the vehicle 3 is moving, to maintain the plane containing the axis of the electrolyte intake and suction nozzles, nozzles denoted 306, 307, substantially vertical. . Of course, for a given path, the adjustment of the orientation of the aforementioned plane can be adjusted once and for all. In particular when the surface to be treated is constituted by a spherical surface, in particular in the case of decontamination of the bowl of the water box BAE of the steam generator, the path of movement of the vehicle can be constituted by a large circle of the sphere for example, and the orientation of the plan can thus be established for a given path. The aforementioned adjustment means 3080 can then be constituted by a stepping motor secured to the indexing table and allowing remote adjustment of the latter as a function of the path chosen.

Selon une autre caractéristique avantageuse de la cellule d'électropolissage conforme à l'objet de la présente invention, le corps de ventouse 300 est rendu solidaire de la table d'indexage 308 Par l'intermédiaire d'une suspension élastique 309.According to another advantageous characteristic of the electropolishing cell conforming to the object of the present invention, the suction cup body 300 is made integral with the indexing table 308 by means of an elastic suspension 309.

Selon un mode de réalisation avantageux de la suspension élastique précitée, celle-ci comprend au moins deux vérins à ressort notés 3091, 3092 sur la figure 4b, dont le mandrin est rendu solidaire du corps de ventouse 300 par l'intermédiaire d'une articulation à rotule notée 3100, 3110. L'articulation à rotule 3100, 3110 précitée est montée sur deux pattes de fixation 3101, 3111 solidaires du corps de ventouse 300 et disposées selon un diamètre de celui-ci. Ainsi qu'on le remarquera notamment en figure 4b, chaque rotule 3100, 3110 est montée à glissement selon le diamètre précité. Les vérins à ressort 3091, 3092 sont montées fixes sur le plateau ou table d'indexage et sont disposés de façon que l'effort exercé par les ressorts du vérin ou effort de plaquage assure le contact permanent de la ventouse avec la paroi à traiter. Les vérins précités permettent de compenser les variations de niveau éventuelles de la paroi en autorisant un mouvement de va et vient selon l'axe précédemment décrit. La liaison des vérins ou corps de ventouse 300 par les rotules glissantes 3100, 3110 autorise la ventouse à prendre n'importe quelle position angulaire sans introduire de contrainte de flexion dans les tiges de vérin et dans les pattes de fixation 3101, 3111 précédemment décrites. Lors du montage de la ventouse d'électropolissage sur le véhicule, conformément à l'objet de l'invention, deux brides fixées sur le corps des vérins 3091, 3092 permettent d'assurer la compression de ceux-ci en maintenant le corps de ventouse et la ventouse en position haute.According to an advantageous embodiment of the above-mentioned elastic suspension, the latter comprises at least two spring jacks denoted 3091, 3092 in FIG. 4b, the mandrel of which is made integral with the suction cup body 300 by means of an articulation with ball joint noted 3100, 3110. The above-mentioned ball joint 3100, 3110 is mounted on two fixing lugs 3101, 3111 secured to the suction cup body 300 and arranged according to a diameter thereof. As will be noted in particular in FIG. 4b, each ball joint 3100, 3110 is mounted to slide according to the aforementioned diameter. The spring jacks 3091, 3092 are mounted fixed on the table or indexing table and are arranged so that the force exerted by the springs of the jack or pressing force ensures permanent contact of the suction cup with the wall to be treated. The aforementioned cylinders make it possible to compensate for any variations in level of the wall by allowing a movement back and forth along the axis previously described. The connection of the jacks or suction cup body 300 by the sliding ball joints 3100, 3110 allows the suction cup to take any angular position without introducing bending stress in the jack rods and in the fixing lugs 3101, 3111 previously described. When mounting the electropolishing suction cup on the vehicle, in accordance with the object of the invention, two flanges fixed on the body of the cylinders 3091, 3092 make it possible to ensure compressing them while maintaining the suction cup body and the suction cup in the high position.

Du fait que la ventouse est entraînée en rotation pour les corrections angulaires, il est avantageux d'alimenter l'électrode 301 en énergie électrique par un système distributeur. Celui-ci est avantageusement monté sur la tige de l'électrode et est noté 312. Le distributeur peut avantageusement comporter un système à balai, il peut comporter un circuit de refroidissement par circulation d'air permettant de limiter l'échauffement du distributeur. Le corps de ventouse 300 peut avantageusement être constitué en un matériau synthétique tel que le poly' propylène hydrogéné, PPH, ou le polyvinyl difluoré noté PVDH.Because the suction cup is rotated for angular corrections, it is advantageous to supply the electrode 301 with electrical energy by a distributor system. This is advantageously mounted on the rod of the electrode and is denoted 312. The distributor can advantageously include a brush system, it can comprise a cooling circuit by air circulation making it possible to limit the heating of the distributor. The suction cup body 300 can advantageously be made of a synthetic material such as hydrogenated polypropylene, PPH, or difluorinated polyvinyl denoted PVDH.

