JPS60177247A - In-cell inspecting and repairing device - Google Patents
In-cell inspecting and repairing deviceInfo
- Publication number
- JPS60177247A JPS60177247A JP59032408A JP3240884A JPS60177247A JP S60177247 A JPS60177247 A JP S60177247A JP 59032408 A JP59032408 A JP 59032408A JP 3240884 A JP3240884 A JP 3240884A JP S60177247 A JPS60177247 A JP S60177247A
- Authority
- JP
- Japan
- Prior art keywords
- cell
- inspection
- vehicle
- repair
- vehicle body
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/003—Remote inspection of vessels, e.g. pressure vessels
- G21C17/01—Inspection of the inner surfaces of vessels
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明はセル内点検装置に係り、特に原子力設備等の高
放射能物質を取扱うコンクリートセルのように、人間が
立入ることのできない内部を点検するのに使用するに好
適なセル内点検装置に関する。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an in-cell inspection device, and is particularly useful for inspecting insides that humans cannot enter, such as concrete cells that handle highly radioactive materials such as nuclear equipment. This invention relates to an in-cell inspection device suitable for use in
一般に、核燃料再処理工場内などでは、放射性物質を内
蔵する槽、及び配管等を設けた部屋（通常セルと呼ばれ
ている）がアシ、このセルは鉄筋コンクリートで囲まれ
、通常、人の立入れない放射線管理区域内にある。Generally, inside a nuclear fuel reprocessing plant, there is a room (usually called a cell) containing a tank containing radioactive materials and piping, etc., and this cell is surrounded by reinforced concrete and is usually inaccessible to people. located within a radiation controlled area.
第１図にこのようなセル内の様子を示す。該図の如く、
セル１はコンクリート製で、壁１ａ、床１ｂ１天井ＩＣ
から構成され、そして、セル１には、高濃度放射性の水
滴等の地表へのもれ防止のため、床ｌｂ面にはステンレ
ス製のドリップトレイ３が設置されている。このような
構成のセル１は、再処理工場内などには複数個設けられ
、人間が入れる扉があるもの、あるいは無いものがある
。FIG. 1 shows the inside of such a cell. As shown in the figure,
Cell 1 is made of concrete, with wall 1a, floor 1b, and ceiling IC.
In the cell 1, a stainless steel drip tray 3 is installed on the floor lb to prevent highly concentrated radioactive water droplets from leaking to the ground surface. A plurality of cells 1 having such a configuration are provided in a reprocessing factory, and some have a door for human access, and some do not.
これらのセル１のうち、立入シ用扉が無い場合は、イン
ターペンションチューブ２ ａ ヲ鉄筋コンク！Ｊ−ト
に埋め込んで点検孔２が形成され、他は密閉状態におる
。そして、通常は、この点検孔２は金属製のブロック２
ｂで密閉されている。尚、４はセル内機器を示す。If any of these cells 1 does not have an entry door, the interpension tube 2 a is reinforced! An inspection hole 2 is formed by embedding it in the J-toe, and the rest is in a sealed state. Normally, this inspection hole 2 is made of a metal block 2.
It is sealed with b. Note that 4 indicates an intra-cell device.
ところで、上述したドリップトレイ３は、第２図に示す
如く、ステンレス製の板が複数枚溶接接合されて形成さ
れるため、その表面には複数の溶接線３ａが存在する。By the way, since the above-mentioned drip tray 3 is formed by welding and joining a plurality of stainless steel plates as shown in FIG. 2, a plurality of weld lines 3a are present on the surface thereof.
このため、ドリップトレイ３に亀裂やピンホールが発生
すると、そこから地表へ放射能がもれてしまうが、この
亀裂やピンホールは溶接線３ａから発生し易く、従って
、地表への放射能もれを防止するためにはドリップトレ
イ３の定期的な点検、特に溶接線３ａの点検が必要であ
る。For this reason, if cracks or pinholes occur in the drip tray 3, radioactivity will leak from there to the ground surface, but these cracks or pinholes are likely to occur from the weld line 3a, and therefore, radioactivity will also leak to the ground surface. In order to prevent this, it is necessary to periodically inspect the drip tray 3, especially the weld line 3a.
そこで、ドリップトレイ３の点検は、第１図に点線で示
す如く、テレビカメラ５、または放射線測定器６などを
点検孔２から挿入して行っていた。Therefore, the drip tray 3 has been inspected by inserting a television camera 5, a radiation measuring device 6, or the like through the inspection hole 2, as shown by the dotted line in FIG.
しかしながら、このような点検のし方では、テレビカメ
ラ５、あるいは放射線測定器６が壁面よ９頭を少しのぞ
かせる程度か、点検孔２の真下部分へ吊シ下けられて極
所の点検を行う程度しかできず、床面全体の点検を隅々
まで十分できない。However, in this inspection method, the television camera 5 or the radiation measuring device 6 is hung just below the inspection hole 2, so that the TV camera 5 or the radiation measuring device 6 can be seen just a little above the wall surface, and the inspection is carried out in extreme locations. It is only possible to inspect the entire floor surface in every nook and corner.
即ち、セル内部が内蔵様器、及び配管などで非常に複雑
化し、点検装置を十分挿入して隅々まで点検することが
難しいものとなってしまうのである。That is, the inside of the cell is extremely complicated with built-in vessels, piping, etc., and it becomes difficult to fully insert an inspection device and inspect every corner.
そこで、上述した問題点を解決しようと実開昭５８−１
４６９５５号公報で示されるような遠隔点検装置が提案
されている。該公報に示される遠隔点検装置は、セル隔
壁にあけられた貫通孔に、点検用の検出部を備えた走行
台車を収納している筒状体を着脱自在に取付け、ケーブ
ルを介して走行台車をセル内に降下移動させ、内部を点
検するようにしたものである。この遠隔点検装置によれ
ば、上述した床面全体の点検を隅々まで十分できないと
いう問題点は、走行台車を走行させながら点検すること
で解決される。Therefore, in order to solve the above-mentioned problems,
A remote inspection device as shown in Japanese Patent No. 46955 has been proposed. In the remote inspection device disclosed in the publication, a cylindrical body housing a traveling trolley equipped with a detection section for inspection is removably attached to a through hole drilled in a cell partition, and the traveling trolley is connected via a cable. was moved down into the cell to inspect the inside. According to this remote inspection device, the above-mentioned problem of not being able to thoroughly inspect the entire floor surface can be solved by inspecting it while the traveling trolley is running.
しかしながら、実開昭５８−１４６１５５号公報の遠隔
点検装置は、セル内床面（ドリップトレイ）の欠陥の有
無を点検するだけのものであり、従って、この遠隔点検
装置で亀裂やピンホール等の欠陥を発見したとしても、
現状では、例えばセルを完全に閉鎖して使用不可とする
か、若しくは鉄筋コンクリート製のセルの一部を壊して
セル内に人間が入り、発見された欠陥部を補修した後、
壊したセルを復旧してから使用する等しがなく、欠陥発
見後の対策については、よい解決策がなかった。However, the remote inspection device disclosed in Japanese Utility Model Application Publication No. 58-146155 is only for checking the presence or absence of defects on the floor surface (drip tray) inside the cell. Even if you find a defect,
Currently, for example, the cell is completely closed and rendered unusable, or a portion of the reinforced concrete cell is broken and a person enters the cell to repair any defects found.
There was no way to restore a damaged cell before using it, and there was no good solution for what to do after a defect was discovered.
