WO1999029463A1 - Tete d'emission laser, dispositif de transmission de faisceau laser, procede de reglage de dispositif de transmission de faisceau laser et dispositif d'entretien preventif/reparation de structure de reacteur nucleaire - Google Patents

Tete d'emission laser, dispositif de transmission de faisceau laser, procede de reglage de dispositif de transmission de faisceau laser et dispositif d'entretien preventif/reparation de structure de reacteur nucleaire Download PDF

Info

Publication number
WO1999029463A1
WO1999029463A1 PCT/JP1998/005569 JP9805569W WO9929463A1 WO 1999029463 A1 WO1999029463 A1 WO 1999029463A1 JP 9805569 W JP9805569 W JP 9805569W WO 9929463 A1 WO9929463 A1 WO 9929463A1
Authority
WO
WIPO (PCT)
Prior art keywords
laser
mirror
light
optical
optical transmission
Prior art date
Application number
PCT/JP1998/005569
Other languages
English (en)
Japanese (ja)
Inventor
Katsuhiko Sato
Motohiko Kimura
Yuji Sano
Mitsuaki Shimamura
Hiroaki Igakura
Makoto Ochiai
Hisashi Hozumi
Naruhiko Mukai
Masaki Yoda
Yutaka Togasawa
Yasumi Kitajima
Tomoyuki Ito
Nobuhiko Tanaka
Takuya Uehara
Makoto Kondo
Yoshifumi Sato
Tatsuki Ogisu
Minoru Obata
Naoko Hayashi
Original Assignee
Kabushiki Kaisha Toshiba
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kabushiki Kaisha Toshiba filed Critical Kabushiki Kaisha Toshiba
Priority to US09/367,060 priority Critical patent/US6881925B1/en
Priority to DE19882109T priority patent/DE19882109T1/de
Publication of WO1999029463A1 publication Critical patent/WO1999029463A1/fr
Priority to SE9902857A priority patent/SE521996C2/sv

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/10—Devices involving relative movement between laser beam and workpiece using a fixed support, i.e. involving moving the laser beam
    • B23K26/103—Devices involving relative movement between laser beam and workpiece using a fixed support, i.e. involving moving the laser beam the laser beam rotating around the fixed workpiece
    • B23K26/106—Devices involving relative movement between laser beam and workpiece using a fixed support, i.e. involving moving the laser beam the laser beam rotating around the fixed workpiece inside the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/06—Shaping the laser beam, e.g. by masks or multi-focusing
    • B23K26/064—Shaping the laser beam, e.g. by masks or multi-focusing by means of optical elements, e.g. lenses, mirrors or prisms
    • B23K26/0643—Shaping the laser beam, e.g. by masks or multi-focusing by means of optical elements, e.g. lenses, mirrors or prisms comprising mirrors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/06—Shaping the laser beam, e.g. by masks or multi-focusing
    • B23K26/064—Shaping the laser beam, e.g. by masks or multi-focusing by means of optical elements, e.g. lenses, mirrors or prisms
    • B23K26/0648—Shaping the laser beam, e.g. by masks or multi-focusing by means of optical elements, e.g. lenses, mirrors or prisms comprising lenses
    • 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

Definitions

  • the present invention relates to an optical transmission technology for transmitting light in an optical transmission line combining mirrors, and particularly, when transmitting light accurately to a target irradiation position of an object such as in a nuclear power plant, the light transmitted through the optical transmission line.
  • Optical transmission equipment that can automatically and stably perform axis adjustment and its adjustment method, as well as preventive maintenance and repair of reactor internal structures Preventive maintenance of reactor internal structures that performs stable and efficient repair work ⁇ Repair equipment.
  • the internal structure of light water reactors for example, boiling water reactors
  • materials that have sufficient corrosion resistance and high-temperature strength under high-temperature and high-pressure environments in water for example, austenitic stainless steel or nickel-based alloy.
  • those that are difficult to replace are exposed to severe environments due to the long-term operation of the nuclear power plant, and there is a concern about material degradation due to the effects of neutron irradiation.
  • the former is the one oscillated from the pulse laser device.
  • a laser peening method that irradiates the surface of a workpiece (construction surface) with a laser beam through a reflector and changes the residual tensile stress on the construction surface to compressive stress while changing the irradiation position on the construction surface It is.
  • the latter is an underwater laser process that irradiates a high-power, short-pulse laser beam with visible wavelength to a construction surface immersed in cooling water to improve residual stress, remove cracks, or remove cladding on the construction surface.
  • the above-described underwater laser processing method and apparatus use an optical fiber to guide laser light from an oscillator to a construction site.
  • an optical fiber When an optical fiber is used, the power or energy of the laser light that can be guided in the optical fiber is limited, and the optical power and energy density on the construction surface necessary for performing the surface modification as described above In order to obtain light, it is necessary to condense the light emitted from the optical fiber as small as possible.
  • the laser light emitted from the optical fiber has a high diffusion rate, so that it must be converged at a deep angle.
  • a condenser lens with an extremely shallow depth of focus is used, and the laser irradiation optical system including the optical fiber and the condenser lens must be precisely positioned with respect to the processing surface.
  • the inventors of the present invention output the laser from the laser oscillator on the operation floor or the upper part of the shroud body so that the precise positioning force of the optical fiber and the laser irradiation optical system is unnecessary.
  • Laser light is transmitted through the air to the laser irradiation optical system, and this laser irradiation optical system is used especially for reactor internal structures inside the shroud barrel.
  • conventional preventive maintenance / repair equipment for reactor internals is a reactor such as a shroud 602 installed in a reactor pressure vessel 61 of a boiling water reactor.
  • the internal structures are to be constructed.
  • the equipment for preventive maintenance and repair of the reactor internals consists of a light guide device 6 consisting of a laser power supply 604 installed on the operation floor 603, a laser oscillator 605, and a light guide member 606. 06 and a laser irradiation head 608 disposed at the tip thereof.
  • the laser beam L output from the laser oscillator 605 is transmitted by air through the light guide member 606 to the laser irradiation head 608.
  • the shura which is the reactor internal structure in the reactor pressure vessel 61
  • the vertical welding line in the lower half of the middle part of the shroud middle (V5 inner welding line) ⁇ The horizontal level of the lower end of the middle part of the shroud middle part
  • the welding line H6a inner welding line
  • the energy density that can be applied with the laser beam is reduced.
  • the irradiation point must be scanned while keeping the irradiation angle to the irradiation surface deep.
  • the irradiation angle becomes shallow and the energy of the laser light required for construction is reduced.
  • the problem is that the density force cannot be obtained sufficiently, and the irradiation distance becomes long, so a high-precision positioning mechanism is required to scan the irradiation point, and preventive maintenance and repair equipment become complicated, reducing reliability. There was a problem that.
  • the work space in the reactor is limited, and the optical transmission equipment has a complicated transmission path and a long transmission distance because it is installed in a power reactor. For this reason, there are many transmission mirrors, and there are many places that must be visually checked, and the number of optical monitoring devices such as CCD cameras installed increases accordingly.
  • the environmental change may cause the optical axis of the optical transmission path to shift, and the It is necessary to sequentially adjust the optical transmission device.
  • the laser light is affected by air fluctuations along the transmission path, and is also affected by the vibration of peripheral devices via a transmission mirror.
  • the laser light power is shaken, and the laser light cannot be transmitted stably to the target transmission point.
  • the number of CCD cameras installed in the optical transmission device is large, it takes time to adjust, and there is a problem that electronic components such as CCD cameras cannot be used in an environment with high radiation intensity.
  • the method of laser beam transmission is based on the shroud inner wall of a boiling water reactor and the welded part of the reactor internal structure in the shroud. It is suitable for preventive maintenance and repair.
  • the outside of the shroud barrel that is, the place called the annulus where the jet pump is standing in the narrow annular space between the shroud barrel outer wall, the pressure vessel inner wall, and the baffle plate.
  • the present invention has been made in view of the above-mentioned circumstances, and a laser irradiation head and a laser irradiation head capable of efficiently performing preventive maintenance and repair work using a laser beam even when a construction target location is a narrow gap.
  • the purpose of the present invention is to provide an optical transmission device equipped with an irradiation head and a preventive maintenance / repair device for reactor internal structures.
  • Another object of the present invention is to provide a shroud body inner wall which is a reactor internal structure, A laser irradiation head that can efficiently and efficiently perform preventive maintenance and repair work of a narrow cylindrical part sandwiched between the shroud middle body and the core support plate in a submerged environment using laser light and to this irradiation
  • An object of the present invention is to provide a preventive maintenance / repair device for a reactor internal structure equipped with a head and a work method thereof.