On a ainsi décrit un système d'intervention sur les parois du bol de la boîte à eau d'un générateur de vapeur, particulièrement avantageux en ce que le système, de par sa conception de base, permet d'assurer la décontamination de l'ensemble des parties précédemment citées.We have thus described an intervention system on the walls of the bowl of the water box of a steam generator, particularly advantageous in that the system, by its basic design, makes it possible to ensure the decontamination of the all of the previously cited parts.

Bien entendu, le système objet de l'invention est particulièrement adapté à assurer une décontamination par électrodécontamination, ainsi qu'il a été décrit précédemment dans la description.Of course, the system which is the subject of the invention is particularly suitable for ensuring decontamination by electrodecontamination, as has been described previously in the description.

En particulier, chaque élément 2 formant bras peut être directement associé en fonction de la zone à décontaminer de la boîte à eau du générateur de vapeur à une articulation 1200 correspondant, cette articulation pouvant être fixée sur un bras ou élement 1 formant bras universel, susceptible de recevoir l'articulation correspondante. Ainsi, les éléments 2 formant bras constituent un jeu de bras susceptibles d'être adaptés à l'élément 1 formant bras unique.In particular, each element 2 forming an arm can be directly associated as a function of the zone to be decontaminated from the water box of the steam generator with a corresponding articulation 1200, this articulation being able to be fixed on an arm or element 1 forming a universal arm, capable of to receive the corresponding joint. Thus, the elements 2 forming arms constitute a set of arms capable of being adapted to the element 1 forming a single arm.

Bien entendu, les différentes formes de véhicule sont alors associées à l'élément 2 formant bras correspondant.Of course, the different forms of vehicle are then associated with the element 2 forming the corresponding arm.

Bien entendu, dans le cas où la décontamination est assurée par électrodécontamination, les moyens d'alimentation en énergie électrique 7 sont avantageusement constitués par une batterie de redresseurs commandés, afin de permettre l'alimentation en énergie électrique du véhicule et, en particulier, des moyens d'électrodécontamination précédemment décrits.Of course, in the case where the decontamination is ensured by electrodecontamination, the electrical energy supply means 7 are advantageously constituted by a battery of controlled rectifiers, in order to allow the electrical energy supply to the vehicle and, in particular, electrodecontamination means previously described.

Claims (8)