本発明は上述の点に鑑み成されたもので、そのｍｌの目
的とするところは、密閉されたセル内床面を隅々まで点
検可能なことは勿論、その点検によって発見された欠陥
部を容易に補修できるようにし、また、第２の目的とす
るところは、セル内床面の点検をよシ精密に行うと共に
、これにょシ発見された欠陥部を容易に補修できるセル
内点検補修装置を提供するにある。The present invention has been developed in view of the above-mentioned points, and the purpose of the ml is not only to enable inspection of every corner of the floor surface inside a sealed cell, but also to eliminate defects discovered by the inspection. The second objective is to provide an in-cell inspection and repair device that can more precisely inspect the inner cell floor and easily repair any defects found. is to provide.
本発明はセルに設けられている点検孔に設置され、先端
部近傍がセル内に突出しているほぼ筒状の挿入回収装置
と、該挿入回収装置のセル内突出部に収納され、該挿入
回収装置が所定の位置に設置されたら開口部からセル内
に降下移動して内部を点検する点検機器を搭載している
点検走行車と、この点検走行車の点検機器で検出された
セル内欠陥部を補修する補修走行車と、これら点検、及
び補修走行車をそれぞれ支え、両走行車の移動時の操作
を行ったり、各走行車からの情報を受取るためにセル外
部に導出されている複数のケーブルとから構成すること
によシ第１の目的を、更に上記と同様な構成に加え、点
検走行車の点検機器で検出されたセル内欠陥部表面を滑
らかに研摩する研摩走行車と、この研摩走行車で研摩さ
れたセル内欠陥部をさらに探傷して精密検査する探傷走
行車を備え、探傷走行車で探傷された欠陥部を補修走行
車で補修することにょシ、上記第２の目的を達成するよ
うに成したものである。The present invention includes a substantially cylindrical insertion and recovery device that is installed in an inspection hole provided in a cell and whose tip portion protrudes into the cell; An inspection vehicle equipped with an inspection device that descends into the cell through the opening and inspects the inside once the device is installed in a predetermined position, and a defect inside the cell detected by the inspection device of this inspection vehicle. A repair vehicle that repairs the cell, and a plurality of cells that are led out to the outside of the cell to support these inspection and repair vehicles, operate both vehicles during movement, and receive information from each vehicle. In addition to the above-mentioned configuration, the present invention also includes a polishing vehicle that smoothly polishes the surface of a defective part inside a cell detected by the inspection equipment of the inspection vehicle; The above-mentioned second purpose is to provide a flaw detection vehicle for further flaw detection and detailed inspection of the defective part in the cell polished by the polishing vehicle, and to repair the defective part detected by the flaw detection vehicle using the repair vehicle. It was created to achieve the following.
以下、図面の実施例に基づいて本発明の詳細な説明する
。尚、符号は従来と同一のものは、同符号を使用する。Hereinafter, the present invention will be described in detail based on embodiments of the drawings. Incidentally, the same reference numerals are used for the same parts as in the past.
第３図に本発明のセル内点検装置の一実施例を示す。該
図のセル内点検装置は、セル１に設けられている点検孔
２に設置され、先端部がセル１内に突出しているほぼ円
筒状の挿入回収装置２６と、このＪｉ’ｉｊ人回収装置
２６のセル内突出部に収納され、該挿入回収装置２６が
所定の位置に設置されたら開口部２８ａからセル１内に
降下移動してドリップトレイ３の表面を点侠する点検走
行車８と、該点検走行車８で検出されたドルツブトレイ
３の欠陥部表面を、点検走行車８と同様に収納されてい
る挿入回収装置２６の開口部２８ｂからセル１内に降下
移動して滑らかに研摩する研摩走行車９と、該研摩走行
車９で一１摩されたドリップトレイ３の欠陥部を、前記
点検走行車８、及び研摩走行車９と同様に収納されてい
る挿入回収装置２６の開口部２８ｃからセル１内に降下
移動して超音波探傷法、あるい浸透探傷法により更に詳
細に検査する探傷走行車１０と、該探傷走行車１０で探
傷されたドリップトレイ３の欠陥部を、前記点検走行車
８、研摩走行車９、及び探傷走行車１０と同様に収納さ
れている挿入回収装置２６の開口部２８ｄからセル１内
に降下移動して溶接機等で補修修理する補修走行車１１
と、これら点検走行車８、研摩走行車９、探傷走行車１
０、及び補修走行車１１を各々支持し、これら各走行車
移動時の操作を行った９、各走行車８，９，１０．１１
での作業情報を受取るためにセル１外部にそれぞれ導出
されている複数のケーブル１２，１３，１４．１５とか
ら概略構成される。FIG. 3 shows an embodiment of the in-cell inspection device of the present invention. The intra-cell inspection device shown in the figure includes a substantially cylindrical insertion and recovery device 26 that is installed in an inspection hole 2 provided in a cell 1 and whose tip protrudes into the cell 1, and this Ji'ij person recovery device. an inspection vehicle 8 that is housed in a protrusion in the cell 26, and moves downward into the cell 1 through the opening 28a and touches the surface of the drip tray 3 when the insertion/retrieval device 26 is installed at a predetermined position; Polishing in which the surface of the defective part of the dowel tray 3 detected by the inspection vehicle 8 is moved downward into the cell 1 through the opening 28b of the insertion/retrieval device 26 housed in the same manner as the inspection vehicle 8, and polished smoothly. The defective part of the drip tray 3 polished by the traveling vehicle 9 and the polishing traveling vehicle 9 is inserted into the opening 28c of the insertion and recovery device 26 which is housed in the same way as the inspection traveling vehicle 8 and the polishing traveling vehicle 9. The flaw detection vehicle 10 descends into the cell 1 and inspects it in more detail by ultrasonic flaw detection or penetrant flaw detection, and the defective portion of the drip tray 3 detected by the flaw detection vehicle 10 is inspected as described above. A repair vehicle 11 descends into the cell 1 through the opening 28d of the insertion/retrieval device 26 housed in the same manner as the traveling vehicle 8, the polishing vehicle 9, and the flaw detection vehicle 10, and performs repairs using a welding machine or the like.
and these inspection vehicle 8, polishing vehicle 9, and flaw detection vehicle 1.
0, and the repaired traveling vehicle 11, respectively, and 9, each traveling vehicle 8, 9, and 10.
It is generally composed of a plurality of cables 12, 13, 14, and 15 each led out of the cell 1 in order to receive work information at the cell 1.
上述した挿入回収装置２６は、インターペンションチュ
ーブ２ａの内径に合わせ同筒形に成形され、その下部に
各走行車８，９，１０．１１が出入りする開口部２８ａ
、２８ｂ、２８ｃ、及び２８（ｌを有する挿入回収筒２
８と、この挿入回収筒２８の先端に取付けられ、左右、
上下に自由に動くことが可能で、前記各走行車８，９，
１０゜１１、及びセル１内を監視するバックアップブレ
ビカメラ２７と、前記挿入回収筒２８の後端に取付けら
れたケーブル送り出し、及び引戻しを行うだめのケーブ
ル送シ戻し機構２９とよシ概略構成される。上述したケ
ーブル送り戻し機構２９には、点検走行車８、研摩走行
車９、探傷走行車１ｏ、及び補修走行車１１のそれぞれ
のケーブル１２゜１３．１４．１５を単独に送り出し、
又は引戻しする４台のケーブル送りＭＬモータ６２，６
３゜６４．６５が備えられている。史に、各走行車８゜
９．１０．１１にはケーブルが１台に１本、ケーブル送
り！しモータがケーブル１本に１金膜けられ、各走行車
８，９，１０．１１の出し入れは、各走行車８，９，１
０．１１に対応するケーブルを、ケーブル送シ戻しモー
タ６２，６３，６４゜６５により送シ出し、又は引き戻
しすることによって行なう、また、４本のケーブル１２
，１３゜１４．１５は、各走行車８，９，１０，１１よ
り挿入回収装置２６を通ってセル１外、即ち、人間の立
入れる所へ出て、そこに置かれた４台のケーブル収納容
器１６．１７，１８．１９にそれぞれ収納される。そし
て、各ケーブル１２，１３゜１４．１５の先は、各ケー
ブル収納容器１６゜１７．１８．１９の下部に設けられ
た穴より制御装置２０にそれぞれ接続されている。各ケ
ーブル収納容器１６．１７，１８．１９には、それぞれ
各走行車８，９，１０．１１が移動するために必要な長
さのケーブル１２，１３，１４．１５が納められ、更に
、ケーブル１本にケーブル収納容器なって、各走行車８
，９，１０．１１がそれぞれ独立して移動してもケーブ
ル同志は混乱しない構成となっている。The insertion/retrieval device 26 described above is formed into the same cylindrical shape to match the inner diameter of the interpension tube 2a, and has an opening 28a at the bottom through which each vehicle 8, 9, 10.11 enters and exits.
