JP2005227020A - Inspection/repair device for interior of nuclear reactor pressure vessel and its method - Google Patents

Inspection/repair device for interior of nuclear reactor pressure vessel and its method Download PDF

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JP2005227020A
JP2005227020A JP2004033616A JP2004033616A JP2005227020A JP 2005227020 A JP2005227020 A JP 2005227020A JP 2004033616 A JP2004033616 A JP 2004033616A JP 2004033616 A JP2004033616 A JP 2004033616A JP 2005227020 A JP2005227020 A JP 2005227020A
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inspection
telescopic arm
repair
pole
pressure vessel
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Takao Kondo
貴夫 近藤
Shinichi Higuchi
真一 樋口
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Hitachi Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

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Abstract

<P>PROBLEM TO BE SOLVED: To horizontally move a head for inspection/repair in an area wider than a lattice pitch by installing an inspection/repair device at one position on a CRD housing upper end part. <P>SOLUTION: This inspection/repair device, used for inspecting or repairing a CRD housing, a stub tube, and a weld part, installed on a lower end-plate inner surface or on a reactor bottom part lower than a CR guide tube in a nuclear reactor pressure vessel, is equipped with a foldable extension arm 20 for horizontally moving the head for inspection/repair by vertically moving one 24 of two support points, a hoisting mechanism 28 for vertically moving a feed bar 27 by rotating a feed screw 26, and a hoisting pole 25 having a slider 23 vertically moving with one of the support points of the extension arm linked to the feed bar. The extension arm 20 is disposed at a separate position on a separated part of the hoisting mechanism 28 by the hoisting pole 25 while the head 30 for inspection/repair is horizontally moved via the slider 23 by the rotation of the feed screw 26. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

本発明は、原子炉圧力容器内の点検・補修装置に関わり、特に、点検・補修装置の原子炉圧力容器内への設置作業工数低減による効率化に寄与する原子炉圧力容器の点検又は補修装置に関する。   The present invention relates to an inspection / repair device in a reactor pressure vessel, and in particular, an inspection / repair device for a reactor pressure vessel that contributes to efficiency improvement by reducing the number of man-hours for installing the inspection / repair device in the reactor pressure vessel. About.

原子力プラントの点検又は補修時における原子炉圧力容器内の炉内構造物の概要は図１１に示すとおりである。原子炉圧力容器８内には、炉心１を包むようにシュラウド２が取り付けられていて、炉心１の上下には上部格子板３及び炉心支持板４が配置されている。ＣＲ（ｃｏｎｔｒｏｌ ｒｏｄ（制御棒））ガイドチューブ５はその上部が炉心支持板４を貫通するように配置されていて、その下方はＣＲＤハウジング（制御棒駆動機構ハウジング）６がスタブチューブ（ｓｔｕｂ ｔｕｂｅ）７を介して原子炉圧力容器下鏡９から林立し、点検又は補修装置類の挿入スペースが極めて少ない狭隘部となっている。   The outline of the reactor internal structure in the reactor pressure vessel at the time of inspection or repair of the nuclear power plant is as shown in FIG. A shroud 2 is attached to the reactor pressure vessel 8 so as to enclose the core 1, and an upper lattice plate 3 and a core support plate 4 are disposed above and below the core 1. The CR (control rod) guide tube 5 is arranged so that the upper part thereof penetrates the core support plate 4, and below that, a CRD housing (control rod drive mechanism housing) 6 is a stub tube (stub tube). 7 through the reactor pressure vessel lower mirror 9 is a narrow part with very little insertion space for inspection or repair devices.

原子炉圧力容器内は、その健全性を確認するために定期的に点検され、必要があれば補修が行われる。原子炉圧力容器内は放射線量が高いため、点検や補修を行う場合は、遮蔽のために炉水１０を張った状態で、遠隔操作で実施するのが一般的である。点検又は補修用のヘッドを最大約３０ｍもの水深にまで投入して点検又は補修を行う。   The reactor pressure vessel is inspected regularly to confirm its soundness, and repairs are performed if necessary. Since the amount of radiation in the reactor pressure vessel is high, when performing inspections and repairs, it is common to carry out remote operation with the reactor water 10 stretched for shielding. The inspection or repair head is inserted to a depth of up to about 30 m to perform inspection or repair.

人の手によりこれを実施する従来例１では、図１１に示すように、ロープまたはケーブルに取り付けた点検又は補修用のヘッド１２を台車１１の上から降ろし、点検又は補修対象部に近づけて実施する。   In the conventional example 1 in which this is performed by a human hand, as shown in FIG. 11, the inspection or repair head 12 attached to the rope or cable is lowered from the top of the carriage 11 and is brought close to the inspection or repair target part. To do.

また、特許文献１に記載の従来例２は、目視点検の例であるが、まず水中カメラ１３および水中照明灯１４を備えた保持装置１５または１８（図１５参照）を、図１１に示すように上部格子板３に、または図１５に示すように炉心支持板４もしくはＣＲガイドチューブ上に配置されている燃料支持金具（図示していない）に設置する。その後、保持装置１５または１８を操作し、水中カメラ１３および水中照明灯１４の高さと角度を変えて点検対象部に向けて点検を行う。
特開平９−１７１０９２号公報 Conventional example 2 described in Patent Document 1 is an example of visual inspection. First, a holding device 15 or 18 (see FIG. 15) having an underwater camera 13 and an underwater illumination lamp 14 is shown in FIG. Are installed on the upper grid plate 3 or on a fuel support fitting (not shown) disposed on the core support plate 4 or the CR guide tube as shown in FIG. Thereafter, the holding device 15 or 18 is operated to change the height and angle of the underwater camera 13 and the underwater illumination lamp 14 and perform inspection toward the inspection target portion.
Japanese Patent Laid-Open No. 9-171092

ところで、図１１のＡ−Ａ線断面図である図１２に示すように、上部格子板３は燃料集合体の上部を横方向に支持するための格子状の構造となっている。図１１のＢ−Ｂ線断面図である図１３に示すように、炉心支持板４にはＣＲガイドチューブ５の上部を通すための穴１７が多数開いた構造となっている。炉心支持板４の下側は図１１に示すようにＣＲガイドチューブ５が相互に密接して並んでおり、更にその下側は図１１のＣ−Ｃ線断面図である図１４に示すようにＣＲＤハウジング６、ＣＲＤスタブチューブ７が並んで設置されていて、それらの間の数箇所にはＩＣＭハウジング（中性子計測ハウジング）１９が設置されている（図１４参照）。   Incidentally, as shown in FIG. 12, which is a cross-sectional view taken along the line AA of FIG. 11, the upper lattice plate 3 has a lattice-like structure for supporting the upper portion of the fuel assembly in the lateral direction. As shown in FIG. 13, which is a cross-sectional view taken along the line BB in FIG. 11, the core support plate 4 has a structure in which a large number of holes 17 for passing the upper part of the CR guide tube 5 are opened. As shown in FIG. 11, the CR guide tubes 5 are arranged in close contact with each other on the lower side of the core support plate 4, and further on the lower side, as shown in FIG. The CRD housing 6 and the CRD stub tube 7 are installed side by side, and an ICM housing (neutron measurement housing) 19 is installed at several places between them (see FIG. 14).

通常の原子炉圧力容器内点検時は、燃料集合体をはじめ燃料支持金具など炉心構成機器やＣＲガイドチューブを取り外さない。しかし、ＣＲガイドチューブより下側の原子炉内底部領域について点検又は補修が必要となった場合には、上側に設置されている燃料集合体や炉心構成機器およびＣＲガイドチューブを取り外し、開口した炉心支持板穴１７を通じて点検又は補修を行う必要がある。ここで、上部格子板の格子１６（図１２参照）、炉心支持板穴１７（図１３参照）、ＣＲガイドチューブ５、ＣＲＤハウジング６は水平方向に等間隔で並んでおり、このピッチを格子ピッチと称する。   During normal inspection of the reactor pressure vessel, the core components such as fuel assemblies, fuel support fittings, and CR guide tubes are not removed. However, if it is necessary to inspect or repair the bottom region of the reactor below the CR guide tube, the fuel assembly and core components and the CR guide tube installed on the upper side are removed, and the open core is opened. It is necessary to inspect or repair through the support plate hole 17. Here, the lattice 16 (see FIG. 12) of the upper lattice plate, the core support plate hole 17 (see FIG. 13), the CR guide tube 5 and the CRD housing 6 are arranged at equal intervals in the horizontal direction. Called.

上記のような構造であることから、従来例１の技術によってＣＲガイドチューブ５の下側の原子炉内底部領域で、かつ、水平方向に格子ピッチよりも広い範囲を移動して点検又は補修を行う場合には、複数のＣＲガイドチューブを取り外す必要がある。すなわち、図１５に示すようにＣＲガイドチューブ５を取り外して開口した炉心支持板穴１７を通して原子炉内底部領域へ挿入した点検又は補修用のヘッド１２を、一度、炉心支持板４及び上部格子板３の上に引上げ、別の格子および別の炉心支持板穴に挿入し直して水平方向に移動する必要がある。   Because of the structure as described above, the technique of Conventional Example 1 is used to perform inspection or repair by moving the reactor inner bottom region below the CR guide tube 5 and a range wider than the lattice pitch in the horizontal direction. When performing, it is necessary to remove a plurality of CR guide tubes. That is, as shown in FIG. 15, the head 12 for inspection or repair inserted into the reactor bottom region through the core support plate hole 17 opened by removing the CR guide tube 5 is once connected to the core support plate 4 and the upper grid plate. It is necessary to pull it up 3 and reinsert it into another grid and another core support plate hole and move in the horizontal direction.