  • Still another object of the present invention is to target welding lines existing inside a cylindrical narrow portion sandwiched between a shroud intermediate portion shell and a core support plate among welding lines on a shroud body inner wall which is a reactor internal structure. Preventive maintenance of reactor internal structures that uses laser light to improve stress in the surface layer near the weld line in an underwater environment, modify the surface of the sensitized metal structure, and efficiently and efficiently carry out welding repair To provide repair equipment.
  • Still another object of the present invention is to provide an optical transmission apparatus and an adjustment method thereof that can automatically and stably adjust the optical axis of an optical transmission path combined with a mirror from a remote place. .
  • Still another object of the present invention is to make it possible to easily and easily adjust the optical axis up to a target irradiation position when transmitting light in an optical transmission line, and to further reduce the fluctuation of air and the peripheral equipment.
  • An object of the present invention is to provide an optical transmission device that can stably supply light to an irradiation position for a long time and a method of adjusting the optical transmission device, which corrects the fluctuation of an optical axis caused by vibration or the like.
  • Still another object of the present invention is to automate all optical axis adjustments up to the final irradiation point and to remotely control an optical transmission path so that the optical axis adjustment up to the final irradiation point can be used even in places where humans are difficult to access, such as reactor internals.
  • An object of the present invention is to provide an optical transmission device capable of adjusting the optical path of the present invention and a method of adjusting the same.
  • An object of the present invention is to provide a reactor preventive maintenance / repair device by a laser method capable of performing the above.
  • the laser irradiation head is a laser irradiation head that irradiates a laser beam output from a laser device to a site to be processed.
  • An irradiation head body provided with a light guiding member in the head, a condenser lens for condensing the laser light from the light guiding member in the head, and a condensing laser beam
  • a reflection mirror for irradiating the construction target portion a mirror for rotatably holding the reflection mirror around the laser optical axis, a rotating means, and a distance adjusting means for adjusting a relative distance between the reflection mirror and the condenser lens; Moving means for moving the reflection mirror and the condenser lens in the direction of the laser optical axis while maintaining the relative distance between the reflection mirror and the condenser lens, wherein the light guide member in the head, the condenser lens and the reflection mirror are formed in a narrow gap.
  • the laser irradiation head is provided with a flat and elongated lifting / lowering robot mechanism provided on the irradiation head body by a frame lifting / lowering device so as to be able to slide up and down, and a focusing lens is provided on the lifting / lowering support mechanism.
  • an illumination scanning optical system composed of a reflection mirror and the frame elevating device constitute a moving means for moving the condenser mirror and the reflection mirror while keeping a relative distance therebetween. It was done.
  • the laser irradiation head has a light guide member in the head which has a cylindrical member and an optical member for keeping the inside of the cylindrical member air.
  • the light guide member in the head is attached to the irradiation head body so as to guide the laser light to the condenser lens.
  • the light guide member in the head is made of glass, and is provided so as to guide the laser light to the condenser lens.
  • the laser irradiation head has an optical path from the light guide member in the head to the condenser lens and an optical path from the condenser lens to the reflection mirror in the surrounding environment.
  • the optical path is exposed, and is configured as a spatial transmission path depending on the surrounding environment.
  • a preventive maintenance / repair device for a reactor internal structure includes a laser device for outputting a laser beam, and a laser beam from the laser device.
  • a main body positioning device suspended in the reactor and installed in a core portion, and a laser irradiation head housed in the main body positioning device is extended and retracted to a vicinity of a construction target site so as to be freely movable.
  • a laser beam feit means for receiving the laser beam guided into the reactor and guiding the laser beam to the laser irradiation head.
  • the laser irradiation head is installed on the inner wall of the shroud. Overhanging the target and rank It is fixed and fixed.
  • the preventive maintenance / repair device for a reactor internal structure has a main body positioning device provided with an elongated cylindrical main body case. Head and laser light transmission means The main body positioning device is suspended through the lattice of the upper lattice plate and placed on the control rod guide tube in the retracted state.
  • the preventive maintenance and repair equipment for the reactor internal structure uses a clamping device that fixes the upper part to the upper lattice plate and a laser irradiation that is housed in the main body case.
  • a swivel device that determines the direction in which the head extends, a head advance / retreat mechanism that extends the laser irradiation head and the laser light transmission means to the installation target, and a main body that supports the head advance / retreat mechanism
  • a preventive maintenance / repair device for a reactor internal structure according to the present invention is provided with a base lifting device for raising and lowering in a case. It forms a movable transmission path that receives laser light and transmits it to the laser irradiation head in the air in the underwater environment inside.
  • an optical transmission device includes: an optical transmission unit that constitutes an optical transmission path by combining mirrors; and an inclination of at least one mirror that constitutes the optical transmission unit.
  • An optical transmission device comprising: a mirror adjustment device for controlling an angle; an electro-optic imaging means installed in a direction coaxial with an optical axis of light transmitted through the optical transmission path; An image processing device that calculates image information from the means and measures the amount of angular deviation of the mirror from a normal position, and a control device that inputs the amount of angular deviation of the mirror and drives the mirror adjusting device It is provided with.
  • the optical transmission means includes an image processing target installed near a mirror, and a light passage hole formed in the target.
  • the optical transmission device includes an illumination device that can illuminate a mirror or an image processing target. It is a thing.
  • the image processing apparatus compares an image pattern registered in advance with an image captured at the time of mirror adjustment, and detects a pattern shift amount of the image. It is equipped with a chining device.
  • an optical transmission device includes: an optical transmission unit that forms an optical transmission path by combining mirrors; and a tilt angle of a mirror that forms the optical transmission unit.
  • a mirror adjusting device for controlling the optical transmission wherein a part of the mirror on the optical transmission path is constituted by a half mirror or a wavelength separation mirror, and the light divided by the half mirror or the wavelength separation mirror is provided.
  • a mirror position adjuster installed in the direction that eliminates the amount of optical position shift by calculating and processing the optical position shift information output from the optical position detector installed on the sampling optical path where the light reaches It is provided with a control device for causing the control.
  • the optical transmission device includes one or more types of guide laser devices that cause guide laser light to enter the optical transmission path.
  • an optical transmission device includes: an optical transmission unit that forms an optical transmission path by combining mirrors; and at least one mirror that forms the optical transmission unit.
  • a guide laser device for outputting a laser beam, a half mirror guide means for guiding the guide laser beam from the guide laser device to the optical transmission line, and a sampling separation mirror provided in the middle of the optical transmission line.
  • the optical transmission device may be configured such that the parallel reflection optical means is a corner cube prism, a hollow corner-cube reto-port reflector, or a parallel reflection optical element of a Katzai optical system.
  • an optical transmission device includes: an optical transmission unit that forms an optical transmission path by combining mirrors; and at least one mirror that forms the optical transmission unit.
  • an optical transmission device having a mirror adjusting device for controlling a tilt angle, a main laser device for outputting a laser beam for processing, inspection, preventive maintenance or repair of an object, and a main laser beam different from the main laser beam.
  • Sampling separation mirror means provided at two different locations, parallel reflection optical means provided on the optical path separated by each sampling separation mirror means, A polarizing optical means provided on one of the separating optical paths of the row reflecting optical means; a polarizing optical means for separating the reflected light from the parallel reflecting optical means through a half mirror guide means; First and second optical position detecting devices to which the respective reflected lights separated by the parallel optical means are respectively input, and optical position shift information detected by the two optical position detecting devices are input and processed. And a control device for driving the mirror adjustment device.
  • an optical transmission device includes: an optical transmission unit that forms an optical transmission path by combining a mirror; An optical transmission device comprising a mirror adjusting device for controlling the tilt angle of at least one of the mirrors, the main laser device outputting a laser beam for processing, inspection, preventive maintenance, or repair of an object; A plurality of guide laser devices that output guide laser light having different wavelengths from the main laser light and different oscillation wavelengths; and a plurality of guide laser devices on the optical transmission path corresponding to the guide laser devices.
  • a plurality of wavelength separating mirrors installed, parallel reflecting optical means respectively installed on the optical path of the guide laser beam separated by these wavelength separating mirror means, and reflection by each of the above parallel reflecting optical means.
  • the reflected guide laser light separated by the wavelength separating mirror means and the reflected guide laser light separated by the wavelength separating mirror means are individually input.