, 28b, 28c, and 28(l).
8 and is attached to the tip of this insertion/retrieval cylinder 28.
It is possible to move freely up and down, and each of the traveling vehicles 8, 9,
10° 11, a backup camera 27 for monitoring the inside of the cell 1, and a cable feeding/returning mechanism 29 attached to the rear end of the insertion/retrieval cylinder 28 for sending out and pulling back the cable. Ru. The above-mentioned cable sending back mechanism 29 independently sends out the cables 12° 13, 14, 15 of each of the inspection vehicle 8, the polishing vehicle 9, the flaw detection vehicle 1o, and the repair vehicle 11,
Or 4 cable feed ML motors 62, 6 for pulling back
3°64.65 is provided. Historically, each running car has one cable per 8゜9.10.11. The motor is coated with one gold film on each cable, and each traveling vehicle 8, 9, 10.
This is done by sending out or pulling back cables corresponding to
, 13゜14.15 are the cables of the four cars placed there that pass through the insertion/retrieval device 26 from each traveling vehicle 8, 9, 10, 11 and exit outside the cell 1, that is, into a place where humans can access. They are stored in storage containers 16, 17 and 18, 19, respectively. The ends of each cable 12, 13.degree. 14.15 are connected to the control device 20 through holes provided at the bottom of each cable storage container 16.degree. 17.18.19. Each cable storage container 16, 17, 18, 19 stores cables 12, 13, 14, 15 of the length necessary for each vehicle 8, 9, 10.11 to move, and One cable storage container, each running car 8
, 9, 10, and 11 move independently, the cables are not confused.
上述した制御装置２ｏには、点検走行車８、研摩走行車
９、探傷走行車１０．及び補修走行車１１のそれぞれ独
立したリモートコントロール機能、バックアップテレビ
カメラ２７のコントロール機能、ケーブル送シ戻しモー
タ６２，６３゜６４．６５のコントロール機能を有し、
更に電源、テレビカメラコントロールユニット、溶接（
ＴｉＧ溶接）機の電源、及び制御盤、超音波探傷装置制
御盤が組込まれ、ＴＩＧ溶接に必要なアルゴンガスは、
ボンベ６７よシ制御装置２ｏを介してケーブル１５を通
り補修走行車１１に供給される。そして、制御装置２０
上には５台のテレビモニタ２１．２２，２３，２４．２
５が設けられ、このテレビモニタ２１，２２，２３，２
４．２５で各走行車８，９，１０．１１にそれぞれ搭載
されたテレビカメラとバンクアップテレビカメラ２７で
とらえた映像を見ることができる。更に、ＣＲＴ６６に
は、探傷走行車１０に搭載された超音波探傷装置での探
傷結果が表示される。また、制御装置２０には記憶装置
が内蔵され、任意の走行車の移動情報を記憶されること
ができ、その後、記憶しておいた情報によシ他の走行車
をその情報通りに自動制御して、前の走行車と同一位置
への他の走行車を到達させることができる。The above-mentioned control device 2o includes an inspection vehicle 8, a polishing vehicle 9, a flaw detection vehicle 10. and has an independent remote control function for the repair vehicle 11, a control function for the backup television camera 27, and a control function for the cable feed and return motors 62, 63°64.65,
In addition, power supply, TV camera control unit, welding (
The power supply and control panel of the TiG welding machine, the control panel of the ultrasonic flaw detector, and the argon gas necessary for TIG welding are installed.
The cylinder 67 is supplied to the repair vehicle 11 via the cable 15 via the control device 2o. And the control device 20
Above are 5 TV monitors 21.22, 23, 24.2
5 is provided, and these television monitors 21, 22, 23, 2
At 4.25, you can see images captured by the television cameras and bank-up television cameras 27 mounted on each of the vehicles 8, 9, and 10.11. Further, the CRT 66 displays the flaw detection results obtained by the ultrasonic flaw detection device mounted on the flaw detection vehicle 10. Furthermore, the control device 20 has a built-in storage device that can store movement information of any vehicle, and then automatically controls other vehicles according to the stored information. This allows another vehicle to reach the same position as the previous vehicle.
次に、上述した点検走行車８、研摩走行車９、探傷走行
車１０、及び補修走行車１１の詳細を第４図、第５図、
第６図、及び第７図を用いて説明する。第４図に点検走
行車８、第５図に研摩走行車９、第６線に探傷走行車１
０、第７図に補修走行車１１をそれぞれ示す。各走行車
８，９，１０゜１１を動かす駆動装置は、いずれの走行
車８，９゜１０．１１も同一構成で、制御装置２０でそ
れぞれ独立にコントロールでき、その構成は走行用モー
タ３０と、この走行用モータ３０によシギア装置３１を
介して回動される走行車後方の左右に取付ニブられた後
輪のタイヤ３２と、このタイヤ３２と共に回動する走行
車前方左右に取付けられた前輪のキャスタ車輪３３とか
らなる。この駆動装置は左右独立しており、走行車を直
進させる場合には左右の走行用モータ３０を同一回転数
で回し、曲がる場合には左右の走行用モータ３０の回転
数に差をつければよい。Next, the details of the above-mentioned inspection vehicle 8, polishing vehicle 9, flaw detection vehicle 10, and repair vehicle 11 are shown in FIGS.
This will be explained using FIGS. 6 and 7. Figure 4 shows inspection vehicle 8, Figure 5 shows polishing vehicle 9, and line 6 shows flaw detection vehicle 1.
0 and 7 show the repair vehicle 11, respectively. The drive devices that move the respective traveling vehicles 8, 9, 10.11 have the same configuration and can be controlled independently by the control device 20, and the configuration is that of the traveling motor 30. , a rear tire 32 mounted on the rear left and right sides of the vehicle rotated by the running motor 30 via a shear gear device 31; It consists of a front caster wheel 33. This drive device is independent on the left and right, so when the vehicle is to go straight, the left and right traveling motors 30 are rotated at the same speed, and when the vehicle is turning, the left and right traveling motors 30 are rotated at different speeds. .
第４図に示す点検走行車８は、車体８ａの下部に設けら
れた点検窓３７と、この点検窓３７の真上に斜め４５°
に設置された点検用ミラー３５と、該点検用ミラー３５
の正面に水平に設置されたテレビカメラ３４と、点検用
ミラー３５の真上に、斜め４５°に設置された監視用ミ
ラー３６と、該監視用ミラー３６の前方の車体８ａに設
けられた監視窓３８と、前記点検窓３７の前方に設けら
れた床面にインキにて印をつけるマーカーノズル４１と
、該マーカーノズル４１の上に設けられ、マーカーノズ
ル４１にインキを供給するマーカーインキタンク４０と
、走行車８の前方に取付けられ床面を清掃する清掃ブラ
シ４４と、該清掃ブラシ４４を回転させるだめのブラシ
駆動用モータ４２、及びベルト４３とより構成される。The inspection vehicle 8 shown in FIG.
an inspection mirror 35 installed in the inspection mirror 35;
a television camera 34 installed horizontally in front of the camera, a monitoring mirror 36 installed at an angle of 45 degrees directly above the inspection mirror 35, and a monitoring mirror 36 installed on the vehicle body 8a in front of the monitoring mirror 36. A marker nozzle 41 for marking the floor surface with ink provided in front of the window 38 and the inspection window 37, and a marker ink tank 40 provided above the marker nozzle 41 and supplying ink to the marker nozzle 41. , a cleaning brush 44 attached to the front of the traveling vehicle 8 for cleaning the floor surface, a brush drive motor 42 for rotating the cleaning brush 44, and a belt 43.