従来例２の技術による場合も同様に、原子炉内底部領域で、かつ、水平方向に格子ピッチよりも広い範囲を移動して点検又は補修する場合には、複数のＣＲガイドチューブ５を取り外さなければならない。すなわち、図１５に示すようにＣＲガイドチューブ５を取り外して開口した炉心支持板穴１７に設置した水中カメラおよび水中照明保持装置（図１３、図１５に示す符号１８）を、一度、炉心支持板４および上部格子板３の上に引上げ、別の格子を通過させ、別の炉心支持板穴１７に設定し直して水平方向に移動する必要がある。   Similarly, in the case of the technique of Conventional Example 2, in the case where inspection or repair is performed by moving the region in the bottom area of the reactor and moving in a range wider than the lattice pitch in the horizontal direction, a plurality of CR guide tubes 5 must be removed. I must. That is, as shown in FIG. 15, the underwater camera and the underwater illumination holding device (symbol 18 shown in FIGS. 13 and 15) installed in the core support plate hole 17 opened by removing the CR guide tube 5 are once connected to the core support plate. 4 and the upper grid plate 3 need to be pulled up, passed through another grid, set to another core support plate hole 17 and moved in the horizontal direction.

以上のように、従来の技術では、ＣＲガイドチューブより下側の原子炉内底部領域で、しかも水平方向に格子ピッチよりも広い範囲の点検又は補修が必要となった場合には、点検又は補修装置を挿入または設置する場所を変更する回数とその作業工数、ならびに燃料集合体や炉心構成機器およびＣＲガイドチューブなどの炉内機器を取り外す個数とその作業工数が増加し、作業期間とコストが増大するという課題があった。   As described above, in the conventional technology, if inspection or repair in the bottom area of the reactor below the CR guide tube and in a horizontal direction wider than the lattice pitch is necessary, inspection or repair is required. The number of times the equipment is inserted or installed and the number of work man-hours, as well as the number of in-core equipment such as fuel assemblies, core components, and CR guide tubes, and the number of work man-days are increased, which increases the work period and cost. There was a problem to do.

本発明の目的は、ＣＲガイドチューブより下側の原子炉内底部領域で、かつ、狭隘部を通して水平方向に格子ピッチよりも広い領域の点検又は補修を行う場合でも、点検又は補修装置を挿入または設置する場所を変更する回数とその作業工数、ならびにＣＲガイドチューブなどの炉内機器を取り外す個数とその作業工数を低減し、作業期間とコストの低減を可能にする原子炉圧力容器内の点検又は補修を行う装置と方法を提供することにある。   An object of the present invention is to insert an inspection or repair device even when inspecting or repairing a region inside the reactor inner bottom region below the CR guide tube and a region wider than the lattice pitch in the horizontal direction through the narrow portion. Check the inside of the reactor pressure vessel to reduce the number of times the installation location is changed and its work man-hours, and the number and work man-hours for removing CR equipment such as CR guide tubes to reduce the work period and cost. The object is to provide an apparatus and method for repair.

前記課題を解決するために、本発明は主として次のような構成を採用する。
原子炉圧力容器内のＣＲガイドチューブより下側の下鏡内表面又は原子炉底部に設置されたＣＲＤハウジング、ＣＲＤスタブチューブ、ＩＣＭハウジング、これらの溶接部の点検又は補修を行う点検・補修装置であって、
２つの支持点の一方を上下方向に移動させて点検・補修用ヘッドを水平方向に移動させるアコーディオン式の伸縮アームと、送りネジを回転して送り台を上下方向に移動させる昇降機構と、前記伸縮アームと前記昇降機構との間を結ぶ昇降ポールと、を設け、
前記昇降ポールは、前記伸縮アームの一方の支持点と前記送り台を連結して上下動するスライダを有し、
前記伸縮アームは前記昇降ポールの設置によって前記昇降機構の下方部の離隔位置に配置されるとともに、前記点検・補修用ヘッドは前記送りネジの回転によって前記スライドを介して水平方向に移動する構成とする。 In order to solve the above problems, the present invention mainly adopts the following configuration.
A CRD housing, CRD stub tube, ICM housing installed on the lower mirror inner surface below the CR guide tube in the reactor pressure vessel or the reactor bottom, and an inspection / repair device that inspects or repairs these welds. There,
An accordion-type telescopic arm that moves one of the two support points in the vertical direction to move the inspection / repair head in the horizontal direction, a lifting mechanism that rotates the feed screw to move the feed base in the vertical direction, and An elevating pole connecting the telescopic arm and the elevating mechanism, and
The lifting pole has a slider that moves up and down by connecting one support point of the telescopic arm and the feed base,
The telescopic arm is disposed at a separated position of the lower part of the lifting mechanism by the installation of the lifting pole, and the inspection / repair head is moved horizontally through the slide by the rotation of the feed screw; To do.

また、前記原子炉圧力容器内の点検・補修装置において、折りたたんだ状態の前記伸縮アーム、前記昇降ポール及び前記昇降機構は、炉心支持板の穴を通って原子炉底部に取り付けられたＣＲＤハウジングの上端部に設置され、
前記伸縮アームは、隣接するＣＲガイドチューブの下端部と前記ＣＲＤハウジングの外形面の隙間に挿入される構成とする。 Further, in the inspection / repair device in the reactor pressure vessel, the telescopic arm, the lifting pole and the lifting mechanism in a folded state are provided on a CRD housing attached to the bottom of the reactor through a hole in the core support plate. Installed at the top,
The telescopic arm is configured to be inserted into a gap between the lower end portion of the adjacent CR guide tube and the outer surface of the CRD housing.

また、原子炉圧力容器内の点検・補修装置において、折りたたんだ状態の前記伸縮アーム、前記昇降ポール及び前記昇降機構は、炉心支持板の穴を通って前記ＣＲＤハウジングの上端部に設置され、
前記設置の後に前記伸縮アーム、前記昇降ポール及び前記昇降機構は、開閉機構によって前記ＣＲＤハウジングの外形面よりも外方向へ移動させられ、
前記伸縮アームが隣接するＣＲガイドチューブの下端部よりも下側に位置するまで降下させられた後、前記伸縮アームを水平方向に伸ばす構成とする。 Further, in the inspection / repair device in the reactor pressure vessel, the folded telescopic arm, the lifting pole and the lifting mechanism are installed at the upper end of the CRD housing through a hole in the core support plate,
After the installation, the telescopic arm, the lifting pole and the lifting mechanism are moved outward from the outer surface of the CRD housing by an opening / closing mechanism,
After the telescopic arm is lowered until it is positioned below the lower end of the adjacent CR guide tube, the telescopic arm is extended in the horizontal direction.

本発明によれば、原子力圧力容器内の点検又は補修を行う装置において、ＣＲガイドチューブより下側の原子炉底部の下鏡内表面または原子炉底部に設置されたＣＲＤハウジング、ＣＲＤスタブチューブ、ＩＣＭハウジングおよびそれらの溶接部の点検又は補修を行う装置に関して、１箇所のＣＲＤハウジングの上端部に点検又は補修装置を設置して狭隘部を通して水平方向に格子ピッチよりも広範な領域の点検又は補修を行うことが可能な点検又は補修装置と方法を提供し、点検又は補修装置を挿入または設置する場所を変更する回数とその作業工数、ならびにＣＲガイドチューブなどの炉内機器を取り外す個数とその作業工数を低減し、作業期間とコストを低減することができる。   According to the present invention, in an apparatus for inspecting or repairing a nuclear pressure vessel, a CRD housing, a CRD stub tube, an ICM installed on the lower mirror inner surface of the reactor bottom below the CR guide tube or on the reactor bottom Inspecting or repairing the housing and their welds, install an inspection or repair device at the upper end of one CRD housing, and inspect or repair a wider area than the grid pitch in the horizontal direction through the narrow part. Providing inspection and repair devices and methods that can be performed, the number of times to change the place where the inspection or repair device is inserted or installed, and the number of work steps, and the number and the number of work steps to remove in-furnace equipment such as CR guide tubes And the work period and cost can be reduced.

本発明の第１〜第６の実施形態に係る原子炉圧力容器内の点検・補修装置について、図１〜図１０を参照しながら以下詳細に説明する。   An inspection / repair device in a reactor pressure vessel according to first to sixth embodiments of the present invention will be described in detail below with reference to FIGS.

まず、本発明の第１の実施形態に係る原子炉圧力容器内の点検・補修装置について、図１〜図５を参照しながら以下説明する。図１は本実施形態に関する点検・補修ヘッドを水平方向と上下方向に移動させる構造を示す図であり、図２は図１に示す点検・補修ヘッドを取り付けた伸縮アームと昇降機構とを連結する連結機構を示す図であり、図３は図２に示すＤ−Ｄ線で切断した断面図であり、図４は図２に示すＥ−Ｅ線で切断した断面図である。図５は本実施形態に係る原子炉圧力容器内における点検・補修装置の配置構成を示す図である。   First, an inspection / repair device in a reactor pressure vessel according to a first embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a view showing a structure for moving the inspection / repair head in the horizontal direction and the up / down direction according to this embodiment, and FIG. 2 connects the elevating mechanism and the telescopic arm to which the inspection / repair head shown in FIG. 1 is attached. FIG. 3 is a cross-sectional view taken along line DD shown in FIG. 2, and FIG. 4 is a cross-sectional view taken along line EE shown in FIG. FIG. 5 is a diagram showing an arrangement configuration of the inspection / repair device in the reactor pressure vessel according to the present embodiment.