  • a plurality of optical position detecting device that inputs to processing the detected light deviation information at each optical position detecting device, in which a control device for driving movement of the mirror one adjustment device.
  • the method for adjusting an optical transmission device includes providing an electronic optical imaging unit on an extension of the optical axis on the light source side of the optical transmission path combining the mirrors. Observe the mirror image of the image processing target through the first automatic adjustment mirror on the light source side with the electron optical imaging means, and adjust the first automatic adjustment mirror so that the observed mirror image is centered. After the first automatic adjustment mirror adjustment, the optical axis of the optical transmission path is adjusted by sequentially adjusting the automatic adjustment mirror by the same mirror adjustment method.
  • the method for adjusting an optical transmission device includes: installing an optical position detection device on an extension of an optical axis on a light source side of an optical transmission path in which a mirror is combined; ⁇ A parallel reflection optical means is installed in the middle of the path or on the laser irradiation head side, and the reflected light from the parallel reflection optical means of the guide light entered from the light source side of the optical transmission path is detected by the light position detection device.
  • the optical position is automatically detected so that the optical position deviation detected by the optical position
  • the method for adjusting an optical transmission device further comprises: providing an electro-optical imaging unit on an extension of the optical axis on the light source side of the optical transmission path combining the mirrors; The mirror image of the image processing target is observed through the first automatic adjustment mirror on the light source side by the electro-optical imaging means, and the first automatic mirror is adjusted so that the observed mirror image is at the center of the image. After adjusting the adjustment mirror, and after adjusting the first automatic adjustment mirror, the automatic adjustment mirror of the optical transmission line is sequentially adjusted by the same mirror adjustment method, and the coarse adjustment of the optical transmission line is performed.
  • the fine adjustment of the transmission line is performed.
  • the optical position detector detects the reflected light from the parallel reflection optical means of the guide light incident from the mirror, and adjusts the mirror angle of the automatic adjustment mirror so that the amount of light position shift detected by the optical position detector is eliminated. This is a method of performing fine control of the optical transmission line and correction of the influence of external vibration by controlling the device.
  • the present invention provides a laser oscillator and a control panel installed on an operation floor, a column temporarily provided on a pressure vessel pool, and a light guide tube held on the column.
  • One end is connected to the laser-oscillator projection port, the other end is in the middle of the column, and a reflection mirror box with a built-in reflection mirror with an automatic alignment mechanism for correcting the reflection angle inside; and
  • the upper end is connected to the reflection mirror box, the lower end is connected to a light guide tube having a mast structure for spatially transmitting laser light partitioned by a flat glass into the furnace, and the upper end is connected to the lower end of the light guide tube mast.
  • One of the sides is a reflective mirror box with one or more mirrors connected to a horizontal light guide tube and with an automatic alignment mechanism for correcting the angle.
  • a swivel truck temporarily mounted on a shroud upper body having a rotatable swivel function, the horizontal light guide tube built in the swivel truck, and a mechanism that can be remotely attached to and detached from the swivel truck in a furnace, And, after the coupling, the laser light from the end face of the horizontal light guide tube is received, and the structure in the space surrounded by the shroud shell outer wall in the boiling water reactor pressure vessel, the reactor pressure vessel inner wall and the baffle plate is received.
  • It consists of a plurality of types of annulus laser construction equipment having a mechanism and structure specified for each shape of each target location, with each weld line as the construction target.
  • the light guide tube mast, the swivel truck, and the laser beam application device for the annulus connecting the device including the pillars on the operation floor and the swivel truck are connected to the light guide tube for each component.
  • the section may be separated by glass in the furnace, so that it is possible to replace and assemble multiple kinds of laser-construction equipment for various types of annulus in the furnace or remotely.
  • the end faces of the light guide tube mast, the horizontal light guide tube built in the swivel truck, and the light guide tube coupling portion of the laser processing apparatus for annulus are each partitioned by flat glass to form a closed space independently.
  • the end faces of the horizontal light guide tube and the respective light guide tube joints of the laser processing apparatus for anonymous are each partitioned by flat glass to maintain a closed space independently, and the liquid surface side of the flat glass is maintained.
  • One or two or more water nozzles are fixed so that they are sprayed.
  • the end faces of the light guide tube mast, the horizontal light guide tube built into the swivel truck, and the light guide tube joints of the laser processing device for annulus are each separated by a flat glass to maintain a closed space independently.
  • Each light guide tube is connected to a pneumatic tube.
  • the swivel carriage includes a swivel carriage clamp mechanism composed of a link, a BE piston, and a pad, and a rotation bearing, a swivel motor, and a swivel that enable the entire swivel carriage to swing around the core based on the swivel carriage clamp mechanism.
  • the laser annihilating apparatus for an annulus includes a connection mechanism that can be remotely attached to and detached from a horizontal light guide tube built in the swivel cart, and a laser from the horizontal light guide tube that is vertically connected based on the connection mechanism.
  • a fixing portion that enables the laser projection head to be fixed to the center of the glaze at an arbitrary height of the diffuser inside the diffuser.
  • the laser laser processing apparatus for an annulus may further include a connection mechanism detachably connected to the horizontal light guide tube built in the swivel carriage and a diffuser connected vertically downward based on the connection mechanism.
  • a rotary light guide for transmitting laser light from the horizontal light guide having a dimension and shape capable of being seated on the upper end of the rotary light guide;
  • a connecting arm that can be attached to and detached from the connecting part remotely in the furnace to enable laser irradiation on the outer surface of the diffuser.
  • the annulus laser processing apparatus includes a connection mechanism detachably connected to the horizontal light guide tube built in the swivel carriage, and a light guide tube mast connected vertically downward based on the connection mechanism.
  • a shroud intermediate wraparound mechanism consisting of a hydraulic piston and a parallel link mechanism; an insertion mast with a shape that can pass through the space between the jet pump and the outer wall of the shroud; and a laser projection head. It is characterized mainly by its configuration.
  • the laser projection head is mainly composed of a condenser lens unit, a scanning reflection mirror (or a prism), a horizontal scanning mechanism, a swing scanning mechanism, a step linear movement mechanism, It consists of a focal length adjustment mechanism, a work surface dust removal device, one or more small microphones, a half mirror, a retro-reflector, and a surveillance camera.
  • the laser light from the light tube passes through the bellows tube and first enters the half mirror.
  • the light is split into the retro-reflector side and the condensing lens side, and the laser beam on the retro-reflector side is polarized by the polarization filter, returns to the half mirror again, returns to the laser-oscillator side, and returns to the converging lens side.
  • the laser light After passing through the bellows tube and the condenser lens, the laser light passes through the flat glass of the partition, enters the water, is reflected by the reflection mirror for scanning, and is projected toward the construction object.
  • the optical drive mechanism of one projection head is composed of a linear guide, a ball screw, gears, a rotary actuator, and the like, so that the head optical system can move stepwise up and down.
  • Focal length adjustment consisting of gears, screws, rotary actuators, etc. whose focal length can be adjusted remotely ⁇
  • a converging lens unit an oscillating scanning mechanism consisting of a bearing, gears, rotary actuator, etc., so that the reflecting mirror can oscillate and rotate around the optical axis of the incident light of the laser, and a converging lens unit.
  • the horizontal scanning mechanism is composed of a linear guide, a ball screw, a gear, a rotary actuator, and the like that are configured so that the entire unit and swing scanning mechanism can move stepwise to the left and right. Special.
  • the above laser projection head is mainly composed of a condenser lens unit, a scanning mirror (or prism), an oscillating scanning mechanism, a telescopic light guide tube mechanism, a focal length adjustment mechanism, a construction surface dust removal device, Or, it is composed of multiple small microphones and a surveillance camera.
  • the optical system of the laser projection head uses the laser light from the light guide tube connected to the laser projection head first, and then two flat glass plates. After passing through the hollow piston-shaped telescopic light guide mechanism, which enters the condensing lens unit, enters the water through the partition glass, and is reflected by the scanning reflection mirror,
  • the optical system drive mechanism of the laser-projection head is composed of two flat glass so that the entire optical system of the head can expand and contract vertically.
  • a telescopic light guide tube mechanism comprising a linear position sensor, a 0-ring, a biston mechanism, a return panel, a pneumatic tube, etc., and a gear, a screw, a rotary actuator for which a focal length can be adjusted up and down, etc.
  • a focusing lens unit with a focal length adjustment mechanism consisting of a bearing and a rotation so that the reflection mirror can swing and scan in the axial direction including the mirror surface at right angles to the optical axis of the laser incident light.
  • a swing scanning mechanism comprising an angle detection sensor and the like.