尚、点検用ミラー３５の裏側にはモータ３９が水平に設
置され、とのモータ３９により点検用ミラー３５を回転
させることができる。そして、セル内に降下された点検
走行車８は、走行用モータ３０によシ駆動されて床面を
移動し、清掃ブラシ４４で床面を清掃しながら点検窓３
７を点検用ミラー３５に写し、それをテレビカメラ３４
で映しながら床面を点検する。床面に欠陥が発見されれ
ば、その欠陥部にはマーカーノズル４１で印をつけ、欠
陥部がわかるようにする。点検走行車８の走行は、監視
窓３９より走行方向前方を監視用ミラー３８に写し、そ
れをテレビカメラ３４にてとらえることにより監視でき
る。A motor 39 is installed horizontally on the back side of the inspection mirror 35, and the inspection mirror 35 can be rotated by the motor 39. The inspection vehicle 8 that has been lowered into the cell is driven by the travel motor 30 and moves on the floor, cleaning the inspection window 8 while cleaning the floor with the cleaning brush 44.
7 on the inspection mirror 35 and the TV camera 34
Inspect the floor while viewing the screen. If a defect is found on the floor surface, the defective part is marked with a marker nozzle 41 so that the defective part can be identified. The traveling of the inspection vehicle 8 can be monitored by projecting the front of the vehicle in the traveling direction from the monitoring window 39 onto the monitoring mirror 38 and capturing it with the television camera 34.
第５図に示す研摩走行車９は、走行車車体のほぼ中央に
設けられたグラインダー４６と、このグラインダー４６
を駆動するグラインダー駆動装置４７と、グラインダー
４６の前方に設置され、グラインダー４６の研摩状態を
監視するテレビカメラ４７と、キャスタ車輪３３の前方
に設けられた上下に動く車体ロック用のストッパー４８
と、グラインダー４６の研摩による粉塵やその他セル内
のちシ、ごみ等を吸取シ回収する真空掃除装置とから構
成される。前記真空掃除装置は、グラインダー４６のす
ぐ前に設けられた人気ロア２と、ごみ、ちシ、粉塵等を
回収しておくフィルタ６９と、このフィルタ６９と人気
ロア２を結ぶ人気ダクト６８と、フィルタ６９の後方に
設けられた粉塵等を吸引するための真空発生装置７０と
、吸引された粉塵等を排気する排気ダクト７１とよシ構
成される。そして、セル内に降下された研摩走行車９は
、走行用モータ３０によシ駆動されて床面を移動し、上
述した点検走行車８によυ検出され、かつ、インキで印
をつけられている欠陥部まで到達する。欠陥部まで到達
したらストッパー４８で走行車をインターロックし、そ
の後、グラインダー４６で欠陥部表面を滑らかに研摩す
る。研摩した際に発生する粉塵等は真空掃除装置により
回収される。研摩が終ったらインターロックを解除し、
次の発見された欠陥部表面の研摩を行うものである。The polishing vehicle 9 shown in FIG. 5 includes a grinder 46 provided approximately in the center of the vehicle body, and
A grinder drive device 47 that drives the grinder, a television camera 47 that is installed in front of the grinder 46 to monitor the grinding state of the grinder 46, and a stopper 48 for locking the vehicle body that moves up and down that is installed in front of the caster wheels 33.
and a vacuum cleaning device that sucks up and collects dust from the grinding of the grinder 46 and other particles and dirt inside the cell. The vacuum cleaning device includes a popular lower 2 provided immediately in front of the grinder 46, a filter 69 for collecting dirt, dust, dust, etc., and a popular duct 68 that connects this filter 69 and the popular lower 2. It is composed of a vacuum generator 70 provided behind the filter 69 for suctioning dust and the like, and an exhaust duct 71 for exhausting the sucked dust and the like. The polishing vehicle 9 that has been lowered into the cell is driven by the traveling motor 30 and moves on the floor, and is detected by the above-mentioned inspection vehicle 8 and marked with ink. reach the defective part. When the defective part is reached, the traveling vehicle is interlocked with a stopper 48, and then the defective part surface is ground smoothly with a grinder 46. Dust generated during polishing is collected by a vacuum cleaning device. When polishing is finished, release the interlock,
Next, the surface of the discovered defect is polished.
第６図に示す探傷走行車１０ば、走行車車体のほぼ中央
下部に設けられた超音波探傷装置の探神子４９と、該探
触子４９の前方に隣接して設けられた浸透探傷に必要な
染色液タンク５０、洗浄液タンク５１、現象液タンク５
２と、各々のタンク５０．５１．５２の下方に設けられ
、床の１点に向かう様に曲げられたノズル５３，５４．
５５と、これら超音波、及び浸透による探傷状態を監視
するテレビカメラ６１とより構成される。そして、セル
内に降下された探傷走行車１０は、走行用モータ３０に
より駆動されて床面を移動し、前記研摩走行車９のグラ
インダー４６で表面を滑らかに研摩された部分まで到着
する。その後、研摩された部分に超音波探触子４９を当
てるか、もしくは、浸透液を流して内部欠陥、表面欠陥
をさらに詳細に検査する。この結果は制御装置２０のＣ
ＲＴ６６に表示される。The flaw detection traveling vehicle 10 shown in FIG. 6 includes a probe 49 of an ultrasonic flaw detection device installed approximately in the lower center of the vehicle body, and a probe 49 necessary for penetrant flaw detection provided adjacent to the front of the probe 49. A dyeing solution tank 50, a cleaning solution tank 51, and a phenomenon solution tank 5
2, and nozzles 53, 54.2 provided below each tank 50.51.52 and bent toward a point on the floor.
55, and a television camera 61 that monitors the flaw detection status using ultrasonic waves and penetration. The flaw detection vehicle 10 lowered into the cell is driven by the travel motor 30 and moves on the floor until it reaches a portion whose surface has been smoothed by the grinder 46 of the polishing vehicle 9. Thereafter, internal defects and surface defects are inspected in more detail by applying an ultrasonic probe 49 to the polished portion or by flowing a penetrating liquid. This result is the C of the control device 20.
Displayed on RT66.
第７図に示す補修走行車１１は、走行車車体のほぼ中央
に設けられているＴＩＧ溶接機のトーチ５７と、該トー
チ５７の先端に取付けられている電極５９と、該電極５
９と相対向して配置されるフィラーワイヤ６０と、該フ
ィラーワイヤ６０を出し入れするワイヤフイダ５８と、
これらによる溶接状態を監視するテレビカメラ６１とよ
り構成される。そして、セル内に降下された補修走行車
１１は、走行用モータ３０により駆動されて床面を移動
し、前記探傷走行車１０で探傷された欠陥部に到達する
。到達したらフィラーワイヤ６０と電極５９で欠陥部を
溶接補修するものである。The repair traveling vehicle 11 shown in FIG.
9, a wire feeder 58 for inserting and removing the filler wire 60,
It is composed of a television camera 61 that monitors the welding state by these. The repair vehicle 11 lowered into the cell is driven by the travel motor 30 and moves on the floor, reaching the defect detected by the flaw detection vehicle 10. Once there, the defective part is welded and repaired using filler wire 60 and electrode 59.