図１において、複数のプレートを組み合わせた伸縮アーム２０の支持点２１のうちの一方を固定し、他方をガイドプレート２２の溝に沿って上下方向に操作すればアーム先端に取り付けた点検・補修ヘッド３０を水平方向へ移動させることができる。   In FIG. 1, if one of the support points 21 of the telescopic arm 20 combining a plurality of plates is fixed and the other is operated vertically along the groove of the guide plate 22, the inspection / repair head attached to the tip of the arm 30 can be moved horizontally.

また、昇降機構２８は送りネジ駆動源２９で送りネジ２６を回転操作することによって、送り台２７を上下動させることができる。ここで、昇降機構２８と伸縮アーム２０とを昇降ポール２５で連結し、昇降ポール２５に具備されたスライダー２３の両端にあるスライダーノブ２４と昇降機構２８にある送り台２７、ならびに伸縮アーム２０にある可動側の支持点２１とを連結することによって、伸縮アーム２０と昇降機構２８とが上下方向に離れた配置にあっても、送り台の上下動と連動して点検・補修ヘッド３０を水平方向に移動させることができる。   The elevating mechanism 28 can move the feed base 27 up and down by rotating the feed screw 26 with a feed screw drive source 29. Here, the elevating mechanism 28 and the telescopic arm 20 are connected by the elevating pole 25, and the slider knob 24 at both ends of the slider 23 provided in the elevating pole 25, the feed base 27 in the elevating mechanism 28, and the telescopic arm 20 are connected. Even if the telescopic arm 20 and the elevating mechanism 28 are arranged in the vertical direction by connecting a certain support point 21 on the movable side, the inspection / repair head 30 can be moved horizontally in conjunction with the vertical movement of the feed base. Can be moved in the direction.

なお、昇降ポール２５は、図２に示すようにスライダー２３とその両端にスライダーノブ２４を具備させているが、例えば、図２のＤ−Ｄ線断面図である図３や図２のＥ−Ｅ線断面図である図４のように、丸型のレール３１を２列平行に対向させてポール枠を形成し、スライダー２３に２列に取り付けた丸溝型の車輪３２とを組み合わせることにより、点検・補修ヘッドの重心とポールの軸心とのズレから生ずる曲げ・捻りモーメントが存在していても、スライダーがレールに倣って円滑にスライドしポールの各側面と平行にスライドできるようにする。   As shown in FIG. 2, the lift pole 25 is provided with a slider 23 and slider knobs 24 at both ends. For example, the lift pole 25 is a cross-sectional view taken along the line DD of FIG. As shown in FIG. 4, which is a cross-sectional view taken along line E, the pole rails are formed by facing the round rails 31 in parallel with two rows, and the round groove type wheels 32 attached to the sliders 23 in two rows are combined. Even if there is a bending / twisting moment resulting from a deviation between the center of gravity of the inspection / repair head and the axis of the pole, the slider can slide smoothly along the rail and slide parallel to each side of the pole. .

また、昇降機構２８は送りネジ方式に限ることはなく、例えば、遠隔操作が可能な水圧ポンプ方式でもよい。さらに、昇降ポール２５は丸溝車輪付きスライダー構造に限ることはなく、例えば、リニアガイド方式でもよい。さらに、伸縮アーム２０は軽量でなければならないが、薄板の単層構造では全体的な捩れや倒れが発生し、伸縮動作が不安定になるので、実際には、２層又は複層にして剛性を持たせ、且つ支持点での摺動安定性が確保できる構造とする。   Further, the elevating mechanism 28 is not limited to the feed screw method, and may be a water pressure pump method capable of remote operation, for example. Furthermore, the raising / lowering pole 25 is not restricted to the slider structure with a round groove wheel, For example, a linear guide system may be sufficient. Furthermore, the telescopic arm 20 must be lightweight. However, in a single-layer structure of a thin plate, the entire twisting or falling occurs, and the telescopic operation becomes unstable. And a structure that can ensure sliding stability at the support point.

続いて、本発明の第１の実施形態に係る原子炉圧力容器内の点検・補修装置の機能乃至作用を説明する。図５に示すように、点検・補修ヘッド３０、アームをたたんだ状態の伸縮アーム２０、昇降ポール２５および昇降機構２８を組み込んだ装置本体３３を、ＣＲガイドチューブ５を取り外して開口した炉心支持板穴１７から挿入する。伸縮アーム部分が隣接するＣＲガイドチューブの下端部よりも下側に位置するまで降下させ、その後、昇降機構２８を操作して伸縮アーム２０を格子ピッチ以上（上部格子板の格子１６、炉心支持板穴１７、ＣＲガイドチューブ５、ＣＲＤハウジング６における水平方向の並置ピッチ）に水平方向に伸ばした状態で点検又は補修を行えば、１箇所の炉心支持板穴１７に装置を挿入したままで、格子ピッチ以上に水平方向に広がった領域の点検又は補修を行うことが可能となる。   Next, functions and operations of the inspection / repair device in the reactor pressure vessel according to the first embodiment of the present invention will be described. As shown in FIG. 5, the main body 33 incorporating the inspection / repair head 30, the telescopic arm 20 with the arm folded, the elevating pole 25 and the elevating mechanism 28 is supported by removing the CR guide tube 5 and supporting the core. Insert from the plate hole 17. The telescopic arm portion is lowered until it is positioned below the lower end of the adjacent CR guide tube, and then the elevating mechanism 28 is operated to move the telescopic arm 20 to the lattice pitch or more (the lattice 16 of the upper lattice plate, the core support plate). If the inspection or repair is performed in a state where the holes 17, the CR guide tube 5 and the horizontal juxtaposition pitch in the CRD housing 6 are extended in the horizontal direction, the device is inserted into the core support plate hole 17 in one place, It is possible to inspect or repair an area that extends in the horizontal direction beyond the pitch.

次に、本発明の第２の実施形態に係る原子炉圧力容器内の点検・補修装置について、図６及び図７を参照しながら以下説明する。図６は、本発明の第２〜第５の実施形態に係る原子炉圧力容器内の点検・補修装置の詳細構造を示す図であり、図７は本実施形態に関する点検・補修装置の点検又は補修可能範囲を示す図である。図５に示すように、伸縮アーム２０のアームをたたんだ状態での装置本体３３を、ＣＲガイドチューブ５を取り外して開口した炉心支持板穴１７から挿入し、原子炉底部に設置されたＣＲＤハウジングの上端部に設置する。   Next, an inspection / repair device in a reactor pressure vessel according to a second embodiment of the present invention will be described below with reference to FIGS. FIG. 6 is a diagram showing a detailed structure of the inspection / repair device in the reactor pressure vessel according to the second to fifth embodiments of the present invention, and FIG. 7 shows the inspection / repair device according to the present embodiment. It is a figure which shows the repairable range. As shown in FIG. 5, the apparatus main body 33 with the arm of the telescopic arm 20 folded is inserted from the core support plate hole 17 opened by removing the CR guide tube 5, and the CRD installed at the bottom of the reactor. Install at the top of the housing.

ここで、点検・補修装置３３について図６を用いて説明する。図６（イ）において、原子炉底部の下鏡内表面３４、ＣＲＤハウジング６、スタブチューブ７、スタブチューブ溶接部３５、ＣＲＤハウジング溶接部３６やＩＣＭハウジング溶接部（図示されていない）の点検又は補修を行うために、例えば、円錐状のガイド３７を下部に装備した装置３３を炉心支持板穴１７から挿入する。図６（ロ）に示すように、通常はＣＲガイドチューブ５を設置しているＣＲＤハウジング６の上端部にある穴へ円錐状ガイド３７を差し込んで設置する。その状態で、図６（ハ）に示すようにＣＲＤハウジング６と隣接するＣＲガイドチューブ５との隙間に昇降ポール２５を降下させて、ＣＲガイドチューブ５より下側の原子炉内底部領域での点検又は補修を行う。   Here, the inspection / repair device 33 will be described with reference to FIG. In FIG. 6 (a), inspection of the lower mirror inner surface 34 at the bottom of the reactor, the CRD housing 6, the stub tube 7, the stub tube weld 35, the CRD housing weld 36 and the ICM housing weld (not shown) or In order to perform repair, for example, a device 33 equipped with a conical guide 37 at the bottom is inserted from the core support plate hole 17. As shown in FIG. 6 (b), the conical guide 37 is usually inserted into the hole at the upper end of the CRD housing 6 in which the CR guide tube 5 is installed. In this state, as shown in FIG. 6C, the elevating pole 25 is lowered into the gap between the CRD housing 6 and the adjacent CR guide tube 5, and the reactor bottom region in the reactor is located below the CR guide tube 5. Check or repair.

続いて、本発明の第２の実施形態に係る原子炉圧力容器内の点検・補修装置の機能乃至作用を説明する。１個のＣＲガイドチューブ５を取り外して、点検・補修装置３３を挿入し、図６（ハ）に示すように、装置本体３３を１個のＣＲＤハウジング６の上端部に設置し、隣接するＣＲガイドチューブ５の下端部と前記ＣＲＤハウジング６の外形との隙間から昇降ポール２５を原子炉底部へ挿入する。点検・補修ヘッド３０へ水中照明付カメラを取り付けて原子炉底部の目視点検を行う場合の点検可能範囲の平面図を図７（ハ）に示す。   Subsequently, functions or operations of the inspection / repair device in the reactor pressure vessel according to the second embodiment of the present invention will be described. One CR guide tube 5 is removed, an inspection / repair device 33 is inserted, and as shown in FIG. 6C, the device main body 33 is installed at the upper end of one CRD housing 6, and the adjacent CR The lifting pole 25 is inserted into the reactor bottom through a gap between the lower end of the guide tube 5 and the outer shape of the CRD housing 6. FIG. 7 (c) shows a plan view of the inspectable range when a camera with underwater illumination is attached to the inspection / repair head 30 to perform a visual inspection of the reactor bottom.