Système d'intervention sur la boîte à eau des générateurs de vapeur de centrale nucléaire, comprenant : - un premier élément (1) ayant une forme sensiblement allongée et formant un premier bras du système, - un deuxième élément (2) ayant une forme sensiblement allongée, articulée (12) à une de ses extrémités à une extrémité du premier élément, ledit deuxième élément (2) formant un deuxième bras du système, et l'ensemble du premier (1) et du deuxième bras (2) étant susceptible d'être introduit dans la boîte à eau (BAE) du générateur de vapeur par l'intermédiaire d'un trou d'homme (TH) et ledit deuxième élément (2) pouvant être mis en position déployée par rapport au premier élément (1), - un véhicule (3) monté sur ledit deuxième bras (2), ledit véhicule (3) étant monté mobile par rapport audit deuxième bras (2), - un moyen (30) d'intervention porté par ledit véhicule (3) , le moyen d' intervention (30), du fait de son mouvement par rapport audit deuxième bras et de l'ouverture relative entre le premier (1) et le deuxième bras (2), étant susceptible d'atteindre une pluralité de zones de la surface interne du générateur de vapeur telles que notamment les tuyauteries primaires (TP), la plaque de partition (PP), la paroi interne du bol sphérique de la boîte à eau (BAE) du générateur de vapeur,
caractérisé en ce que, afin d'assurer une intervention telle que la décontamination des parois internes du bol sphérique de la boîte à eau (BAE) d'un générateur de vapeur, ledit deuxième élément (2) formant deuxième bras est articulé audit premier bras par l'intermédiaire d'une charnière dont le plan de débattement est orientable en rotation (1200), ledit plan formé par l'axe longitudinal (Δ') du deuxième bras et l'axe de rotation d'orientation (D3) constituant, en fonctionnement, un plan diamétral du bol hémisphérique, et en ce que ladite charnière orientable (1200) comporte : - un palier (12000) fixé en extrémité du premier bras (1) muni d'une plaque de contact avec la plaque tubulaire (PT) du générateur de vapeur, - un plateau tournant (12001) librement autour du palier, dont l'axe de rotation constitue l'axe de rotation d'orientation (D3) dudit plan de débattement de la charnière orientable (1200), ledit plateau tournant (12001) comportant à sa périphérie une articulation (12002) d'axe (D4) orthogonal à l'axe de rotation d'orientation (D3) et formant charnière orientable, ledit deuxième bras (2) étant articulé autour de ladite articulation (12002). Intervention system on the water box of nuclear power plant steam generators, comprising: - a first element (1) having a substantially elongated shape and forming a first arm of the system, - a second element (2) having a substantially elongated shape, articulated (12) at one of its ends at one end of the first element, said second element (2) forming a second arm of the system, and the whole of the first (1 ) and the second arm (2) being capable of being introduced into the water box (BAE) of the steam generator via a manhole (TH) and said second element (2) being able to be put in the deployed position relative to the first element (1), a vehicle (3) mounted on said second arm (2), said vehicle (3) being mounted movable relative to said second arm (2), - an intervention means (30) carried by said vehicle (3), the intervention means (30), due to its movement relative to said second arm and the relative opening between the first (1) and the second arm (2), being capable of reaching a plurality of zones of the internal surface of the steam generator such as in particular the primary pipes (TP), the partition plate (PP), the internal wall of the spherical bowl of the box steam generator (BAE),
characterized in that, in order to ensure an intervention such as the decontamination of the internal walls of the spherical bowl of the water box (BAE) of a steam generator, said second element (2) forming a second arm is articulated to said first arm through a hinge whose deflection plane is rotatable (1200), said plane formed by the longitudinal axis (Δ ') of the second arm and the orientation rotation axis (D3) constituting, in operation, a diametral plane of the bowl hemispherical, and in that said orientable hinge (1200) comprises: - a bearing (12000) fixed at the end of the first arm (1) provided with a contact plate with the tubular plate (PT) of the steam generator, - a turntable (12001) freely around the bearing, the axis of rotation of which constitutes the orientation rotation axis (D3) of said plane of movement of the orientable hinge (1200), said turntable (12001) comprising its periphery an articulation (12002) of axis (D4) orthogonal to the axis of orientation rotation (D3) and forming orientable hinge, said second arm (2) being articulated around said articulation (12002). Système selon la revendication 1, caractérisé en ce que ledit véhicule (3) est monté à l'extrémité dudit deuxième bras (2) par l'intermédiaire d'un organe pousseur (2000) permettant, en fonctionnement, la mise en appui dudit véhicule (3) contre la paroi interne du bol hémisphérique de la boîte à eau du générateur de vapeur.System according to claim 1, characterized in that said vehicle (3) is mounted at the end of said second arm (2) by means of a pusher member (2000) allowing, in operation, the abutment of said vehicle (3) against the internal wall of the hemispherical bowl of the steam generator water box. Système selon la revendication 2, caractérisé en ce que ledit véhicule (3) est également mobile en rotation par rapport à l'axe longitudinal dudit deuxième bras par l'intermédiaire d'un groupe moto-réducteur (2001).System according to claim 2, characterized in that said vehicle (3) is also movable in rotation relative to the longitudinal axis of said second arm by means of a geared motor group (2001). Système selon la revendication 3, caractérisé en ce que ledit véhicule (3) est muni d'un système de déplacement consistant en une pluralité de galets d'entraînement motorisés (331,332,333).System according to claim 3, characterized in that said vehicle (3) is provided with a displacement system consisting of a plurality of motorized drive rollers (331,332,333). Système selon la revendication 4, caractérisé en ce que lesdits galets (331,332,333) forment un système tripode, la commande d'entraînement de chaque galet étant indépendante.System according to claim 4, characterized in that said rollers (331,332,333) form a tripod system, the drive control of each roller being independent. Système selon l'une des revendications 1 à 5, caractérisé en ce que en vue d'assurer l'introduction et la mise en place dans: le trou d'homme (TH) de l'ensemble constitué par le premier (1) et le deuxième bras (2) ledit système comprend en outre un système ascenseur (50) du type plan incliné, l'angle d'inclinaison du plan incliné permettant par seule translation dudit ensemble la mise en position de l'articulation (12,120,1200) du premier et du deuxième bras au voisinage du centre de la plaque à tubes (PT) du générateur de vapeur.System according to one of Claims 1 to 5, characterized in that, in order to ensure the introduction and the positioning in: the manhole (TH) of the assembly constituted by the first (1) and the second arm (2) said system further comprises an elevator system (50) of the inclined plane type, the angle of inclination of the inclined plane allowing, by single translation of said assembly, the positioning of the articulation (12,120,1200) from the first and second arms near the center of the steam generator tube plate (PT). Système selon l'une des revendications l à 6 , caractérisé en ce que lesdits moyens d'intervention (30) comportent une cellule d'électropolissage.System according to one of claims l to 6, characterized in that said intervention means (30) comprise an electropolishing cell. Système selon la revendication 7, caractérisé en ce que ladite cellule (30) comprend : - une ventouse formée d'un corps de ventouse (300) sensiblement de révolution, - une électrode perméable (301) située dans le corps de ventouse (300) et délimitant dans celui-ci une chambre d'admission d'électrolyte (302) et une chambre d'aspiration d'électrolyte (303) lorsque le corps de ventouse est appliqué sur la paroi de la surface à traiter, - un joint d'étanchéité disposé à la périphérie du corps de ventouse, - un jeu de roulettes (305) solidaires du corps de venteuse (300), lesdites roulettes étant destinées à former butée d'appui de ladite ventouse sur ladite surface afin de maintenir constante la distance de l'électrode à la surface à traiter. System according to claim 7, characterized in that said cell (30) comprises: - a suction cup formed by a suction cup body (300) substantially of revolution, - a permeable electrode (301) located in the suction cup body (300) and delimiting therein an electrolyte admission chamber (302) and an electrolyte suction chamber (303) when the suction cup body is applied to the wall of the surface to be treated, - a seal placed at the periphery of the suction cup body, - A set of rollers (305) integral with the winder body (300), said rollers being intended to form a support stop for said suction cup on said surface in order to maintain constant the distance from the electrode to the surface to be treated.
EP91122369A 1987-01-28 1988-01-26 Working system for internal walls of the water-chamber in a vapour generator of a nuclear plant Expired - Lifetime EP0479344B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR8700994 1987-01-28
FR8700994A FR2610137B1 (en) 1987-01-28 1987-01-28 DECONTAMINATION SYSTEM FOR PRIMARY PIPES AND WATER BOX OF A NUCLEAR POWER STATION GENERATOR
EP88400163A EP0281433B1 (en) 1987-01-28 1988-01-26 Working system for primary pipes and water-chamber in a vapour generator of a nuclear plant