このように構成する点検走行車８、研摩走行車９、探傷
走行車１０、及び補修走行車１１を収納した挿入回収装
置２６が点検孔２に挿入され、所定位置まできたら固定
する。この時、バックアップテレビカメラ２７は撮影状
態として挿入すれば、挿入作業中に内部の機器に対して
点検装置を干渉させるなどの不具合が防止できる。まだ
、各走行車８，９，１０．１１を出し入れする開口部２
８ａ。The insertion/retrieval device 26 containing the inspection vehicle 8, polishing vehicle 9, flaw detection vehicle 10, and repair vehicle 11 configured as described above is inserted into the inspection hole 2, and is fixed when it reaches a predetermined position. At this time, if the backup television camera 27 is inserted in a photographing state, problems such as interference of the inspection device with internal equipment during the insertion work can be prevented. There are still openings 2 for loading and unloading each vehicle 8, 9, 10.11.
8a.
２８ｂ、２８Ｃ，２８ｄを上向きにして挿入すれば、各
走行車８，９，１０．１１が挿入作業の途中で降下して
インターペンションチューブ２ａ（Ｄ内壁にひっかかる
こともなく安定でちる。挿入回収装置２６を固定した後
、点検走行車８をケーブル送り戻しモータ６２によりケ
ーブル１２を送り出すことによシセル１内に降下させる
。この点検走行車８と同様にして、他の研摩走行車９．
探傷走行車１０、及び補修走行車１１もそれぞれのケー
ブル送シ戻しモータ６３，６４，６５、及びケーブル１
３，１４．１５によりセル１内に降下される。セル１内
に降下した後の動作は、上述した各走行車８，９，１０
．１１の説明で行ったのでここでは省略する。尚、各走
行車８，９，１０゜１１の降下、及び着床する状態はバ
ックアップテレビカメラ２７により一部始終監視されテ
レビモニタに表示される。一方、床面に各走行車８，９
゜１０．１１が着床した後は、制御装置２０からの指命
によシ走行し、かつ、各々の走行車８，９゜ｉｏ、ｉｔ
での作業状態は、各テレビカメラ３４゜４７．５６．６
１によシ監視されテレビモニタに表示される。このよう
にして点検、研摩、探傷、補修の終了した各走行車８，
９，１０．１１は、降下時着床した位置に再び戻され、
ケーブル送シ戻しモータ６２，６３，６４．６５により
引上げられ、開口部２８ａ、２８ｂ、２８ｃ、２８ｄよ
シ挿入回収装置２６内に収納される。挿入状態に戻った
後の挿入回収装置は、セル１の点検孔２から引抜かれ、
その後、点検孔２をブロック等で密閉することにより検
査は完了する。If 28b, 28C, and 28d are inserted facing upward, each traveling vehicle 8, 9, 10, and 11 will fall during the insertion process, and the interpension tube 2a (D) will not get caught on the inner wall and will be stable. Insertion and recovery After fixing the device 26, the inspection vehicle 8 is lowered into the cell 1 by sending out the cable 12 by the cable return motor 62. In the same manner as this inspection vehicle 8, other polishing vehicles 9.
The flaw detection traveling vehicle 10 and the repair traveling vehicle 11 also have respective cable feed/return motors 63, 64, 65, and cables 1.
3, 14. It is lowered into cell 1 by 15. The operation after descending into the cell 1 is as follows:
．． Since this was explained in Section 11, it will be omitted here. Incidentally, the descent of each vehicle 8, 9, 10° 11 and its landing state are monitored from beginning to end by a backup television camera 27 and displayed on a television monitor. On the other hand, each running car 8, 9 is on the floor.
After ゜10.11 has landed on the floor, it runs according to instructions from the control device 20, and each traveling vehicle 8, 9゜io, it
The working condition is that each TV camera is 34°47.56.6
1 and displayed on the television monitor. Each running vehicle 8, which has been inspected, polished, flawed, and repaired in this way,
9, 10.11 was returned to the position where it landed during descent,
The cables are pulled up by the cable feeding/returning motors 62, 63, 64, 65 and stored in the insertion/retrieval device 26 through the openings 28a, 28b, 28c, 28d. After returning to the inserted state, the insertion/retrieval device is pulled out from the inspection hole 2 of the cell 1,
Thereafter, the inspection is completed by sealing the inspection hole 2 with a block or the like.
このような本実施例のセル内点検補修装置とすることに
より、点検走行車によりセル内床面全体の点検、特にド
リップトレイの点検を隅々まで十分行え、しかも、点検
走行車で発見された欠陥部を研摩して滑らかにし、超音
波、あるいは浸透探傷により、さらに詳細に欠陥状態を
調査可能となり、その後、欠陥部を溶接機で補修するこ
とにより、セル内の欠陥部分が解消される。従って、ド
リップトレイの溶接線に亀裂やピンホールが発生してい
るかどうかの検査が確実となシ、シかも、欠陥があれば
補修されるので、地表への放射能もれが防止できる。ま
た、４台の走行車すべてにテレビカメラを搭載している
ため、各走行車の状態が同時に把握できるし、点検走行
車にマーカーが付いており異常箇所に印を付けることに
より、次の走行車による欠陥部の発見が簡単となる。更
に、清掃ブラシも付属し２ているので、床面の塵埃等が
除去でき、ドリップトレイ衣面をより明確に点検できる
効果もある。また、研摩走行車には真空掃除装置が搭載
されているため、グラインダーの床面研摩によシ発生す
る粉塵や、セル内のちり、ごみ等がこの真空掃除装置に
除去され、セル内はきれいな状態に保たれて、／１’＋
１゜
尚、」二連した実施例では点検走行車、研摩走行車、探
傷走行車、及び補修走行車の４台を備えている装置につ
いて説明したが、本発明の第１の目的を達成するだめに
は、研摩走行車、探傷走行車は特に必要なく、点検走行
車と補修走行車があれば、十分初期の目的は達成される
。By using the cell inspection and repair device of this embodiment, the inspection vehicle can thoroughly inspect the entire floor surface of the cell, especially the drip tray. By polishing and smoothing the defective area, it is possible to examine the defective state in more detail using ultrasonic waves or penetrant testing, and then by repairing the defective area with a welder, the defective area within the cell can be eliminated. Therefore, it is possible to reliably inspect whether or not cracks or pinholes have occurred in the weld lines of the drip tray, and if any defects are found, they can be repaired, thereby preventing leakage of radioactivity to the ground surface. In addition, since all four vehicles are equipped with television cameras, the condition of each vehicle can be monitored at the same time, and the inspection vehicles are equipped with markers that mark abnormalities so that they can be used for the next trip. It becomes easier to find defective parts by car. Furthermore, since a cleaning brush is also included, dust and the like on the floor can be removed, and the drip tray coating surface can be inspected more clearly. In addition, since the polishing vehicle is equipped with a vacuum cleaning device, the dust generated when grinding the floor surface of the grinder, as well as dust and dirt inside the cell, are removed by this vacuum cleaning device, leaving the inside of the cell clean. kept in the state /1'+
1. Furthermore, in the two consecutive embodiments, an apparatus has been described which is equipped with four vehicles: an inspection vehicle, a polishing vehicle, a flaw detection vehicle, and a repair vehicle, but the first object of the present invention is achieved. In the end, there is no particular need for a polishing vehicle or flaw detection vehicle, and an inspection vehicle and a repair vehicle are sufficient to achieve the initial purpose.