図７（ハ）の中央に示すＣＲＤハウジング６に設置した装置から対向する２本の昇降ポール２５を当該ＣＲＤハウジング６の両サイドに降下させ、周辺のＣＲガイドチューブ５の下側であって、かつ、周辺に設置されている他のＣＲＤハウジング相互の隙間を通して、２本の昇降ポール２５それぞれに伸縮アーム２０を伸縮させることができる。   Two lifting poles 25 facing each other from the device installed in the CRD housing 6 shown in the center of FIG. 7C are lowered to both sides of the CRD housing 6, and below the surrounding CR guide tube 5, In addition, the telescopic arm 20 can be expanded and contracted to each of the two lifting poles 25 through the gap between the other CRD housings installed in the periphery.

図７（ハ）の例では、一方の昇降ポール２５についてアームの伸張距離が格子ピッチの３倍程度であるが、両方の昇降ポールについてみれば６倍水平方向に広い範囲を点検することが可能となる。また、装置本体３３を設定したＣＲＤハウジングから両サイドの各３体のＣＲガイドチューブ５を取り外す作業が削減できる。   In the example of FIG. 7C, the arm extension distance of one lifting pole 25 is about three times the lattice pitch, but if both lifting poles are viewed, it is possible to inspect a wide range 6 times horizontally. It becomes. Further, the work of removing the three CR guide tubes 5 on both sides from the CRD housing in which the apparatus main body 33 is set can be reduced.

次に、本発明の第３の実施形態に係る原子炉圧力容器内の点検・補修装置について、図６及び図７を参照しながら以下説明する。図６（イ）のように点検・補修ヘッド３０、アームをたたんだ状態の伸縮アーム２０、昇降ポール２５および昇降機構２８を組み込んだ点検・補修装置３３を、炉心支持板４の穴１７を通過させる。このときの点検・補修ヘッド３０、伸縮アーム２０および昇降ポール２５は、図７（イ）のようにＣＲＤハウジング６の中心軸の両側で炉心支持板穴１７の直径よりも狭い範囲に配置させる。   Next, an inspection / repair device in a reactor pressure vessel according to a third embodiment of the present invention will be described below with reference to FIGS. As shown in FIG. 6 (a), the inspection / repair device 33 incorporating the inspection / repair head 30, the telescopic arm 20 in a state where the arm is folded, the elevating pole 25 and the elevating mechanism 28 is provided in the hole 17 of the core support plate 4. Let it pass. At this time, the inspection / repair head 30, the telescopic arm 20 and the lifting pole 25 are arranged in a range narrower than the diameter of the core support plate hole 17 on both sides of the central axis of the CRD housing 6 as shown in FIG.

次に、図６（ロ）のように点検・補修装置をＣＲＤハウジング６上端部に設置した後、開閉機構４３により開閉アーム４２を操作して点検・補修ヘッド３０、アームをたたんだ状態の伸縮アーム２０、昇降ポール２５および昇降機構２８をＣＲＤハウジングの外形の外方向へ移動させる。ここで、開閉アーム４２に連携した昇降機構２８が開閉機構４３によって開閉するのは通常の関連構造で行える。移動後の状態は図７（ロ）のように点検・補修ヘッド３０、伸縮アーム２０および昇降ポール２５がＣＲＤハウジング６やスタブチューブ７の外径の外側に位置する配置として、伸縮アーム２０および昇降ポール２５と点検・補修装置を設置したＣＲＤハウジング６との干渉を回避させる。   Next, after installing the inspection / repair device at the upper end of the CRD housing 6 as shown in FIG. 6 (b), the inspection / repair head 30 and the arm are folded by operating the opening / closing arm 42 by the opening / closing mechanism 43. The telescopic arm 20, the raising / lowering pole 25, and the raising / lowering mechanism 28 are moved outward from the outer shape of the CRD housing. Here, the lifting mechanism 28 linked to the opening / closing arm 42 can be opened and closed by the opening / closing mechanism 43 with a normal related structure. The state after the movement is such that the inspection / repair head 30, the telescopic arm 20 and the lifting pole 25 are positioned outside the outer diameter of the CRD housing 6 and the stub tube 7 as shown in FIG. Interference between the pole 25 and the CRD housing 6 provided with the inspection / repair device is avoided.

次に、図６（ハ）のように点検・補修ヘッド３０、伸縮アーム２０が隣接するＣＲガイドチューブ５の下端部よりも下側に位置するまで昇降機構２８、昇降ポール２５を降下させる。その後、スライダー２３を上下動させ、図７（ハ）のように伸縮アーム１９を水平方向に伸縮させて点検・補修ヘッド３０を目標とする位置へ移動させ、点検又は補修を行う。   Next, as shown in FIG. 6C, the elevating mechanism 28 and the elevating pole 25 are lowered until the inspection / repair head 30 and the telescopic arm 20 are located below the lower end of the adjacent CR guide tube 5. Thereafter, the slider 23 is moved up and down, and the telescopic arm 19 is expanded and contracted in the horizontal direction as shown in FIG. 7C to move the inspection / repair head 30 to the target position for inspection or repair.

続いて、本発明の第３の実施形態に係る原子炉圧力容器内の点検・補修装置の機能乃至作用を説明する。図６と図７に示す構成例のように、作業は点検・補修装置３３をＣＲＤハウジング６の上端部に設定するのみであり、その後は点検・補修装置を遠隔で作動させることにより、ＣＲＤハウジング６との干渉の回避、点検又は補修対象部への点検・補修ヘッドの移動を行わせることができるので、これらの複雑な作業を炉外から人の手により行う必要がなくなり、作業工数を低減することができる。   Subsequently, functions or operations of the inspection / repair device in the reactor pressure vessel according to the third embodiment of the present invention will be described. As in the configuration example shown in FIGS. 6 and 7, the operation is only to set the inspection / repair device 33 at the upper end of the CRD housing 6, and thereafter, the inspection / repair device is remotely operated to thereby operate the CRD housing. Since it is possible to avoid interference with 6 and to inspect or move the inspection / repair head to the part to be repaired, it is no longer necessary to perform these complicated operations by hand from outside the furnace, reducing the work man-hours. can do.

次に、本発明の第４の実施形態に係る原子炉圧力容器内の点検・補修装置について、図６を参照しながら以下説明する。図６（イ）に示す点検・補修ヘッド３０、アームをたたんだ状態の伸縮アーム２０、昇降ポール２５および昇降機構２８を、図６（ロ）のＣＲＤハウジング６上端部に設置した状態から図６（ハ）のようにまとめて降下または上昇させるために、それらの上方に、上部スライダー４４を具備した上部昇降ポール４５、上部送りネジ４６を具備した上部昇降機構４７および上部送りネジ駆動源４８を配置する。上部昇降機構４７と上部送りネジ駆動源４８は、図１に示す昇降機構２８とネジ駆動源２９と同様な構造を採用すればよい。   Next, an inspection / repair device in a reactor pressure vessel according to a fourth embodiment of the present invention will be described below with reference to FIG. The inspection / repair head 30 shown in FIG. 6 (a), the telescopic arm 20 with the arm folded, the lifting pole 25 and the lifting mechanism 28 are shown in a state where they are installed on the upper end of the CRD housing 6 in FIG. 6 (b). 6 (C), in order to be lowered or raised together, an upper elevating pole 45 having an upper slider 44, an upper elevating mechanism 47 having an upper feed screw 46, and an upper feed screw drive source 48 are disposed above them. Place. The upper elevating mechanism 47 and the upper feed screw drive source 48 may adopt the same structure as the elevating mechanism 28 and the screw drive source 29 shown in FIG.

ここで、上部スライダー４４の下側は昇降機構２８と連結させる。点検・補修装置の上部は炉心支持板穴１７を通過可能な大きさの円筒形状の本体外筒５４で格納し、炉心支持板穴１７を貫通させて、図６（ロ）のように装置全体をＣＲＤハウジングの上端部に設置する。   Here, the lower side of the upper slider 44 is connected to the lifting mechanism 28. The upper part of the inspection / repair device is stored in a cylindrical main body cylinder 54 having a size capable of passing through the core support plate hole 17 and penetrates through the core support plate hole 17 so that the entire device as shown in FIG. Is installed at the upper end of the CRD housing.