  • the laser projection head is mainly composed of a condenser lens unit, a condenser lens rotating mechanism, a scanning mirror (or prism), a telescopic light guide tube mechanism, a focal length adjusting mechanism, an oscillating scanning mechanism, Construction surface dust removal equipment, 1 It is characterized by comprising one or more small microphones and surveillance cameras.
  • the configuration of the optical system of the laser projection head is as follows. The laser beam from the light guide tube connected to the head is firstly expanded and contracted into a hollow biston-shaped telescopic light guide mechanism divided into two flat glass plates.
  • the optical axis of the condenser lens is deliberately shifted with respect to the incident optical axis so that the focal position is horizontally polarized, and enters the assembled condenser lens unit, and passes through the flat glass of the partition. After entering the water, the light is reflected by the scanning mirror and projected toward the construction object.
  • the drive mechanism is composed of two flat glass plates so that the entire optical system of the head can be extended and contracted up and down.
  • the telescopic light guide tube mechanism including a linear position sensor, an O-ring, a piston mechanism, a return panel, a pneumatic tube, and the like, and a gear, a screw, and a rotary actuator that enable a focal length to be remotely increased or decreased.
  • an underwater propeller including a screw and a motor is provided near a tip of the apparatus, and external force and water generated by the propulsion of the underwater propeller are applied to the apparatus. It is characterized by suppressing the flow and the reaction force of the above-mentioned construction surface dust removal device, and obtaining the force to stabilize the laser projection head at the construction site.
  • the laser oscillator is placed in a water-resistant vessel, temporarily mounted on the swivel truck, and a light guide tube and a support from the laser oscillator to the swivel truck are not required. It is characterized in that.
  • the laser-oscillator is installed on a swivel trolley remotely in the furnace, assembled, or Is characterized by having a positioning pin and a lock mechanism so that it can be separated, and that the light guide tube between the laser oscillator and the swivel carriage is once separated by flat glass.
  • a multi-stage assembly type guide in which a laser beam emitted from a laser oscillator provided above a reactor pool or on an operation port is provided at the center of a reactor core through a light guide tube. Through the light tube mast, it is spatially transmitted to just below the core. After that, it is turned laterally by the light guide tube provided in the turning and sliding mechanism on the shroud cylinder, and is further formed around the shroud cylinder outer periphery between the reactor pressure vessel and the shroud cylinder by a laser processing device for annulus. Irradiates the construction object in the annulus. This makes it possible to efficiently transmit one laser beam from above the reactor pool or from the operation floor to the construction target area inside the inside of the reactor.
  • the light guide tubes of each component are separated by glass on the end surface and are independent, and can be divided and arbitrarily detached, so that various lasers for any anuras specialized for each construction object can be installed.
  • the equipment can be easily replaced in the furnace.
  • the inside of the light guide tube for each element can be kept in the air even in water.
  • by constantly spraying clean water from the water nozzle, after connecting and assembling each light guide tube it is possible to prevent contamination of water remaining in the gaps between the partition glass plates and generation of bubbles on the glass surface. It is possible.
  • each light guide tube can be replaced with dry air, and the occurrence of dew condensation on the mirror and glass inside the light guide tube in water can be prevented.
  • the above-mentioned swivel truck is fixedly stretched to the lattice at the center of the core of the upper lattice plate by a clamp mechanism, and the swivel truck can be swung around the core as the center of swirl. Can be positioned in any direction of the annulus. It is possible to adjust the slide position of the construction device in the radial direction.
  • the laser beam can be effectively transmitted to the inside of the diffuser below the jet pump, and preventive maintenance and repair work using vertical and horizontal welds from inside can be realized.
  • the outer surface of the diffuser can be realized by disassembling the laser processing apparatus for annulus into two elements, a rotary light guide tube and a processing arm.
  • the rotary light guide tube is installed after removing parts that are obstructive to the construction work from the diffuser, such as the head bolt, nozzle, barrel, and adapter, which are part of the components of the jet pump.
  • the rotary light guide tube laser light can be transmitted to the upper end of the diffuser, and the lower welding portion on the outer periphery of the diffuser can be realized by the application air. This can be achieved by the freedom to rotate the rotary light guide tube around the central axis of the diffuser at the same time as the construction arm and the degree of freedom of up and down expansion and contraction of the construction arm.
  • insertion into the annulus part of the furnace can be performed by using a water supply sparger, a shroud body, a shroud head bolt bracket, and a jet pump liner.
  • a flat line of sight between jet pumps of about one hundred and several tens mm in width and several tens of mm in height, which can be seen from the furnace directly to the baffle plate without obstacles in the furnace internals such as the It can be hung vertically by using, and after insertion, the upper end can be connected to the connection mechanism of the swivel trolley, and installed and fixed in the furnace.
  • the parallel link mechanism is further operated to move the insertion mast closer to the outer wall of the middle part of the shroud.
  • the parallel link mechanism is in the gap between the lower part of the upper shroud body and the head of the jet pump, and the insertion mast is outside the gap between the jet pump and the intermediate body of the shroud.
  • the turning operation of the swivel trolley makes it possible to move half a circumference along the outer periphery of the shroud barrel without raising and lowering the laser beam installation device in the annulus section, and continuous preventive maintenance of the horizontal welded part on the outer circumference of the shroud barrel ⁇ Repair work can be implemented.
  • one laser beam is horizontally scanned by the reflection mirror of the swing scanning mechanism. This operation is combined with the vertical movement of the entire head optical system by the step linear motion mechanism to irradiate a fixed area near the weld line metal to be applied with pulsed laser light or continuous laser light.
  • preventive maintenance such as stress improvement and material modification, and repair such as laser welding can be performed.
  • Focusing of one laser beam can also be performed by a focal length adjustment mechanism.
  • the retro-reflector can use the retro-reflector to detect the positional deviation between the current optical axis position and the target optical axis position. Can be returned in real time to the laser-transmitter side, and the control function of the automatic alignment device can use this information to fine-tune the angles of some movable reflection mirrors upstream of the laser projection head.
  • the deviation of the optical axis of the laser beam is always settled within a certain range, and one laser beam can reach the condenser lens.
  • Monitoring during, during and after construction can be performed by monitoring the surveillance camera and analyzing the sound information of one or more small microphones.
  • Installation surface By installing a dust removal device, it is possible to prevent dust and dirt from entering the optical path of the laser beam so as not to hinder construction.
  • the laser beam swings the tilt of the reflection mirror of the swing scanning mechanism and is scanned in the vertical direction. This operation and the horizontal scan
  • a certain area near the weld line metal to be processed is irradiated with one pulse laser beam or one continuous laser beam, and preventive maintenance such as stress improvement and material modification, etc. Repairs such as laser welding can be performed.
  • Focusing of laser light can be performed by a focal length adjustment mechanism. Correction and movement of the construction position are performed by a telescopic light guide mechanism.
  • a retro-reflector By installing a retro-reflector, even if the optical axis moves due to the vibration of the light guide tube due to disturbances such as vibration, the information on the positional deviation between the current optical axis position and the target optical axis position can be obtained by the retro-reflector. It can be returned to the laser-transmitter side in real time.
  • the control function of the automatic alignment device fine-adjusts the angles of several movable reflection mirrors upstream of the laser projection head, automatically corrects the optical axis, and always keeps the laser-optical axis deviation constant. And the laser beam can reach the condenser lens.
  • Monitoring during, during and after construction can be performed by monitoring the surveillance camera and analyzing the sound information of one or more small microphones.
  • Installation surface By installing a dust removal device, it is possible to prevent dust and dirt from entering the laser beam's optical path and hinder construction work.
  • the focal point is shifted to the horizontal axis with respect to the rotation axis of the condenser lens.
  • the thrust generated by the underwater propeller pushes the laser processing device for annulus to the work surface at the work site, and the laser projection head It can be settled.
  • installing the laser-transmitter in the furnace eliminates the need for components such as light guide tubes and columns from the operation floor to the swivel truck, and makes the system compact.
  • FIG. 1 is a schematic view showing a state in which a laser irradiation head according to the present invention and a preventive maintenance / repair device for a reactor internal structure provided with the irradiation head are installed in a reactor.
  • FIG. 2 is a side view showing an embodiment of a preventive maintenance / repair device for a reactor internal structure according to the present invention.
  • Fig. 3 is a front view of the laser irradiation head provided in the preventive maintenance and repair equipment of Fig. 2.
  • FIG. 4 is a simplified side view showing the laser irradiation head of FIG. 3 with an outer frame removed.