以上説明した本発明のセル内点検補修装置によれば、セ
ルに設けられている点検孔に設置され、先端部近傍がセ
ル内に突出しているほぼ筒状の挿入回収装置と、該挿入
回収装置のセル内突出部に収納され、該挿入回収装置が
所定の位置に設置されたら開口部からセル内に降下移動
して内部を点検する点検機器を搭載している点検走行車
と、この点検走行車の点検機器で検出されたセル内欠陥
部を補修する補修走行車と、これら点検、及び補修た石
車をそれぞれ支え、画定石車の移動時の操作を行ったり
、各走行車からの情報を受取るだめにセル外部に導出さ
れている複数のケーブルとから構成したものであるから
、セルの点検孔に挿入回収装置を設置するだけで、これ
に備え付けられている点検走行車が自由にセル内を移動
でき、セル内床面の隅々まで容易に点検することができ
ることは勿論、この点検走行車で発見された欠陥部は補
修走行車で補修されるため、亀裂やピンホール等がなく
なり放射能洩れの心配がなくなる。更にミ点検走行車で
検出されたセル内欠陥部表面を滑らかに研摩する研摩走
行車と、この研摩走行車で研摩されたセル内欠陥部をさ
らに探傷して精密検査する探傷走行車を備えているもの
であるから、点検走行車で発見された欠陥部を滑らかに
研摩し、その研摩された部分を超音波、もしくは浸透探
傷で詳細に欠陥を調査して補修できるため、此種セル内
点検装置には非常に有効である。According to the in-cell inspection and repair device of the present invention described above, there is provided a substantially cylindrical insertion and recovery device that is installed in an inspection hole provided in a cell and whose tip portion protrudes into the cell, and the insertion and recovery device. An inspection vehicle is equipped with an inspection device that is housed in a protrusion inside the cell, and when the insertion/retrieval device is installed at a predetermined position, it descends into the cell through the opening and inspects the inside. A repair vehicle repairs defects in cells detected by vehicle inspection equipment, supports these inspected and repaired stone carts, operates the stone carts during movement, and collects information from each vehicle. It consists of multiple cables led out to the outside of the cell to receive the cell, so simply by installing the insertion and collection device into the inspection hole of the cell, the inspection vehicle equipped with this device can freely inspect the cell. Not only is it possible to easily inspect every corner of the cell floor, but any defects discovered by this inspection vehicle are repaired by the repair vehicle, eliminating cracks, pinholes, etc. There is no need to worry about radiation leakage. Furthermore, it is equipped with a polishing vehicle that smoothly polishes the surface of the internal cell defects detected by the micro-inspection vehicle, and a flaw detection vehicle that further detects and precisely inspects the internal cell defects polished by the polishing vehicle. This type of in-cell inspection is possible because defects found in an inspection vehicle can be polished smoothly, and the polished area can be inspected in detail using ultrasonic waves or penetrant testing for repair. It is very effective for equipment.
第１図は従来のセル内点検装置を用いてセル内を点検し
ている状態を示す断面図、第２図はセル内底部のドリッ
プトレイを示す平面図、第３図は本発明のセル内点検補
修装置をセル内に挿入した状態を示す断面図、第４図は
本発明のセル内点検補修装置に備え付けられている点検
走行車の側面図、第５図は同じく研摩走行車の側面図、
第６図は同じく探傷走行車の側面図、第７図は同じく補
修走行車の側面図である。
１・・・セル、２・・・点検孔、２ａ・・・インターペ
ンションチューブ、３・・・ドリップトレイ、３ａ・・
・溶接線、８・・・点検走行車、９・・・研摩走行車、
１０・・・探傷走行車、１１・・・補修走行車 １２，
１３，１４． ′１５・・・ケーブル、１６．１７，１
８．１９・・・ケーブル収納容器、２０・・・制御装置
、２１，２２゜２３．２４．２５・・・テレビモニタ、
２６・・・挿入回収装置、２７・・・バックアップテレ
ビカメラ、２８・・・挿入回収筒、２９・・・ケーブル
送り戻し機構、３０・・・走行用モータ、３１・・・ギ
ヤ装置、３２・・・タイヤ、３３・・・キャスタ車輪、
３４，４７，５６゜６１・・・テレビカメラ、３５・・
・点検用ミラー、３６・・・監視用ミラー、３７・・・
点検窓、３８・・・監視窓、４０・・・マーカーインキ
タンク、４１・・・マーカーノズル、４２・・・ブラシ
駆動用モータ、４３・・・ベルト、４４・・・清掃ブラ
シ、４５・・・グラインダー駆動装置、４６・・・クラ
インダー、４８・・・ストッパー、４９・・・探触子、
５０・・・染色液タンク、５１・・・洗浄液タンク、５
２・・・現像液タンク、５３，５４．５５・・・ノズ１
ｙｍ ５７−・・溶接トーチ、５８・・・ワイヤフィー
ダ、５９・・電極、６０・・・フィラーワイヤ、６２，
６３゜６４．６５・・・ケーブル送り戻しモータ、６６
・・・Ｃ，Ｅ（Ｔ、６７・・・アルゴンガスボンベ、６
８・・・人気ダクト、６９・・・フィルタ、７０・・・
真空発生装置、７１・・・排気ダクト、７２・・・人気
ダクト。
第１図
′第２図
第１頁の続き
■Ｉｎｔ、ＣＩ、’ 識別記号 庁内整理番号０発 明
者 大 内 系 日立市幸町３内Fig. 1 is a cross-sectional view showing the inside of the cell being inspected using a conventional cell inspection device, Fig. 2 is a plan view showing the drip tray at the bottom of the cell, and Fig. 3 is the inside of the cell of the present invention. A sectional view showing the state in which the inspection and repair device is inserted into the cell, FIG. 4 is a side view of the inspection vehicle equipped with the in-cell inspection and repair device of the present invention, and FIG. 5 is a side view of the polishing vehicle. ,
FIG. 6 is a side view of the flaw detection vehicle, and FIG. 7 is a side view of the repair vehicle. 1...Cell, 2...Inspection hole, 2a...Interpension tube, 3...Drip tray, 3a...
・Welding line, 8... Inspection vehicle, 9... Polishing vehicle,
10...Flaw detection vehicle, 11...Repair vehicle 12,
13,14. '15...Cable, 16.17,1
8.19...Cable storage container, 20...Control device, 21, 22゜23.24.25...Television monitor,
26... Insertion and recovery device, 27... Backup television camera, 28... Insertion and recovery tube, 29... Cable sending back mechanism, 30... Traveling motor, 31... Gear device, 32... ...Tire, 33...Caster wheel,
34,47,56゜61...TV camera, 35...
・Inspection mirror, 36...Monitoring mirror, 37...
Inspection window, 38...Monitoring window, 40...Marker ink tank, 41...Marker nozzle, 42...Brush drive motor, 43...Belt, 44...Cleaning brush, 45... - Grinder drive device, 46... Grinder, 48... Stopper, 49... Probe,
50... Staining liquid tank, 51... Cleaning liquid tank, 5
2...Developer tank, 53,54.55...Nozzle 1
ym 57--Welding torch, 58--Wire feeder, 59--Electrode, 60--Filler wire, 62,
63゜64.65...Cable feed back motor, 66
... C, E (T, 67... Argon gas cylinder, 6
8...Popular duct, 69...Filter, 70...