その後、本発明の第３の実施形態で説明した開閉アーム４２の操作を行い、更に、上部送りネジ駆動源４８で上部昇降機構４７の上部送りネジの回転操作を行って、上部昇降ポール４５に配した上部スライダー４４を下方にスライドさせることによって、図６（ハ）のように点検・補修ヘッド３０、アームをたたんだ状態の伸縮アーム２０、昇降ポール２５および昇降機構２８を下方へ降下させる。 その後に、伸縮アームを水平方向に伸ばし、点検・補修ヘッドを目標とする位置へ移動させて点検又は補修を行う。なお、図６において、上部昇降ポール４５等の上部機構も昇降ポール２５等の下部機構と同一平面上に展開しているが、実際には９０°ずらした直交配置としている。回転ギア５０は外管側に取り付いている半月形ギアと噛み合う。図示するように昇降機構が互いに対向して２系列あるので、１８０°の正逆回転操作で足りる。   Thereafter, the opening / closing arm 42 described in the third embodiment of the present invention is operated, and further, the upper feed screw of the upper lifting mechanism 47 is rotated by the upper feed screw driving source 48, so that the upper lifting pole 45 is moved. By sliding the arranged upper slider 44 downward, the inspection / repair head 30, the telescopic arm 20 with the arm folded, the lifting pole 25 and the lifting mechanism 28 are lowered downward as shown in FIG. . Thereafter, the telescopic arm is extended in the horizontal direction, and the inspection / repair head is moved to the target position for inspection or repair. In FIG. 6, the upper mechanism such as the upper elevating pole 45 is also deployed on the same plane as the lower mechanism such as the elevating pole 25. The rotating gear 50 meshes with a half-moon gear attached to the outer tube side. As shown in the figure, since there are two series of lifting mechanisms facing each other, a forward / reverse rotation operation of 180 ° is sufficient.

続いて、本発明の第４の実施形態に係る原子炉圧力容器内の点検・補修装置の機能乃至作用を説明する。図６に示すように、作業は装置本体をＣＲＤハウジング６の上端部に設定するのみであり、その後は装置を遠隔で作動させることにより、点検・補修ヘッド３０、アームをたたんだ状態の伸縮アーム２０、昇降ポール２５および昇降機構２８をまとめて上下動させることができるので、これらの複雑な作業を炉外から人の手により行う必要がなくなり、作業工数を低減することができる。更に、装置の上方部分を円筒形状の外筒５４で格納することにより、炉心支持板の穴を通過させる作業の際に、外筒５４が点検・補修装置を保護し、穴を通過させるガイドの役割も果たすため、点検・補修装置の設定作業が容易になり、作業工数を低減することができる。   Next, functions and operations of the inspection / repair device in the reactor pressure vessel according to the fourth embodiment of the present invention will be described. As shown in FIG. 6, the work is only to set the apparatus main body at the upper end of the CRD housing 6, and thereafter, the inspection / repair head 30 and the arm are expanded and contracted by operating the apparatus remotely. Since the arm 20, the raising / lowering pole 25, and the raising / lowering mechanism 28 can be moved up and down collectively, it is not necessary to perform these complicated operations manually from the outside of the furnace, and the number of work steps can be reduced. Further, by storing the upper part of the apparatus in a cylindrical outer cylinder 54, the outer cylinder 54 protects the inspection / repair device and allows the guide to pass through the hole during the operation of passing the hole in the core support plate. Since it also plays a role, the setting work of the inspection / repair device is facilitated, and the number of work steps can be reduced.

次に、本発明の第５の実施形態に係る原子炉圧力容器内の点検・補修装置について、図６を参照しながら以下説明する。図６（イ）のように円錐状のガイド３７を点検・補修装置の下部に具備し、図６（ロ）のように円錐状ガイド３７をＣＲＤハウジング６の上端部にある穴に差し込んで点検・補修装置全体を設置して、ＣＲＤハウジング６によって鉛直方向荷重と横方向荷重を支持せしめ、点検・補修装置の上部は炉心支持板穴１７を貫通した状態にして、装置外筒５４を介して炉心支持板４によって横方向荷重を支持せしめる。   Next, an inspection / repair device in a reactor pressure vessel according to a fifth embodiment of the present invention will be described below with reference to FIG. As shown in FIG. 6 (a), a conical guide 37 is provided at the bottom of the inspection / repair device, and as shown in FIG. 6 (b), the conical guide 37 is inserted into a hole at the upper end of the CRD housing 6 for inspection. -The entire repair device is installed, and the vertical load and the lateral load are supported by the CRD housing 6, and the upper part of the inspection / repair device passes through the core support plate hole 17 and passes through the device outer cylinder 54. A lateral load is supported by the core support plate 4.

また、図６（イ）に示すように、ガイド３７の上には２段の軸受３８、軸受３９を取付け、更に、その上に固定軸４０と可動軸４１とを連結させる。可動軸４１には上部昇降ポール４５、上部昇降機構４７および開閉アーム４２を介して昇降機構２８を取付け、更に、可動軸４１の上端には軸受４９を具備させて、上部昇降ポール４５、上部昇降機構４７および昇降機構２８が固定軸４１を中心軸として回転可能な装置とする。   Further, as shown in FIG. 6A, a two-stage bearing 38 and a bearing 39 are mounted on the guide 37, and a fixed shaft 40 and a movable shaft 41 are connected to the bearings 38 and 39. The movable shaft 41 is provided with an elevating mechanism 28 via an upper elevating pole 45, an upper elevating mechanism 47 and an opening / closing arm 42. Further, a bearing 49 is provided at the upper end of the movable shaft 41 so that the upper elevating pole 45 and the upper elevating It is assumed that the mechanism 47 and the elevating mechanism 28 are devices that can rotate about the fixed shaft 41 as a central axis.

ここで、図８を参照しながら点検・補修装置下部の２段軸受の構成例について説明する。図８は本実施形態に係る点検・補修装置の下部に設けられた２段軸受の構成を示す図である。ＣＲＤハウジング６の上端部に被せるキャップ型のガイド５６は、図６（イ）で説明した円錐状のガイド３７と同様な機能、すなわち、ＣＲＤハウジング６によって鉛直方向荷重と横方向荷重を支持するための機能を有している。点検・補修装置をＣＲＤハウジング６上端部に設置した状態では、それらの加重から派生する摩擦力でガイド５６は回転しない。そのガイド５６へは軸受３８の下側を取付け、円錐コロベアリング５７によって前記の鉛直方向荷重と横方向荷重を支えつつ上側の可動軸５９が回転可能なようにする。   Here, a configuration example of the two-stage bearing at the lower part of the inspection / repair device will be described with reference to FIG. FIG. 8 is a diagram showing a configuration of a two-stage bearing provided in the lower part of the inspection / repair device according to the present embodiment. The cap-type guide 56 that covers the upper end portion of the CRD housing 6 has the same function as the conical guide 37 described with reference to FIG. 6A, that is, to support the vertical load and the lateral load by the CRD housing 6. It has the function of In a state where the inspection / repair device is installed at the upper end of the CRD housing 6, the guide 56 does not rotate due to the frictional force derived from the load. The lower side of the bearing 38 is attached to the guide 56, and the upper movable shaft 59 is rotatable while supporting the vertical load and the lateral load by the conical roller bearing 57.

軸受３９の下側は可動軸５９に取付け、更に、２重管方式の外管側の可動軸４１と連結させる。軸受３８，３９は、分解・組立性を考慮して２連口構造としている。例えば、軸受３８の上蓋、軸受３９の中蓋は２分割式である。分解・組立性に課題がなければ一体構造でも良い。組み合わせ部分は相互間の芯ずれ防止と組立性を考慮して、凹凸の嵌め合い方式である。   The lower side of the bearing 39 is attached to the movable shaft 59 and further connected to the movable shaft 41 on the outer tube side of the double tube system. The bearings 38 and 39 have a two-port structure in consideration of disassembly and assembly. For example, the upper lid of the bearing 38 and the inner lid of the bearing 39 are divided into two parts. If there is no problem in disassembly and assembly, an integrated structure may be used. The combination part is an uneven fitting method in consideration of misalignment prevention and assembling property.

一方、軸受３９の上側は円錐コロベアリング５８を介して２重管方式の内管側の固定軸４０と連結させる。固定軸４０の上部には図６（イ）のように外管側を回転するための回転ギヤ５０および回転駆動源５１を装備し、更に、装置上部の外筒の中心部には、固定軸４０に対する振止め５２、回転固定キー５３を備え、炉心支持板穴１７の中心を軸とした固定軸を形成せしめる。   On the other hand, the upper side of the bearing 39 is connected to a fixed shaft 40 on the inner pipe side of a double pipe system via a conical roller bearing 58. The upper part of the fixed shaft 40 is equipped with a rotation gear 50 and a rotation drive source 51 for rotating the outer tube side as shown in FIG. A fixed shaft with the center of the core support plate hole 17 as an axis is provided.

続いて、本発明の第５の実施形態に係る原子炉圧力容器内の点検・補修装置の機能乃至作用を説明する。図６（ロ）の構成例に示すように、点検・補修装置を設定すれば、鉛直方向及び水平方向ともに充分に点検・補修装置を支持することができ、かつ、設定位置精度が向上する。また、図６（ハ）のように点検・補修ヘッド３０、伸縮アーム２０、昇降ポール２５および昇降機構２８をまとめて回転させることにより、伸縮アームを伸ばす方向が変えられるために、装置を１箇所に設定した時の点検又は補修が可能な範囲が増加し、ＣＲガイドチューブを取り外す作業が削減できる。   Next, functions and actions of the inspection / repair device in the reactor pressure vessel according to the fifth embodiment of the present invention will be described. As shown in the configuration example of FIG. 6B, if the inspection / repair device is set, the inspection / repair device can be sufficiently supported in both the vertical direction and the horizontal direction, and the set position accuracy is improved. Also, as shown in FIG. 6 (c), the inspection / repair head 30, the telescopic arm 20, the lifting pole 25 and the lifting mechanism 28 are rotated together to change the direction in which the telescopic arm is extended. The range in which inspection or repair can be increased when set to, and the work of removing the CR guide tube can be reduced.