  • FIG. 5 is a cross-sectional view showing an upper rotary joint of a main body positioning device provided in the preventive maintenance / repair device of FIG.
  • FIG. 6 is a diagram showing a lower rotating joint portion installed above a laser irradiation head.
  • FIG. 7 is a partial side cross-sectional view showing an upper portion of an irradiation head of a laser irradiation head.
  • Fig. 8 shows (A) the trajectory of the laser beam on the right part of the vertical weld line of the shroud, and (B) is a plan view schematically showing the laser beam irradiation state on the right part of the vertical weld line of the shroud.
  • FIG. 9 is a basic configuration diagram showing a first embodiment of the optical transmission device according to the present invention.
  • FIG. 10 is a basic configuration diagram showing a second embodiment of the optical transmission device according to the present invention.
  • FIG. 11 is a bird's-eye view showing an embodiment of a preventive maintenance / repair device for a reactor internal structure according to the present invention.
  • FIG. 12 is a sectional view of an essential part of FIG. 11 of the present invention.
  • FIG. 13 is a longitudinal sectional view showing one embodiment of the present invention.
  • FIG. 14 is a longitudinal sectional view showing one embodiment of the present invention.
  • FIG. 15 is a bird's-eye view showing one embodiment of the present invention.
  • FIG. 16 is a bird's-eye view showing one embodiment of the present invention.
  • FIG. 17 is a side view showing an embodiment of the fixing part.
  • FIG. 3A is a longitudinal sectional view showing the laser-projection head.
  • FIG. 18 is a side view showing another embodiment of the fixing portion of the present invention.
  • FIG. 19 is a bird's-eye view showing one embodiment of the present invention.
  • FIG. 20 is a longitudinal sectional view showing an embodiment of the present invention.
  • FIG. 21 is an enlarged longitudinal sectional view showing the vicinity of the connection mechanism in FIG. 20;
  • FIG. 22 is a bird's-eye view showing a laser device for annulus according to one embodiment of claims 13 and 15 of the present invention.
  • FIG. 23 is a side view showing the articulated light guide tube in FIG. 22 in a partial cross section.
  • Fig. 24 is a perspective view showing (A) an insertion mast of the present invention, and (B) is a longitudinal sectional view showing an enlarged part A of (A).
  • FIG. 25 shows (A) an annular laser according to an embodiment of the present invention. A bird's-eye view showing the construction equipment, and (B) is a longitudinal sectional view showing an enlarged part A of (A).
  • FIG. 26 is an elevation view showing a connection relationship between a laser projection head and a light guide tube according to an embodiment of the present invention.
  • FIG. 27 is an elevational view schematically showing an embodiment of the present invention in a partial cross section.
  • FIG. 28 is an elevational view showing one embodiment of the present invention in a partial cross section.
  • FIG. 29 is an elevational view showing one embodiment of the present invention in a partial cross section.
  • FIG. 30 is a block circuit diagram showing the entire control system according to one embodiment of the present invention.
  • FIG. 31 is a waveform diagram obtained by imaging the time measurement of the sound generated from the focal point in FIG.
  • FIG. 32 is a side view showing (A) a partial block diagram of the construction surface dust removing apparatus according to one embodiment of the present invention, (B) is a top view of (A), and (C) is (A).
  • FIG. 3D is an enlarged longitudinal sectional view showing the vicinity of the water jet nozzle, and FIG. 4D is a sectional view taken along line AA ′ of FIG.
  • Fig. 33 is a side view showing (A) a block diagram of a construction surface dust removing apparatus according to an embodiment of the present invention, (B) is a top view of (A), and (c) is (A).
  • Fig. 3 is an enlarged longitudinal sectional view showing the vicinity of the water jet nozzle, and Fig. 4 (d) is a sectional view taken along line B-B of Fig. 4 (c).
  • FIG. 34 is a perspective view showing a main part of one embodiment of the present invention, and FIG. 34 (B) is an enlarged view of a part A of FIG.
  • FIG. 35 is a perspective view showing a main part of one embodiment of the present invention.
  • FIG. 36A is a bird's-eye view showing a main part of one embodiment of the present invention
  • FIG. 36B is a top view showing a part A of FIG.
  • FIG. 37 is a bird's-eye view showing an essential part of one embodiment of the present invention
  • FIG. 37 (B) is a top view showing part A of (A) in a partial cross section viewed from the direction of the arrow.
  • FIG. 38 is a longitudinal sectional view partially showing the embodiment of the present invention in a side view.
  • Fig. 39 is a schematic diagram showing the configuration of a conventional preventive maintenance / repair device for reactor internals.
  • FIG. 1 is a schematic diagram showing an example in which a preventive maintenance / repair device for a reactor internal structure according to the present invention is applied to a narrow portion in a reactor.
  • reference numeral 6 10 denotes a reactor pressure vessel of, for example, a boiling water reactor as a reactor, and a cylindrical shroud 6 11 and a core support plate 6 are provided in the reactor pressure vessel 6 10.
  • the core and the upper lattice plate are housed in the core section with a capacity of 6 1 3.
  • the shroud 6 11, the core support plate 6 12 and the upper lattice plate 6 13 constitute the reactor internal structure 6 15, while a number of control rod guide tubes are provided below the core support plate 6 12.
  • 6 1 6 is installed.
  • FIG. 1 shows only one control rod guide tube 6 16.
  • Reference numeral 6 17 denotes a jet pump.
  • the reactor pressure vessel 610 While inspecting and inspecting the reactor internals 615 using periodic inspections, etc., a predetermined amount of fuel was exchanged in preparation for the next reactor operation It is.
  • the periodic inspection is carried out with water over the reactor pressure vessel 610. Utilizing this periodic inspection, etc., the preventive maintenance / repair device 620 of the reactor internal structure according to the present invention is used.
  • the preventive maintenance and repair apparatus 6 2 0 is to perform preventive maintenance and repair under water environment using laser light constriction portion of the reactor pressure vessel 6 1 0 c
  • the reactor pressure vessel 610 There are various constrictions in the reactor pressure vessel 610.
  • the sleeve-shaped or torus-shaped gap between the cylindrical shroud 6 11 and the core support plate 6 12 in the reactor pressure vessel 6 10 has a width of about 30 mm and a depth of 40 O mm.
  • 6 2 1 A part of the vertical welding line and the horizontal welding line of the shroud 611 are located at the portion corresponding to the cylindrical narrow portion 621.
  • the shroud 6 1 1 is a cylindrical or shroud composed of plate-shaped or ring-shaped shroud components (upper body, middle body, lower body) welded along the vertical and horizontal welding lines. 1 1 and a part of the vertical welding line (V5 inner welding line) existing in the lower half of the middle part of the shroud at the cylindrical narrow part 6 2 1 of the core support plate 6 1 2 Horizontal welding line (H6a inner welding line) It is positioned strongly. Since the welding wires of the shroud 6 11 are used in a severe thermal environment during the operation of the reactor, they may be deteriorated by long-term use.
  • the preventive maintenance / repair device 620 performs preventive maintenance and repair of the narrow part of the reactor internal structure 615, and makes it difficult to construct the reactor internal structure 615. It efficiently and effectively improves the stress of steel, surface modification of the sensitized metal structure, and welding repair (maintenance).
  • the preventive maintenance / repair device 62 of the internal structure of the reactor is a laser device 62 4 installed on the operation floor 62 3 above the reactor pressure vessel 61.
  • Laser guide joint scanning means 627 as laser light transmission means is provided.
  • the laser guide joint scanning means 627 constitutes laser light means for transmitting the laser light L from the laser light guiding means 625 to the laser irradiation head 626 in the air.
  • the transmitting means 6 27 constitutes a light guiding means under water environment for guiding the laser beam L to the laser irradiation head 6 26 under the underwater environment.
  • the preventive maintenance / repair device 620 is an elongated tube or box installed between the upper lattice plate 613 of the core 614 and the core support plate 612. It has a main body positioning device 6-29.
  • the main body positioning device 6 2 9 has a cylindrical main body case 6 3 0 that is rotatably provided, and the laser irradiation head 6 2 6 moves up and down 6 in this main body case 6 3 0 6 3 It is housed freely by 1
  • the laser irradiation head 6 26 is movably supported by advancing and retracting between a storage position where it is stored in the main case 630 and a projecting position that protrudes laterally from a side opening of the main case 630. You.