Vacuum generator, 71...Exhaust duct, 72...Popular duct. Figure 1'Continued from Figure 2, page 1 ■Int, CI,' Identification symbol Internal office reference number 0 Inventor Ouchi system 3 Saiwaicho, Hitachi City
Claims (1)
傍がセル内に突出しているほぼ筒状の挿入回収装置と、
該挿入回収装置のセル内突出部に収納され、該挿入回収
装置が所定の位置に設置されたら開口部からセル内に降
下移動して内部を点検する点検機器を搭載している点検
走行車と、該点検走行車と同様に挿入回収装置のセル内
突出部に収納されて、開口部からセル内に降下移動し、
前記点検走行車の点検機器で検出されたセル内欠陥部を
補修する補修走行車と、該点検走行車と補修走行車をそ
れぞれ支え、これら走行車移動時の操作を行ったり、各
走行車からの情報を受取るためにセル外部に導出されて
いる複数のケーブルとを備えていることを特徴とするセ
ル内点検補修装置。 ２、前記点検走行車は、車体と、該車体を支え、かつ、
駆動源によシ駆動される後輪とキャスタ車輪からなる前
輪と、前記車体の下部に設けられた点検窓と、該点検窓
の真上に斜め４５°で設置された点検用ミラーと、該点
検用ミラーの正面に水平に設置されたテレビカメラとよ
り構成されることを特徴とする特許請求の範囲第１項記
載のセル内点検補修装置。 ３、前記点検走行車は、点検機器でセル床面の欠陥箇所
を検出したら、該欠陥部に印をつけるマーカーを備えて
いることを特徴とする特許請求の範囲第１項、又は第２
項記載のセル内点検補１し装置。 ４、前記マーカーは、前記点検窓の前方に位置するマー
カーノズルと、該マーカーノズルの上方に設ケラれたマ
ーカーインキタンクとよシ構成することを特徴とする特
許請求の範囲第３項記載のセル内点検補修装置。 ５、前記点検走行車は、その前方に床面を清掃する清掃
装置を備えていることを特徴とする特許請求の範囲第１
項記載のセル内点検補修装置。 ６、前記補修走行車は、車体と、該車体を支え、かつ、
駆動源により駆動される後輪とキャスタ車輪からなる前
輪と、前記車体のほぼ中央に設けられ、床面欠陥部の補
修を行う溶接機と、該溶接機による床面欠陥部の補修を
監視するテレビカメラとよシ構成することを特徴とする
特許請求の範囲第１項記載のセル内点検補修装置。 ７、前記挿入回収装置の先端部に前記点検走行車と補修
走行車のセル内移動を監視する監視装置を設け、かつ、
挿入回収装置のセル外部に、各走行車より外部に出てき
た前記ケーブルを収納するケーブル収納容器をそれぞれ
設けたことを特徴とする特許請求の範囲第１項記載のセ
ル内点検補修装置。 ８、前記セル外のケーブルの先端に、前記点検走行車と
補修走行車のスピード、及び走行方向を制御指命する操
作パネルと、点検走行車、及び補修走行車が入手した点
検、補修映像を写し出すモニタテレビとから構成する制
御装置を備えていることを特徴とする特許請求の範囲第
１項、又は第７項記載のセル内点検補修装置。 ９、セルに設けられている点検孔に設置され、先端部近
傍がセル内に突出しているほぼ筒状の挿入回収装置と、
該挿入回収装置のセル内突出部に収納され、該挿入回収
装置が所定の位置に設置されたら開口部からセル内に降
下移動して内部を点検する点検機器を搭載している点検
走行車と、該点検走行車の点検機器で検出されたセル内
欠陥部表面を、前記挿入回収装置のセル内突出部に収納
されて開口部からセル内に降下移動して滑らかに研摩す
る研摩走行車と、核研摩走行車で研摩されたセル内欠陥
部を、前記挿入回収装置のセル内突出部に収納されて開
口部からセル内に降下移動してさらに探傷する探傷走行
車と、前記挿入回収装置のセル内突出部に収納されて開
口部からセル内に降下移動し、該探傷走行車で探傷され
た欠陥部を補１しする補修走行車と、これら各走行車を
それぞれ支え、各走行車移動時の操作を行ったシ、各走
行車からの情報を受取るためにセル外部に導出されてい
る複数のケーブルとを備えていることを特徴とするセル
内点検補修装置。 １０、前記点検走行車は、車体と、該車体を支え、かつ
、駆動源によシ駆動される後輪とキャスタ車輪からなる
前輪と、前記車体の下部に設けられた点検窓と、該点検
窓の真上に斜め４５°で設置されたミラーと、該ミラー
の正面に水平に配置されたテレビカメラと、前記点検機
器でセル床面の欠陥箇所を検出したら該欠陥に印をつけ
るマーカーと、前記車体の前方に設けられ、セル内の床
面を清掃する清掃装置とから構成することを特徴とする
特許請求の範囲第９項記載のセル内点検補修装置。 １１、前記研摩走行車は、車体と、該車体を支え、かつ
、ｖ、ＭＩｈ源により駆動される後輪とキャスタ車輪か
らなる前輪と、前記車体のほぼ中央部に設けられ、セル
内の床面を研摩するグラインダと、該グラインダを駆動
する駆動装置と、前記グラインダの研摩状態を監視する
テレビカメラと、前記グラインダの研摩によシ発生する
粉塵等を回収する真空掃除装置とから構成することを特
徴とする特許請求の範囲第９項記載のセル内点検補修装
置。 １２、前記真空掃除装置は、前記グラインダの近傍に設
けられた人気口と、該人気口からの粉塵等を回収してお
くフィルタと、該フィルタと人気口を結ぶ人気ダクトと
、前記フィルタへ粉塵等を吸引するだめの真空発生装置
と、吸引された粉塵等を外部へ排出する排気ダクトとよ
り構成することを特徴とする特許請求の範囲第１１項記
載のセル内点検補修装置。 １３、前記探傷走行車は、車体と、該単体を支え、かつ
、駆動源によシ駆動される後輪とキャスタ車輪からなる
前輪と、前記セル内の床面欠陥を超音波による探傷する
超音波探傷装置と、前記セル内の床面欠陥を液ｆ：浸透
させることにより探傷する浸透探傷装置と、該両探傷装
置の探傷状態を監視するテレビカメラとから構成するこ
とを特徴とする特許請求の範囲第９項記載のセル内点検
補修装置。 工４．前記補修走行車は、車体と、該車体を支え、かつ
、駆動源によシ駆動される後輪とキャスタ車輪からなる
前輪と、前記車体のほぼ中央に設けられ、床面欠陥部の
補修を行う溶接機と、該溶接機による床面欠陥部の補修
を監視するテレビカメラとより構成することを特徴とす
る特許請求の範囲第９項記載のセル内点検補修装置。 １５、前記挿入回収装置の先端部に、前記点検、研摩、
探傷、及び補修の各走行車の移動を監視する監視装置を
設け、かつ、該挿入回収装置の外部に、各走行車よシ外
部に出てきた前記ケーブルを収納するケーブル収納容器
をそれぞれ設けたことを特徴とする特許請求の範囲第９
項記載のセル内点検補修装置。 １６、前記セル外のケーブルの先端に、前記点検、イσ
（摩、探傷、及び補修走行車のスピード、及び走行方向
を制御指命する操作パネルと、前記点検、研摩、探傷、
及び補修走行車が入手した点検、研摩、探傷、補修映像
を写し出すモニタテレビとから構成する制御装置を備え
ていることを特徴とする特許請求の範囲第９項、又は第
１６項記載のセル内点検補修装置。[Claims] 1. A substantially cylindrical insertion and retrieval device that is installed in an inspection hole provided in a cell and whose tip portion protrudes into the cell;
an inspection vehicle equipped with an inspection device that is housed in a protrusion inside the cell of the insertion/retrieval device and moves down into the cell through the opening to inspect the interior when the insertion/retrieval device is installed at a predetermined position; , stored in the cell protrusion of the insertion/retrieval device in the same way as the inspection vehicle, and moved downward into the cell from the opening;
A repair vehicle repairs defects in the cells detected by the inspection equipment of the inspection vehicle, and supports the inspection vehicle and the repair vehicle, performs operations when moving these vehicles, and handles operations from each vehicle. An in-cell inspection and repair device comprising: a plurality of cables led out to the outside of the cell in order to receive information on the cell. 2. The inspection vehicle includes a vehicle body, supports the vehicle body, and
A front wheel consisting of a rear wheel and a caster wheel driven by a drive source, an inspection window provided at the bottom of the vehicle body, an inspection mirror installed at an angle of 45 degrees directly above the inspection window, The in-cell inspection and repair device according to claim 1, comprising a television camera installed horizontally in front of an inspection mirror. 3. The inspection vehicle is equipped with a marker that marks a defective portion of the cell floor when the inspection device detects the defective portion.