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP88400163.7 Division 1988-01-26

Publications (3)

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EP0479344A2 true EP0479344A2 (en) 1992-04-08
EP0479344A3 EP0479344A3 (en) 1992-09-23
EP0479344B1 EP0479344B1 (en) 1995-07-12

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ID=9347350

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EP88400163A Expired - Lifetime EP0281433B1 (en) 1987-01-28 1988-01-26 Working system for primary pipes and water-chamber in a vapour generator of a nuclear plant
EP91122369A Expired - Lifetime EP0479344B1 (en) 1987-01-28 1988-01-26 Working system for internal walls of the water-chamber in a vapour generator of a nuclear plant

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EP88400163A Expired - Lifetime EP0281433B1 (en) 1987-01-28 1988-01-26 Working system for primary pipes and water-chamber in a vapour generator of a nuclear plant

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

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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 (en) * 2010-01-27 2013-10-16 三菱重工業株式会社 Water chamber working device
CN102494326B (en) * 2011-11-28 2014-05-28 中国核工业二三建设有限公司 Method for overhauling observation hole of steam generator and tool used

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FR2544123A1 (en) * 1983-04-07 1984-10-12 Thome Jean Patrick Device and process for operations on the tubes of steam generators of nuclear boilers
EP0146833A2 (en) * 1983-12-14 1985-07-03 Siemens Aktiengesellschaft Apparatus for electropolishing the inner surfaces of hollow cylindrical objects
FR2566309A1 (en) * 1984-06-22 1985-12-27 Barras Provence DEVICE FOR SELECTIVELY POSITIONING A TOOL CARRIED BY A VEHICLE MOVING ON THE PLATE BEARING A BEAM OF TUBES
EP0178971A1 (en) * 1984-09-20 1986-04-23 Commissariat A L'energie Atomique Tool-carrying robot for performing tasks inside a chamber provided with an access opening

Also Published As

Publication number Publication date
US4984598A (en) 1991-01-15
ES2076455T3 (en) 1995-11-01
DE3873117T2 (en) 1992-12-03
EP0479344A3 (en) 1992-09-23
DE3854162D1 (en) 1995-08-17
JPS63201402A (en) 1988-08-19
ATE125059T1 (en) 1995-07-15
JP2755586B2 (en) 1998-05-20
EP0281433A3 (en) 1988-09-21
FR2610137B1 (en) 1993-09-24
ZA88544B (en) 1988-10-26
EP0281433B1 (en) 1992-07-29
EP0479344B1 (en) 1995-07-12
CA1308497C (en) 1992-10-06
KR880009389A (en) 1988-09-15
DE3854162T2 (en) 1996-03-21
FR2610137A1 (en) 1988-07-29
DE3873117D1 (en) 1992-09-03
ATE78949T1 (en) 1992-08-15
EP0281433A2 (en) 1988-09-07
ES2034282T3 (en) 1993-04-01

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