更に、図９は、第５の実施形態に係る点検・補修装置の上下動動作と回動動作を説明する図であるが、図９に示すように、昇降ポール２５に具備したスライダー２３のスライダーノブ２４へＵＴセンサー６０またはＥＣＴセンサー６１を取り付ければ、スライダーの上下動による上下方向走査と昇降ポールの回転による周方向走査ができるので、ＵＴまたはＥＣＴのスキャナーとしての機能を兼ね備えることができる。例えば、下鏡とスタブチューブとの溶接部に損傷が発生した場合、図示するようにスタブチューブ側からＵＴセンサー６０を走査して点検する。当該溶接部の位置は３次元に変化しているため、上下・円周方向の組み合わせ走査が必須であり、本実施形態はこれに適合するものである。また、走査に対向して２系列で実施可能であり、半回転で全周走査したことになり、操作時間が半分で済むので効率的である。   Further, FIG. 9 is a diagram for explaining the vertical movement and rotation of the inspection / repair device according to the fifth embodiment. As shown in FIG. 9, the slider of the slider 23 provided in the lift pole 25 is shown. If the UT sensor 60 or the ECT sensor 61 is attached to the knob 24, the vertical scanning by the vertical movement of the slider and the circumferential scanning by the rotation of the lifting pole can be performed, so that the function as a UT or ECT scanner can be provided. For example, when damage occurs in the welded portion between the lower mirror and the stub tube, the UT sensor 60 is scanned and inspected from the stub tube side as illustrated. Since the position of the welded portion is three-dimensionally changed, combined scanning in the vertical and circumferential directions is essential, and this embodiment is suitable for this. Further, it can be carried out in two lines opposite to the scanning, and the entire circumference is scanned in half rotation, which is efficient because the operation time is halved.

次に、本発明の第６の実施形態に係る原子炉圧力容器内の点検・補修装置について、図１０を参照しながら以下説明する。図１０に示すように、動滑車６６はワイヤ６３で昇降ポール２５のスライダー２３と連結されている。点検・補修ヘッド３０につながるケーブル（電気信号伝達用）６２は昇降ポール２５に取り付けられた滑車６４と装置本体６８に取り付けられた滑車６５および動滑車６６を経由して、再び滑車６５を経てケーブル固定点６７で装置本体に固定されている。なお、伸縮アーム２０の上側の支点の軸側にケーブル吊リングを取り付け、これにケーブルを通すことで多少の弛みは支える。また、動滑車６６は本体が外筒の内側に取り付けたガイドレールに沿って上下動する。滑車を多段式とすることでケーブル移動量をスライダー移動量に対して少なくできる。   Next, an inspection / repair device in a reactor pressure vessel according to a sixth embodiment of the present invention will be described below with reference to FIG. As shown in FIG. 10, the movable pulley 66 is connected to the slider 23 of the lifting pole 25 by a wire 63. A cable (for electric signal transmission) 62 connected to the inspection / repair head 30 passes through a pulley 64 attached to the elevating pole 25, a pulley 65 and a movable pulley 66 attached to the apparatus main body 68, and then again through the pulley 65. It is fixed to the apparatus main body at a fixing point 67. A cable suspension ring is attached to the shaft side of the upper fulcrum of the telescopic arm 20, and some slack is supported by passing the cable through this ring. The movable pulley 66 moves up and down along a guide rail attached to the inside of the outer cylinder. By making the pulley multistage, the amount of cable movement can be reduced relative to the amount of slider movement.

図１０（イ）に示すように、昇降機構２８によりスライダー２３を下げれば動滑車６６がワイヤ６３に引かれて下がってケーブル６２は引き戻される。逆に、図１０（ロ）のようにスライダー２３を上げればワイヤ６３が緩み、動滑車６６が上がってケーブルは引き出される。すなわち、本実施形態によればスライダー２３を下げれば伸縮アームが縮んでケーブルが引き戻され、スライダー２３を上げればアームが伸びてケーブルが引き出される。なお、アームが伸びる長さとケーブルの引き出し長さとの関係は、例えば、装置本体６８に取り付けられた滑車６５と動滑車６６との間のケーブル巻回数、ワイヤ６３の長さ、各滑車の径の組み合わせなどによって調整が可能である。   As shown in FIG. 10A, when the slider 23 is lowered by the elevating mechanism 28, the movable pulley 66 is pulled down by the wire 63, and the cable 62 is pulled back. Conversely, when the slider 23 is raised as shown in FIG. 10B, the wire 63 is loosened, the movable pulley 66 is raised, and the cable is pulled out. That is, according to this embodiment, when the slider 23 is lowered, the telescopic arm is contracted and the cable is pulled back, and when the slider 23 is raised, the arm is extended and the cable is pulled out. It should be noted that the relationship between the length of the arm extension and the cable drawing length is, for example, the number of cable turns between the pulley 65 and the movable pulley 66 attached to the apparatus main body 68, the length of the wire 63, and the diameter of each pulley. Adjustment is possible by combination.

続いて、本発明の第６の実施形態に係る原子炉圧力容器内の点検・補修装置の機能乃至作用を説明する。点検補修作業の際に、ヘッドから伸びるケーブルが引っかかり、動作の妨げや破損などの不具合を引き起こす可能性があるが、上記のようにアームの伸縮と連動したケーブルの引き出し・引き戻し機構を備えることにより、これらの不具合を防止させ、作業工数を低減することができる。   Next, functions and operations of the inspection / repair device in the reactor pressure vessel according to the sixth embodiment of the present invention will be described. During inspection and repair work, the cable extending from the head may get caught, causing troubles such as hindrance or damage, but by providing a cable pull-out / retraction mechanism that is linked to the expansion and contraction of the arm as described above. These problems can be prevented and the number of work steps can be reduced.

以上説明したように、本発明の実施形態に係る原子力圧力容器内の点検・補修装置又は方法は、次のような構成と、機能乃至作用を奏するものであることを特徴とする。即ち、原子力圧力容器内の点検又は補修を行う装置において、２つの支持点の一方を上下方向に移動させて点検又は補修用のヘッドを水平方向に移動させるアコーディオン式の伸縮アームと、送りネジを回転して送り台を上下方向に移動させる昇降機構を装備させる。ここで、前記昇降機構と前記伸縮アームとの間は上下方向にスライドするスライダーを配した昇降ポールで連結して、伸縮アームを昇降機構から下方向に離れた位置に分離して配置させる。   As described above, the inspection / repair device or method in the nuclear pressure vessel according to the embodiment of the present invention is characterized by having the following configuration, function and action. That is, in an apparatus for inspecting or repairing a nuclear pressure vessel, an accordion-type telescopic arm that moves one of two support points in the vertical direction and moves the head for inspection or repair in the horizontal direction, and a feed screw. Equipped with an elevating mechanism that rotates and moves the feed base up and down. Here, the elevating mechanism and the extendable arm are connected by an elevating pole provided with a slider that slides in the vertical direction, and the extendable arm is separated and arranged at a position away from the elevating mechanism.

また、前記昇降機構、前記昇降ポール、前記伸縮アームおよび点検・補修用ヘッドを炉心支持板の穴を通過させて原子炉底部に取り付けられているＣＲＤハウジングの上端部に設置し、前記昇降ポール、伸縮アームおよび点検・補修用ヘッドを隣接するＣＲガイドチューブの下端部と前記ＣＲＤハウジングの外形との間隙から原子炉底部に挿入した後、周辺のＣＲガイドチューブの下側であって、且つ周辺に設置されている他のＣＲＤハウジング相互の隙間を通して伸縮アームを水平方向に伸ばして点検又は補修を行う。   Further, the elevating mechanism, the elevating pole, the telescopic arm and the inspection / repair head are installed at the upper end of the CRD housing that is attached to the reactor bottom through the hole of the core support plate, After the telescopic arm and the inspection / repair head are inserted into the reactor bottom through the gap between the lower end of the adjacent CR guide tube and the outer shape of the CRD housing, Inspect or repair by extending the telescopic arm horizontally through the gap between the other installed CRD housings.

また、前記昇降機構、昇降ポールおよび伸縮アームを炉心支持板の穴を通過させてＣＲＤハウジング上端部に設置した後、それらをまとめて当該ＣＲＤハウジングの外形の外方向へ移動させ、前記ＣＲＤハウジングの外形との干渉を回避し、伸縮アームが隣接するＣＲガイドチューブの下端部よりも下側に位置するまで降下させた後、伸縮アームを水平方向に伸ばして点検又は補修を行う。   Further, after the elevating mechanism, the elevating pole and the telescopic arm are installed at the upper end of the CRD housing through the hole of the core support plate, they are collectively moved outward of the outer shape of the CRD housing. After avoiding interference with the outer shape and lowering the extendable arm until it is positioned below the lower end of the adjacent CR guide tube, the extendable arm is extended in the horizontal direction for inspection or repair.

また、前記昇降機構、前記昇降ポールおよび前記伸縮アームをまとめて上下動させるために、それらの上方に、別の送りネジを用いた上部昇降機構と別のスライダーを配した上部昇降ポールを配置して、前記昇降機構と連結させ、それらを炉心支持板の穴を通過可能な大きさの円筒形状の容器に格納した装置とし、炉心支持板の穴を貫通させて設置する。その後に、前記昇降機構、昇降ポールおよび伸縮アームを下方へ降下させ、伸縮アームを水平方向へ伸ばして点検又は補修を行う。   In addition, in order to move the lifting mechanism, the lifting pole and the telescopic arm up and down together, an upper lifting mechanism using another feed screw and an upper lifting pole with another slider are arranged above them. Then, it is connected to the elevating mechanism, and the apparatus is stored in a cylindrical container having a size that can pass through the hole of the core support plate, and is installed through the hole of the core support plate. Thereafter, the elevating mechanism, the elevating pole and the telescopic arm are lowered, and the telescopic arm is extended in the horizontal direction for inspection or repair.