Device for inspecting the inside of the cell (1) as described in Section 1. 4. The marker is composed of a marker nozzle located in front of the inspection window and a marker ink tank installed above the marker nozzle. In-cell inspection and repair equipment. 5. Claim 1, wherein the inspection vehicle is equipped with a cleaning device for cleaning the floor surface in front of the inspection vehicle.
Inspection and repair equipment within the cell described in Section 2. 6. The repair vehicle has a vehicle body, supports the vehicle body, and
A front wheel consisting of a rear wheel and a caster wheel driven by a drive source, a welding machine installed approximately in the center of the vehicle body for repairing floor defects, and monitoring the repair of floor defects by the welding machine. An in-cell inspection and repair device according to claim 1, characterized in that it is constructed in conjunction with a television camera. 7. A monitoring device for monitoring the movement of the inspection vehicle and the repair vehicle within the cell is provided at the tip of the insertion/retrieval device, and
2. The in-cell inspection and repair device according to claim 1, wherein a cable storage container is provided outside the cell of the insertion and recovery device to store the cable coming out from each traveling vehicle. 8. At the end of the cable outside the cell, there is an operation panel for controlling the speed and running direction of the inspection vehicle and repair vehicle, and an operation panel that displays the inspection and repair videos obtained by the inspection vehicle and repair vehicle. 8. The in-cell inspection and repair device according to claim 1 or 7, further comprising a control device comprising a monitor television for displaying images. 9. A substantially cylindrical insertion and retrieval device that is installed in an inspection hole provided in the cell and has a tip portion protruding into the cell;
an inspection vehicle equipped with an inspection device that is housed in a protrusion inside the cell of the insertion/retrieval device and moves down into the cell through the opening to inspect the interior when the insertion/retrieval device is installed at a predetermined position; , a polishing vehicle that is housed in a protrusion in the cell of the insertion/retrieval device and moves downward into the cell through an opening to smoothly polish the surface of a defective portion inside the cell detected by an inspection device of the inspection vehicle; , a flaw detection vehicle that further detects defects in the cell polished by the nuclear polishing vehicle by being accommodated in the cell protrusion of the insertion and recovery device and moved downward into the cell from the opening; and the insertion and recovery device A repair vehicle is housed in a protrusion inside the cell and moves downward into the cell from the opening to repair the defect detected by the flaw detection vehicle. 1. An in-cell inspection and repair device comprising: a cell that is operated during movement; and a plurality of cables led out to the outside of the cell for receiving information from each traveling vehicle. 10. The inspection vehicle includes a vehicle body, a front wheel consisting of a rear wheel and caster wheels that support the vehicle body and are driven by a drive source, an inspection window provided at the bottom of the vehicle body, and an inspection window provided at the bottom of the vehicle body. A mirror installed directly above the window at an angle of 45 degrees, a television camera placed horizontally in front of the mirror, and a marker for marking defects on the cell floor when detected by the inspection equipment. 10. The cell interior inspection and repair device according to claim 9, further comprising: a cleaning device provided in front of the vehicle body for cleaning the floor surface inside the cell. 11. The polishing traveling vehicle includes a vehicle body, a front wheel consisting of a rear wheel and a caster wheel that supports the vehicle body and is driven by a v, MIh source, and a floor wheel in a cell provided approximately in the center of the vehicle body. Consisting of a grinder that grinds a surface, a drive device that drives the grinder, a television camera that monitors the grinding state of the grinder, and a vacuum cleaner that collects dust etc. generated by grinding the grinder. An in-cell inspection and repair device according to claim 9, characterized in that: 12. The vacuum cleaning device includes a port provided near the grinder, a filter for collecting dust, etc. from the port, a duct connecting the filter and the port, and a port for collecting dust from the port, and a port for collecting dust from the port. 12. The in-cell inspection and repair device according to claim 11, comprising a vacuum generator for sucking dust, etc., and an exhaust duct for discharging the sucked dust, etc. to the outside. 13. The flaw detection traveling vehicle includes a vehicle body, a front wheel consisting of a rear wheel and caster wheels that support the vehicle body and are driven by a drive source, and an ultrasonic vehicle that detects floor defects in the cell using ultrasonic waves. A patent claim comprising: a sonic flaw detection device; a penetrant flaw detection device that detects defects in the floor surface in the cell by permeating liquid f; and a television camera that monitors the flaw detection status of both of the flaw detection devices. The in-cell inspection and repair device according to item 9. Engineering 4. The repair traveling vehicle includes a vehicle body, a front wheel consisting of a rear wheel and a caster wheel that supports the vehicle body and is driven by a drive source, and is provided approximately in the center of the vehicle body, and is configured to repair floor defects. 10. The in-cell inspection and repair apparatus according to claim 9, comprising a welding machine for carrying out the welding process, and a television camera for monitoring the repair of floor surface defects by the welding machine. 15. The inspection, polishing,
A monitoring device was provided to monitor the movement of each traveling vehicle for flaw detection and repair, and a cable storage container was provided outside the insertion and recovery device to store the cables coming out from each traveling vehicle. Claim No. 9 characterized in that
Inspection and repair equipment within the cell described in Section 2. 16. At the tip of the cable outside the cell, check the
(Inspection, polishing, flaw detection, and repair An operation panel for controlling the speed and direction of the traveling vehicle;
and a monitor television that displays images of inspection, polishing, flaw detection, and repair obtained by the repair vehicle. Inspection and repair equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59032408A JPS60177247A (en) | 1984-02-24 | 1984-02-24 | In-cell inspecting and repairing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59032408A JPS60177247A (en) | 1984-02-24 | 1984-02-24 | In-cell inspecting and repairing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60177247A true JPS60177247A (en) | 1985-09-11 |
Family
ID=12358121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59032408A Pending JPS60177247A (en) | 1984-02-24 | 1984-02-24 | In-cell inspecting and repairing device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60177247A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63207555A (en) * | 1987-02-19 | 1988-08-26 | Toshiba Corp | Vessel flange face survey instrument |
| JP2013113597A (en) * | 2011-11-25 | 2013-06-10 | Hitachi-Ge Nuclear Energy Ltd | Inspection vehicle, apparatus for inspecting inside of container, and image processing method |
| JP2014190893A (en) * | 2013-03-28 | 2014-10-06 | Hitachi-Ge Nuclear Energy Ltd | Method and apparatus for internally inspecting reactor pressure vessel |
| JP2022067244A (en) * | 2020-10-20 | 2022-05-06 | Ｊｆｅスチール株式会社 | Metal plate grinding device and grinding method as well as metal plate manufacturing method |
-
1984
- 1984-02-24 JP JP59032408A patent/JPS60177247A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63207555A (en) * | 1987-02-19 | 1988-08-26 | Toshiba Corp | Vessel flange face survey instrument |
| JP2013113597A (en) * | 2011-11-25 | 2013-06-10 | Hitachi-Ge Nuclear Energy Ltd | Inspection vehicle, apparatus for inspecting inside of container, and image processing method |
| JP2014190893A (en) * | 2013-03-28 | 2014-10-06 | Hitachi-Ge Nuclear Energy Ltd | Method and apparatus for internally inspecting reactor pressure vessel |
| JP2022067244A (en) * | 2020-10-20 | 2022-05-06 | Ｊｆｅスチール株式会社 | Metal plate grinding device and grinding method as well as metal plate manufacturing method |
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