  • the laser irradiation head 6 26 is a flat frame or plate-shaped irradiation head body 6 32 and the same slender, flat lifting and lowering supported by the irradiation head body 6 32
  • An elevating support frame mechanism 633 as a support mechanism is provided, and a reflection mirror (described later) as an emission mirror for emitting a laser beam L is provided near the lower end of the elevating support frame mechanism 633.
  • a laser device 624 installed on the operation flow 623 above the reactor pressure vessel 610 has a laser oscillator 635 and this laser oscillation. And a laser power supply 636 for supplying a high voltage necessary for the laser.
  • a control panel and an operation panel 634 for controlling the operation and operation of the preventive maintenance / repair device 62 are provided on the operation floor 623.
  • the laser beam L output from the laser oscillator 635 is guided to the vicinity of the upper lattice plate 613 by the upper light guiding device 625 in the reactor, which is a laser light guiding means, and then the main body positioning device 628 Transmitted in the main body case 630.
  • the upper light guide device 6 25 in the reactor is an air guide device 6 25 a and an underwater light guide Steps 6 25 b are connected in a substantially L-shape for air transmission.
  • the lower end of the underwater light guide means 6 25 b is installed and supported on the upper lattice plate 6 13. As shown in Fig.
  • the main body positioning device 629 has a cylindrical member 638 at the upper part in the axial direction and the main body case 630, and the main body case 630 at the lower end in the axial direction.
  • a case flange 639 is provided, and the case flange 639 is rotatably supported on the top of the force control rod guide tube 616.
  • the cylindrical member 6 3 8 on the upper part of the main body case 6 3 0 is located corresponding to the lattice portion of the upper lattice plate 6 13, and the upper part of the main body case 6 3 0 is connected to the upper lattice plate 6 13 by the clamping device 6 40. It is pivotally clamped.
  • the clamping device 6400 covers the cylindrical member 638 in a rotatable manner.
  • the clamp tube 641 in the form of a sleeve, and the clamp pad 642 that can stop by contacting the lattice wall of the upper lattice plate 613. It has a pad advance / retreat support mechanism 643 for supporting the clamp pad 642 on the crankcase 641 so as to be able to move forward and backward, and a clamp operating mechanism 644 for operating the pad advance / retreat support mechanism 643.
  • the clamp pads 642 are provided at four locations corresponding to the rectangular lattice walls of the upper lattice plate 613.
  • the clamp operating mechanism 644 is, for example, an air cylinder, and is fixed to a fixed light guide pipe 645 provided in the main body case 630. With the operation of the air cylinder, the operation rod 6444 a is moved up and down, and the clamp pad 642 is pressed against the lattice wall of the upper lattice plate 613 to be locked and the release position retracted from the lattice wall. The space between them can be freely moved forward and backward.
  • a turning device 646 force is provided to turn the main body case 6340 in correspondence with the clamp device 640, and the turning device 646 is attached to the fixing light guide pipe 645.
  • the turning device 646 is provided with, for example, a turning motor 647. By driving the motor, the cylindrical member 638 is rotated and driven by the power transmission means 648 via a motor output shaft. 0 around center axis To be turned.
  • a suspension bolt 649 is provided on the top side of the fixed light guide pipe 645, and the body case 6330 of the preventive maintenance / repair device 620 is attached to the suspension device using the suspension bolt 649 (see FIG. (Not shown).
  • the lifting device is attached to the work cart, which is a refueling machine installed inside the reactor building.
  • a lifting light guide pipe 650 is provided in a fixed light guide pipe 645 in a telescopic shape.
  • the elevating / lowering light guide pipe 650 is supported by the fixed light guide pipe 645 in a telescopic manner so as to be able to move up and down and rotate freely, and is held integrally with the main body case 630 by rotation.
  • An elongate body base 651 is integrally connected to the lower end of the elevating light guide pipe 65 0.
  • the elevating / lowering light pipe 65 0 and the main body base 65 1 are raised and lowered by a base elevating device 65 3 provided at the lower part of the main body case 63 0.
  • the base elevating device 635 is reversibly rotatable and fixed to the lower end of the main body case 630 and is rotatable via a power transmission means driven by the reversible rotatable motor 654. It includes a screw shaft 655 as a driven ball screw for lifting and lowering, and a nut 655 for lifting and lowering screwed to the screw shaft 655.
  • the elevating nuts 65 are fixed to the elevating body base 651, and the elevating nuts 65 are moved up and down by driving the elevating motor 653. Following the elevation of the elevating nut 656, the elevating body base 651 and the elevating light guide pipe 650 are raised and lowered physically.
  • the laser irradiation head 6 26 is supported on the lifting / lowering main body base 6 51 via a head extension / retraction mechanism 6 31 1 as a head extension mechanism so as to be able to advance and retreat.
  • the head advance / retreat mechanism 631 is composed of, for example, a parallel 4-bar link mechanism 655 and a link operation W656.
  • the parallel 4-bar link mechanism 655 is opposed between the laser irradiation head 626 and the lifting base 652 of the main body case 630. A pair is provided.
  • the parallel 4-bar link mechanism 655 is actuated by a link operating mechanism 656 such as an air cylinder, and is located between the extended position where the inner wall of the shroud 611 is pressed and the storage position of the main body case 630.
  • the link operating mechanism 6556 is composed of, for example, an air cylinder. One end of the air cylinder 6556 is connected to the elevating base 652, and the operating rod at the other end is parallel. It is constructed by rotatably connecting hinges on the way.
  • the laser irradiation head 6 26 is an irradiation head of a flat rectangular frame structure linked and connected to a parallel 4-bar link mechanism 65 5 which is a head advance / retreat mechanism 6 31. Having a main body 6 32.
  • the irradiation head body 632 has a longitudinal light guide member 658 as a laser light guide pipe at the center, while the irradiation head body 632 has a parallel four-link mechanism. It is equipped with 65 5 tip drive links.
  • the irradiation head body 632 is a pair of an outer frame 60 forming a swing link, and a first frame as a rectangular intermediate frame supported by the outer frame 60 so as to be rotatable around the ear axis.
  • a frame assembly is composed of the first frame 61 and a rectangular second frame 62 as an inner frame frame rotatably supported around a vertical axis of the first frame 61.
  • the first frame 61 and the second frame 62 constitute a two-axis orthogonal gimbal mechanism, and the laser is operated by operating the parallel four-link mechanism 6555.
  • the irradiation head 6 2 6 is pressed against the shroud 6 11
  • the pressing portions 6 6 3 provided at the four corners of the second frame 6 62 which is the inner frame are attached to the inner wall of the shroud 6 1 1
  • the laser irradiation head 6 26 can be stably and reliably installed on the shroud 6 11 by stably abutting and pressing.
  • Preventive maintenance and repair equipment Laser irradiation even when installed diagonally
  • the gimbal mechanism 661, 662 makes it impossible for the head 6 26 to push the head by absorbing the displacement around the horizontal axis and the vertical axis.
  • the second frame 662 which is the inner frame of the irradiation head body 632, has a light guiding member 658 in the center mounted in the center in the longitudinal direction, and the second frame 662
  • the lifting and lowering support frame mechanism 633 is arranged so that the force can be raised and lowered.
  • the elevating support frame mechanism 633 also has a flat rectangular frame structure as a whole, and can be stably moved up and down along the guide rails 666 by the operation of the frame elevating device 665.
  • the frame lifting / lowering device 665 is provided between the second frame 662 and the lifting / lowering support frame mechanism 633. More specifically, for example, a lifting module 668 provided on a horizontal bridge frame 667 for capturing the second frame 662 and a motor 6668 for rotation are driven to rotate. It has a screw shaft 669 as an output shaft, and a frame elevating nut 670 screwed to the screw shaft 669. The frame lifting nut 670 is fixed to the lifting supporting frame mechanism 633.
  • the elevating support frame mechanism 6 3 3 is guided by sliding along the guide rails 6 6 6 of the second frame 6 6 2 by the guides 6 7 1 provided on both sides. It can be moved up and down stably and smoothly.
  • the laser irradiation head 6 2 6 elevating support frame mechanism 6 3 3 is reinforced by the provision of the upper and lower bridge frames 6 7 2, while the slide frame 6 7 3 moves up and down between the upper and lower bridge frames 6 7 2 Freely supported.
  • the slide frame 673 is moved up and down along the elevating frame 675 of the elevating support frame mechanism 6333 by the lens movement adjusting device 674.
  • the slide frame 673 is provided with a slider 6776 guided on both sides along the elevating frame 6757, while a condenser lens 6777 is installed at the center.