また、上述した２連の昇降機構（前記昇降機構と前記上部昇降機構）および２連の昇降ポールと前記伸縮アームを炉心支持板の穴を通過させＣＲＤハウジング上端部に設置し、ＣＲＤハウジングによって鉛直方向荷重及び横方向荷重を支持せしめ、前記円筒形状の容器の上部を炉心支持板の穴に貫通した状態にすることで横方向荷重を支持せしめ、ＣＲＤハウジングの内径または外径の中心と炉心支持板の穴の中心を軸として、前記２連の昇降機構および昇降ポールと前記伸縮アームをまとめて回動させる。   Further, the above-described two lifting mechanisms (the lifting mechanism and the upper lifting mechanism), the two lifting poles and the telescopic arm are installed at the upper end of the CRD housing through the hole of the core support plate, and are vertically moved by the CRD housing. Supports directional load and lateral load, and supports the lateral load by placing the upper part of the cylindrical vessel through the hole of the core support plate, and supports the center of the inner or outer diameter of the CRD housing and the core. Using the center of the hole in the plate as an axis, the two lift mechanisms, the lift pole and the telescopic arm are rotated together.

また、前記昇降ポールから点検・補修用ヘッドへのケーブルの長さを調整するために、滑車の組み合わせによるケーブル巻き取り機構を備え、ケーブルを通した動滑車と前記伸縮アームの支持点の上下動とを連動させることにより、アームが伸びる場合にはケーブルを前記の巻き取り機構内から引き出し、アームが縮む場合にはケーブルを前記の巻き取り機構内に引き戻す構成とする。   In addition, in order to adjust the length of the cable from the lifting pole to the inspection / repair head, a cable winding mechanism by a combination of pulleys is provided, and the vertical movement of the moving pulley through the cable and the support point of the telescopic arm is provided. , The cable is pulled out from the winding mechanism when the arm is extended, and the cable is pulled back into the winding mechanism when the arm is contracted.

本発明の第１の実施形態に関する点検・補修ヘッドを水平方向と上下方向に移動させる構造を示す図である。It is a figure which shows the structure which moves the inspection and repair head regarding the 1st Embodiment of this invention to a horizontal direction and an up-down direction. 図１に示す点検・補修ヘッドを取り付けた伸縮アームと昇降機構とを連結する連結機構を示す図である。It is a figure which shows the connection mechanism which connects the expansion-contraction arm and the raising / lowering mechanism which attached the inspection and repair head shown in FIG. 図２に示すＤ−Ｄ線で切断した断面図である。It is sectional drawing cut | disconnected by the DD line | wire shown in FIG. 図２に示すＥ−Ｅ線で切断した断面図である。It is sectional drawing cut | disconnected by the EE line shown in FIG. 本実施形態に係る原子炉圧力容器内における点検・補修装置の配置構成を示す図である。It is a figure which shows the arrangement configuration of the inspection and repair apparatus in the reactor pressure vessel which concerns on this embodiment. 本発明の第２〜第５の実施形態に係る原子炉圧力容器内の点検・補修装置の詳細構造を示す図である。It is a figure which shows the detailed structure of the inspection and repair apparatus in the reactor pressure vessel which concerns on the 2nd-5th embodiment of this invention. 本実施形態に関する点検・補修装置の点検又は補修可能範囲を示す図である。It is a figure which shows the inspection or repair possible range of the inspection and repair apparatus regarding this embodiment. 本実施形態に係る点検・補修装置の下部に設けられた２段軸受の構成を示す図である。It is a figure which shows the structure of the two-stage bearing provided in the lower part of the inspection and repair apparatus which concerns on this embodiment. 第５の実施形態に係る点検・補修装置の上下動動作と回動動作を説明する図である。It is a figure explaining the vertical movement operation | movement and rotation operation | movement of the inspection and repair apparatus which concern on 5th Embodiment. 本発明の第６の実施形態に関する点検・補修ヘッドを水平方向と上下方向に移動させる構造を示す図である。It is a figure which shows the structure which moves the inspection and repair head regarding the 6th Embodiment of this invention to a horizontal direction and an up-down direction. 従来技術に関する原子炉圧力容器内における点検・補修装置の配置構成を示す図である。It is a figure which shows arrangement | positioning structure of the inspection and repair apparatus in the reactor pressure vessel regarding a prior art. 従来技術における上部格子板の平面概略図である。It is a plane schematic diagram of the upper lattice board in a prior art. 従来技術における炉心支持板の平面概略図である。It is a plane schematic diagram of the core support plate in the prior art. 従来技術における原子炉底部の平面配置概略図である。It is a plane arrangement schematic diagram of the bottom of a nuclear reactor in the prior art. 従来技術による原子炉底部の点検補修を示す概略図である。It is the schematic which shows the inspection repair of the reactor bottom part by a prior art.

符号の説明Explanation of symbols

１…炉心 ２…シュラウド
３…上部格子板 ４…炉心支持板
５…ＣＲガイドチューブ ６…ＣＲＤハウジング
７…ＣＲＤスタブチューブ ８…原子炉圧力容器
９…原子炉圧力容器下鏡 １０…炉水
１１…台車 １２…点検又は補修用ヘッド
１３…水中カメラ １４…水中照明灯
１５…保持装置 １６…格子
１７…炉心支持板穴 １８…保持装置
１９…ＩＣＭハウジング ２０…伸縮アーム
２１…支持点 ２２…ガイドプレート
２３…スライダー ２４…スライダーノブ
２５…昇降ポール ２６…送りネジ
２７…送り台 ２８…昇降機構
２９…送りネジ駆動源 ３０…点検・補修用ヘッド
３１…レール ３２…車輪
３３…装置本体 ３４…下鏡内表面
３５…スタブチューブ溶接部 ３６…ＣＲＤハウジング溶接部
３７…ガイド ３８…軸受
３９…軸受 ４０…固定軸
４１…可動軸 ４２…開閉アーム
４３…開閉機構 ４４…上部スライダー
４５…上部昇降ポール ４６…上部送りネジ
４７…上部昇降機構 ４９…軸受
５０…回転ギヤ ５１…回転ギヤ駆動源
５２…振止め ５３…回転固定キー
５４…本体外筒 ５５…点検可能範囲
５６…ガイド ５７…円錐コロベアリング
５８…円錐コロベアリング ５９…可動軸
６０…ＵＴセンサー ６１…ＥＣＴセンサー
６２…ケーブル ６３…ワイヤ
６４…滑車 ６５…滑車
６６…動滑車 ６７…ケーブル固定点
６８…装置本体 DESCRIPTION OF SYMBOLS 1 ... Core 2 ... Shroud 3 ... Upper lattice board 4 ... Core support plate 5 ... CR guide tube 6 ... CRD housing 7 ... CRD stub tube 8 ... Reactor pressure vessel 9 ... Reactor pressure vessel lower mirror 10 ... Reactor water 11 ... Carriage 12 ... Inspection or repair head 13 ... Underwater camera 14 ... Underwater illumination lamp 15 ... Holding device 16 ... Grid 17 ... Core support plate hole 18 ... Holding device 19 ... ICM housing 20 ... Telescopic arm 21 ... Support point 22 ... Guide plate DESCRIPTION OF SYMBOLS 23 ... Slider 24 ... Slider knob 25 ... Elevating pole 26 ... Feed screw 27 ... Feed stand 28 ... Elevating mechanism 29 ... Feed screw drive source 30 ... Inspection / repair head 31 ... Rail 32 ... Wheel 33 ... Device main body 34 ... Lower mirror Inner surface 35 ... Stub tube welded part 36 ... CRD housing welded part 37 ... Guide 38 ... Bearing 39 ... Bearing 40 ... Constant axis 41 ... Moveable shaft 42 ... Opening / closing arm 43 ... Opening / closing mechanism 44 ... Upper slider 45 ... Upper lift pole 46 ... Upper feed screw 47 ... Upper lift mechanism 49 ... Bearing 50 ... Rotary gear 51 ... Rotary gear drive source 52 ... Stuck 53 ... Rotation lock key 54 ... Main body outer cylinder 55 ... Inspection range 56 ... Guide 57 ... Conical roller bearing 58 ... Conical roller bearing 59 ... Movable shaft 60 ... UT sensor 61 ... ECT sensor 62 ... Cable 63 ... Wire 64 ... Pulley 65 ... pulley 66 ... dynamic pulley 67 ... cable fixing point 68 ... device main body

Claims (8)

原子炉圧力容器内のＣＲガイドチューブより下側の下鏡内表面又は原子炉底部に設置されたＣＲＤハウジング、ＣＲＤスタブチューブ、ＩＣＭハウジング、これらの溶接部の点検又は補修を行う点検・補修装置であって、
２つの支持点の一方を上下方向に移動させて点検・補修用ヘッドを水平方向に移動させるアコーディオン式の伸縮アームと、送りネジを回転して送り台を上下方向に移動させる昇降機構と、前記伸縮アームと前記昇降機構との間を結ぶ昇降ポールと、を設け、
前記昇降ポールは、前記伸縮アームの一方の支持点と前記送り台を連結して上下動するスライダを有し、
前記伸縮アームは前記昇降ポールの設置によって前記昇降機構の下方部の離隔位置に配置されるとともに、前記点検・補修用ヘッドは前記送りネジの回転によって前記スライダを介して水平方向に移動する
ことを特徴とする原子炉圧力容器内の点検・補修装置。 A CRD housing, CRD stub tube, ICM housing installed on the lower mirror inner surface below the CR guide tube in the reactor pressure vessel or the reactor bottom, and an inspection / repair device that inspects or repairs these welds. There,
An accordion-type telescopic arm that moves one of the two support points in the vertical direction to move the inspection / repair head in the horizontal direction, a lifting mechanism that rotates the feed screw to move the feed base in the vertical direction, and An elevating pole connecting the telescopic arm and the elevating mechanism, and
The lifting pole has a slider that moves up and down by connecting one support point of the telescopic arm and the feed base,
The telescopic arm is disposed at a separated position of the lower part of the lifting mechanism by the installation of the lifting pole, and the inspection / repair head is moved horizontally through the slider by the rotation of the feed screw. Inspecting and repairing equipment inside the reactor pressure vessel. 請求項１において、
折りたたんだ状態の前記伸縮アーム、前記昇降ポール及び前記昇降機構は、炉心支持板の穴を通って原子炉底部に取り付けられたＣＲＤハウジングの上端部に設置され、
前記伸縮アームは、隣接するＣＲガイドチューブの下端部と前記ＣＲＤハウジングの外形面の隙間に挿入される
ことを特徴とする原子炉圧力容器内の点検・補修装置。 In claim 1,
The telescopic arm in the folded state, the elevating pole and the elevating mechanism are installed at the upper end of the CRD housing attached to the reactor bottom through the hole of the core support plate,
The expansion / contraction arm is inserted into a gap between a lower end portion of an adjacent CR guide tube and an outer surface of the CRD housing. An inspection / repair device in a reactor pressure vessel. 請求項１において、
折りたたんだ状態の前記伸縮アーム、前記昇降ポール及び前記昇降機構は、炉心支持板の穴を通って前記ＣＲＤハウジングの上端部に設置され、
前記設置の後に前記伸縮アーム、前記昇降ポール及び前記昇降機構は、開閉機構によって前記ＣＲＤハウジングの外形面よりも外方向へ移動させられ、
前記伸縮アームが隣接するＣＲガイドチューブの下端部よりも下側に位置するまで降下させられた後、前記伸縮アームが水平方向に移動する
ことを特徴とする原子炉圧力容器内の点検・補修装置。 In claim 1,
The telescopic arm in the folded state, the elevating pole and the elevating mechanism are installed at the upper end of the CRD housing through a hole in the core support plate,
After the installation, the telescopic arm, the lifting pole and the lifting mechanism are moved outward from the outer surface of the CRD housing by an opening / closing mechanism,
An inspection / repair device in a reactor pressure vessel, wherein the telescopic arm moves in a horizontal direction after being lowered until the telescopic arm is positioned below the lower end of the adjacent CR guide tube. . 請求項１、２又は３において、
前記昇降機構と連結した上部スライダを有する上部昇降ポールと、前記上部スライダを上下動させる送りネジを有する上部昇降機構と、を備え、
前記上部昇降ポールと前記上部昇降機構を円筒形状容器に格納し、前記円筒形状容器を炉心支持板の穴を挿通させ、
前記上部昇降機構の送りネジと前記上部スライダによって、前記昇降機構、前記昇降ポール及び前記伸縮アームを上下動させる
ことを特徴とする原子炉圧力容器内の点検・補修装置。 In claim 1, 2 or 3,
An upper lifting pole having an upper slider coupled to the lifting mechanism, and an upper lifting mechanism having a feed screw for moving the upper slider up and down,
The upper elevating pole and the upper elevating mechanism are stored in a cylindrical container, and the cylindrical container is inserted through the hole of the core support plate,
An inspection / repair device in a reactor pressure vessel, wherein the lifting mechanism, the lifting pole and the telescopic arm are moved up and down by a feed screw of the upper lifting mechanism and the upper slider. 請求項４において、
前記伸縮アーム、前記昇降ポール及び前記昇降機構は、前記炉心支持板の穴を通って前記ＣＲＤハウジングの上端部に設置されることによって、鉛直方向荷重及び横方向荷重が支持され、
前記上部昇降ポールと前記上部昇降機構を格納した円筒形状容器は、前記炉心支持板の穴を挿通することによって、横方向荷重が支持される
ことを特徴とする原子炉圧力容器内の点検・補修装置。 In claim 4,
The telescopic arm, the elevating pole and the elevating mechanism are installed at the upper end portion of the CRD housing through the hole of the core support plate, thereby supporting a vertical load and a lateral load.
Inspection and repair in a reactor pressure vessel characterized in that the cylindrical vessel storing the upper elevating pole and the upper elevating mechanism supports a lateral load by inserting a hole in the core support plate. apparatus. 請求項４において、
前記上部昇降ポール、前記上部昇降機構、前記前記昇降機構、前記昇降ポール及び前記伸縮アームを取り付けた可動軸を設け、
前記可動軸を回動させることによって、前記伸縮アームの伸縮方向を変更し得る
ことを特徴とする原子炉圧力容器内の点検・補修装置。 In claim 4,
A movable shaft provided with the upper lifting pole, the upper lifting mechanism, the lifting mechanism, the lifting pole and the telescopic arm;
An inspection / repair device in a reactor pressure vessel, wherein the extension / contraction direction of the extension / contraction arm can be changed by rotating the movable shaft. 請求項１ないし６のいずれか１つの請求項において、
前記点検・補修用ヘッドへのケーブルの長さを調整するために、前記ケーブルの経由する動滑車を含めたケーブル巻き取り機構を有し、
前記昇降ポールのスライダ上下動に連動して前記動滑車を上下動させることによって、前記点検・補修用ヘッドの水平方向移動に対応して前記ケーブルが前記ケーブル巻き取り機構から引き出し又は引き戻される
ことを特徴とする原子炉圧力容器内の点検・補修装置。 In any one of claims 1 to 6,
In order to adjust the length of the cable to the inspection / repair head, it has a cable winding mechanism including a movable pulley through which the cable passes,
The cable is pulled out or pulled back from the cable take-up mechanism in response to the horizontal movement of the inspection / repair head by moving the movable pulley up and down in conjunction with the vertical movement of the lift pole slider. Inspecting and repairing equipment inside the reactor pressure vessel. ２つの支持点の一方を上下方向に移動させて点検・補修用ヘッドを水平方向に移動させるアコーディオン式の伸縮アームと、送りネジを回転して送り台を上下方向に移動させる昇降機構と、前記伸縮アームの一方の支持点と前記送り台を連結して上下動するスライダを有する昇降ポールと、を備え、前記点検・補修用ヘッドによって、原子炉圧力容器内のＣＲガイドチューブより下側の下鏡内表面又は原子炉底部に設置されたＣＲＤハウジング、ＣＲＤスタブチューブ、ＩＣＭハウジング、これらの溶接部を点検又は補修する点検・補修方法において、
折りたたんだ状態の前記伸縮アーム、前記昇降ポール及び前記昇降機構を、炉心支持板の穴を通して前記ＣＲＤハウジングの上端部に設置し、
前記設置の後に前記伸縮アーム、前記昇降ポール及び前記昇降機構を、前記ＣＲＤハウジングの外形面よりも外方向へ移動し、
前記伸縮アームを隣接するＣＲガイドチューブの下端部よりも下側に位置するまで降下し、
降下した後に前記伸縮アームを水平方向に伸ばす
ことを特徴とする原子炉圧力容器内の点検・補修方法。 An accordion-type telescopic arm that moves one of the two support points in the vertical direction to move the inspection / repair head in the horizontal direction, a lifting mechanism that rotates the feed screw to move the feed base in the vertical direction, and An elevating pole having a slider that moves up and down by connecting one of the support points of the telescopic arm and a slider that moves up and down, and below the CR guide tube in the reactor pressure vessel by the inspection and repair head. In the inspection / repair method for inspecting or repairing the CRD housing, CRD stub tube, ICM housing, and these welds installed on the mirror inner surface or reactor bottom
The folded telescopic arm, the elevating pole and the elevating mechanism are installed at the upper end of the CRD housing through a hole in the core support plate,
After the installation, the telescopic arm, the lifting pole and the lifting mechanism are moved outward from the outer surface of the CRD housing,
The telescopic arm is lowered until it is located below the lower end of the adjacent CR guide tube,
A method for inspecting and repairing a reactor pressure vessel, characterized in that the telescopic arm is extended horizontally after descending.
JP2004033616A 2004-02-10 2004-02-10 Inspection/repair device for interior of nuclear reactor pressure vessel and its method Pending JP2005227020A (en)

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JP2011209254A (en) * 2010-03-31 2011-10-20 Hitachi-Ge Nuclear Energy Ltd Nondestructive inspection method in bottom mirror part of reactor pressure vessel
JP2014066629A (en) * 2012-09-26 2014-04-17 Hitachi-Ge Nuclear Energy Ltd Replacement method of reactor core differential pressure and standby liquid control device
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CN109979624A (en) * 2017-12-27 2019-07-05 核动力运行研究所 A kind of underwater rotary type position feedback unit driving structure
CN109979624B (en) * 2017-12-27 2024-03-19 核动力运行研究所 Driving structure of underwater rotary type position feedback unit
CN109448877A (en) * 2018-12-21 2019-03-08 核动力运行研究所 A kind of nuclear reactor pressure container check device hoisting mechanism and implementation method
CN109448877B (en) * 2018-12-21 2024-05-10 核动力运行研究所 Hoisting mechanism of nuclear reactor pressure vessel inspection device and implementation method
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