  • the lens movement adjusting device 6 7 4 is a distance for adjusting the distance between the condenser lens 6 7 7 provided on the slide frame 6 7 3 and the reflecting mirror 6 7 8 at the lower end of the lifting and lowering support frame mechanism 6 3 3. Functions as adjusting means.
  • the lens movement adjusting device 6 7 4 includes an adjusting elevating motor 680 fixed to an elevating frame 6 7 5, an adjusting screw shaft 6 81 driven by the motor 6 80, and a screw shaft 6.
  • An adjusting nut 6 82 is screw-connected to 8 1, and the adjusting nut 6 8 2 is attached to the slide frame 6 7 3.
  • the condenser lens 677 and the reflection mirror 678 constitute an irradiation scanning optical system 679 of the laser irradiation head 626.
  • the irradiation / scanning optical system 679 is housed in an elevating support frame mechanism 633 having an elongated flat frame structure, and together with the elevating support frame mechanism 633, the cylindrical narrow portion 6 of the reactor internal structure 615. It can freely enter and exit various narrow spaces such as 21.
  • the optical path between the condenser lens 6 7 7 of the irradiation scanning optical system 6 7 9 and the reflection mirror 6 7 8 and the optical path from the light guide member 6 5 8 in the head to the condenser lens 6 7 7 are exposed to the surrounding environment. To form a spatial transmission path.
  • the light guide member 6 58 inside the head, the condenser lens 6 7 7 and the reflection mirror 6 7 8 can be attached to the laser irradiation head 6 2 6 independently of each other. Can be improved.
  • the reflecting mirror 678 provided at the center of the lower end of the lifting / lowering support frame mechanism 633 can be swung around the optical axis of the laser beam L by the oscillating device 684 as a mirror rotating means. (Rotatable).
  • the oscillating device 6 8 4 is a oscillating motor 6 8 5 installed on the bridge frame 6 7 2 of the lifting frame 6 7 5, and the power to transmit the rotational driving force of this motor to the reflecting mirror 6 7 8 Transmission means 6 8 6.
  • the power transmission means 6 8 7 is connected to the drive bulge 6 87 fixed to the motor output shaft and And a driven pulley 689 operatively connected via a lifting belt 688.
  • the driven pulley 689 is strongly supported by the lower bridge frame 672 of the lower portion of the lifting support frame leak 633.
  • the driven pulley 6 8 9 is formed integrally or integrally with the supporting cylinder that supports the reflection mirror 6 7 8, while it is formed with a larger diameter than the drive pulley 6 8 7, and adjusts the swing angle of the reflection mirror 6 7 8. It can be fine-tuned.
  • the power transmission means 686 may be constituted by a gear mechanism instead of the belt bullion mechanism.
  • the left and right sides of the lifting support frame 633 can be weight-balanced on both sides of the light guide member 658 in the head.
  • the lens movement adjusting motor 680 on the lifting support frame mechanism 633 side, it may be provided on the slide frame 667 side. In this case, the adjusting nut 682 is provided on the lifting support frame mechanism 633 side.
  • the motor 68 of the frame elevating device 65 for raising and lowering the elevating support frame mechanism 633 on the second frame 62 on the irradiation head body 6332 side, it is provided on the side of the elevating support frame mechanism 6333. It may be provided. In this case, the lifting nut 670 is provided on the second frame 62 side.
  • the frame elevating device 65 keeps the relative distance between the condensing lens 6777 and the reflecting mirror 6878 constant and the condensing lens 6777 and the reflecting mirror 6781 in the optical axis direction of the laser beam. Can be moved.
  • the elevation frame mechanism 6 33 of the laser irradiation head 6 26 has a visual camera 6 as a head position measuring means for measuring the position of the laser irradiation head 6 26 with respect to the construction target site. 80 is provided so that the installation position, welding line, and construction state of the laser irradiation head 626 can be visually confirmed from a remote place using the visual camera 680.
  • the lifting support frame mechanism 6 At 33, a plurality of, for example, three ultrasonic microphones 681 1 are attached to grasp and measure the state of laser beam irradiation on the construction target site.
  • a ferrite indicator 682 is provided as a means for detecting the position of the laser beam irradiation point (welding line) in the force lifting and lowering support frame mechanism 633. The position of the laser irradiation head is measured and the position of the laser irradiation head is adjusted, so that the position can be adjusted.
  • a first crank scanning mechanism 6995 capable of rotating and scanning the laser beam L in a crank shape is provided below the lifting / lowering light guide pipe 650, and the crank scanning mechanism 695 scans the upper rotary joint. Make up the mechanism.
  • the first crank scanning mechanism 695 has a pair of crank mirrors 696, 697 as shown in FIG. 5, and scans the laser light in a crank shape.
  • the first crank mirror 6996 is a half mirror that is inclined and installed in the main body tube 698 fixed downwardly of the elevating light guide pipe 650, and is guided from above the elevating light guide pipe 65O.
  • the laser light L is reflected 90 degrees right next to the first crank mirror 696.
  • the reflected laser light L is reflected again by the second crank mirror 6997 directly to the left by 69 °, scanned in a crank shape, and guided into the overhanging light guide pipe 699.
  • the main cylinder 698 of the first crank scanning leak 695 constitutes a connecting means for integrally connecting the elevating / lowering light guide pipe 6500 and the elevating main body base 651, and
  • An elbow member 700 is rotatably supported by the upper rotating joint 700 on the side of 98.
  • the elbow member 700 is provided with a second crank mirror 969 as a reflection mirror.
  • An overhanging light guide pipe is supported by the elbow member 700 so as to be extendable and slidable by a sliding joint 720. Even if the overhanging light guide pipe 699 rotates, the laser beam L can be transmitted toward its center.
  • the first crank mirror 696 of the first crank scanning mechanism 695 is a half mirror, and a part of the transmitted laser beam L passes through the polarizing element 703 and detects the optical axis deviation.
  • the light is input to the retro-reflector 704.
  • the retro-reflector 704 reflects the laser light L to the center while passing through the axis of the elevating light guide pipe 650, and if it deviates from the axis, it reflects to the opposite side to the direction shifted with respect to the axis.
  • Optical element Optical element.
  • the retro-reflector 704 detects the reflected light from the retro-reflector 704 on the incident side (laser output side), so that the laser beam L Optical axis correction can be performed.
  • the second crank scan 706 includes a pair of opposed crank mirrors 707 and 708 so as to scan the laser beam L in a crank shape.
  • the first crank mirror 707 is obliquely provided on the other side of the overhanging light guide pipe 699, and the laser light L passing through the inside of the overhanging light guide pipe 699 is placed 90 degrees directly beside, for example, horizontally. Reflected in the direction.
  • the reflected laser light L is lowered 90 degrees by the second crank mirror 708, For example, it is reflected vertically and scanned in a crank shape.
  • the holding cylinder 709 holding the second crank mirror 708 is rotatably supported around the axis by the holding cylinder 711 of the first crank mirror 707 by the lower horizontal rotary joint 710.
  • an extension cylinder 712 as a head upper housing is rotatably supported by a lower vertical rotation joint 713 on the holding cylinder 710 of the second crank mirror 7108.
  • the overhang cylinder 7 1 2 is attached to the irradiation head main body 6 3 2 of the laser irradiation head 2 6 via the mounting bracket 7 14, and constitutes the irradiation head upper part 7 15.
  • the upper mirror 7 16 is constituted by a half mirror, and the laser beam L guided into the overhang cylinder 7 12 by the second crank scanning mechanism 7 06 is applied to the irradiation head upper mirror 7 16
  • the laser beam is reflected forward 90 degrees, passes through the seal glass 7 17, and is guided to the light guide member 6 58 inside the cylindrical head of the laser irradiation head 26, and this light guide inside the head Parts 6 5 8 transmitted through air 0
  • the irradiation head upper mirror 7 16 is a half mirror, and a part of the laser light L is transmitted and guided to the polarization element 7 18, and then transmitted through this polarization element 7 18 Then, the light enters a retro-reflector 7 19 as an optical axis deviation detecting means.
  • This retro-reflector 719 constitutes a means for detecting and correcting the optical axis deviation of the laser beam similarly to the retro-reflector 704 (see FIG. 5) stored in the main body case 630 side. .
  • the retroreflector 704 By installing the retroreflector 704, the laser beam L whose optical axis has been corrected before passing through the overhanging light guide pipe 699 passes through the first and second crank scanning mechanisms 699, 706. By doing so, even when optical axis misalignment occurs on the downstream side, it is possible to correct the laser beam L toward the axis. Further, the laser beam L guided from the seal glass 711, which is an optical element of the overhang cylinder 712, to the light guide member 658 in the head of the laser irradiation head 626, is As shown in FIGS. 3 and 4, the light is transmitted through the air inside the light guide member 658 in the head, radiated into the water from the lower end, and reflected through the condenser lens 677.
  • the stress can be changed to convert the residual tensile stress generated due to the thermal effect during welding into compressive stress. It can perform surface modification and weld repair of the welded metal structure.
  • the light guide member 658 inside the head of the laser irradiation head 6 26 is attached to the second frame 6 62 constituting the gimbal mechanism of the irradiation head body 6 32 2 7 2 0
  • the light guide member 658 in the head also moves around the horizontal axis and the vertical axis. Since the second frame 6 6 2 and the overhang cylinder 7 1 2 are connected and fixed by the mounting bracket 7 1 4, the laser irradiation head 6 2 6 does not shift the laser beam receiving part. .
  • the light guide member 658 in the head is composed of a light guide tube on which an unillustrated prism is mounted on the upper part and an optical member such as a seal glass (not shown) is mounted on the lower part. It is designed to be transmitted.
  • Reference numeral 721 denotes a position adjusting mechanism of the light guide member 658 in the head.
  • the displacement of the second frame 662 of the laser irradiation head 626 around the horizontal axis and the vertical axis by the gimbal mechanism is determined by the upper rotary joint 70 1 shown in FIG. 2 to FIG.
  • the optical axis of the laser beam L does not deviate because it is absorbed by the rotation (turning) and sliding motion of the sliding joint section 70 2, the lower horizontal rotating joint 7 10 and the lower vertical rotating joint 7 13 .
  • the laser beam L transmitted through the light guide member 658 in the head is The light is condensed on 677 and irradiates the construction site by the reflecting mirror 678. Even if the distance from the reflection mirror 6 7 8 to the construction target location (laser irradiation point) changes, the distance between the condenser lens 6 7 7 and the reflection mirror 6 7 8 is adjusted by the lens movement adjustment device 6 7 By changing in step 4, the focus of the laser beam L can be adjusted to the construction target location. By adjusting the positional deviation when the laser irradiation head 62 is installed, the energy density of the laser beam L that can be applied can be effectively obtained.
  • the laser light L output from the laser oscillator 635 is guided to the vicinity of the upper lattice plate 613 by the reactor light guiding device 625 as a light guiding means, and the guided laser light L is subsequently guided into the body case 630 of the preventive maintenance / repair device 620.
  • the laser beam L guided to the main body case 6330 of the main body positioning device 6229 is guided from the fixed light guide pipe 645 to the elevating light guide pipe 6500, and further from the elevating light guide pipe 6500.
  • the light is guided to the overhanging light guide pipe 699 via the first crank scanning mechanism 695. Subsequently, the light is guided from the overhanging light guide pipe 699 through a second crank scanning leak 706 into an overhanging cylinder 712 which is a housing above the head of the laser irradiation head 626.
  • Preventive maintenance of the reactor internals ⁇ Repair equipment 620 is a laser beam irradiation head 62 It is suspended using a suspension device (not shown) attached to the refueling machine, and is controlled by passing the main body positioning device 6 29 of the preventive maintenance / repair device 6 20 through the lattice of the upper lattice plate 6 13 Installed on rod guide tube 6 16. At this time, the inside of the reactor pressure vessel 6 10 is maintained in a state of being filled with water.
  • the main body positioning device 629 is suspended with the laser irradiation head 626 laser light transmitting means housed in the main body case 630.
  • the clamp device 6 40 is operated to move the clamp pad 6 4 2 to the upper grid plate 6 1 It is pressed against four places in the grid of No. 3, and the main body positioning device 6 29 is fixed between the upper grid plate 6 13 and the core support plate 6 12. Thereafter, the turning device 647 is driven to turn the main body case 6330 of the main body positioning device 629 around its longitudinal axis to determine the direction in which the laser irradiation head 626 is extended. .
  • the base elevating device 653 is driven to elevate and lower the main body base 651, and the laser irradiation head 626 is moved up and down to position the position where the laser processing is to be performed.
  • the laser irradiation head 6 2 6 is extended from the main body case 6 30, and the laser irradiation head 6 2 6 is shroud 6 1, which is the internal structure 6 15 of the reactor Press on the inner wall of 1 and fix it. This fixation is stably performed by gimbal mechanisms 6 1 and 6 2 provided on the laser irradiation head 6 26.
  • the laser irradiation head 6 2 6 With the laser irradiation head 6 2 6 pressed against the inner wall of the shroud 6 11 and fixed, the laser irradiation head is applied to the shroud 6 1 1 and the cylindrical narrow portion 6 2 1 of the core support plate 6 1 2. Insert the lower end extension of C 6 26. More specifically, the lifting support frame mechanism 633 having a flat frame structure of the laser irradiation head 626 is driven by a frame lifting device 665 shown in FIG. And insert it into the narrow cylindrical section 6 2 1 You.
  • a laser device 624 is installed on the operation floor 623 above the reactor pressure vessel 610, and the laser beam L output from the laser device 624 is supplied to the reactor pressure vessel 610.
  • the lower end of the laser light guiding means 6 25 for air transmission inside is placed on the upper lattice plate 6 13, and the preparation for preventive maintenance and repair work is completed.
  • the laser device 624 is operated to perform preventive maintenance and repair work on the cylindrical narrow portion 621 of the reactor internal structure 615 in an underwater environment.
  • the laser light L is oscillated from the laser oscillator 635.
  • the oscillated laser light L passes through laser light guide means 6 25 (air light guide means 6 25 a and underwater light guide means 6 25 b), and the upper lattice plate 6 in the reactor pressure vessel 6 10. It is guided near 13 and then guided into the main body positioning device 629 of the preventive maintenance / repair device 62.
  • the laser light L is guided by the fixed light guide pipe 645 on the upper part of the main body case 630 of the main body positioning device 629, and is guided to the elevating light guide pipe 650. From the light guide pipe 699 via the first crank scanning mechanism 695, and then from the light guide pipe 699 via the second crank scanning mechanism 706. It is guided to the overhang cylinder 7 1 2 which is the upper housing of the head 6. That is, the laser light L guided to the vicinity of the upper lattice plate 613 in the reactor pressure vessel 610 by the laser light guiding means 625 is converted by the laser guide joint scanning means 627 as the laser light means. The air is transmitted to the laser irradiation head 626 in the air, and is guided to the light guiding member 658 in the head of the laser irradiation head 626.
  • the laser beam L guided to the laser irradiation head 6 26 is transmitted through the inside of the light guide member 6 58 inside the head and taken out from the lower end, and the condensing lens 6 shown in FIG.
  • the light is condensed at 7 7 and the cylindrical mirror 6 6 1 It is irradiated to the construction site and can perform various constructions.
  • the irradiation of the laser beam L from the laser irradiation head 626 is performed according to the procedure shown in FIGS. 8 (A) and (B). The procedure for irradiating the laser beam L with the laser irradiation head 626 will be described.
  • Fig. 8 (A) shows an example of the vertical weld line (V5 vertical weld line) 123 of the shroud 61 1 located in the narrow cylindrical part 62 1 of the reactor internal structure 61 5 shows the trajectory of the laser light L applied to the right side of the portion.
  • the laser beam L is irradiated obliquely downward from the reflection point 0 of the reflection mirror 678 as shown in FIG. 4, and reaches the laser irradiation point A on the inner wall of the shroud 611.
  • the lens movement adjusting device 6 7 4 is driven to adjust the distance between the condenser lens 6 7 7 and the reflection mirror 6 7 8 .
  • the frame elevating device 65 is operated to lower (elevate) the elevating support frame mechanism 6 33.
  • the laser irradiation point A is moved to the point B by the descending slide of the lifting support frame mechanism 633.
  • the sliding movement of the lifting support frame mechanism 633 is performed in the axial direction of the light guiding member 658 in the head, so that the laser beam U and the optical axis up to the condenser lens 677 are parallel to each other.
  • the optical path length from the condensing lens 6777 to the laser irradiation point via the reflecting mirror -678 is constant during the scan. Therefore, unlike the case where the reflection mirror 678 is rotated around an axis perpendicular to the laser optical axis, the irradiation energy density of the laser beam L is made uniform, and the construction quality can be improved.
  • the oscillating device 684 is driven to move by one pitch P. Specifically, the reflection mirror 6788 is rotated by the swing motor 685, and the laser irradiation point is moved rightward by one pitch P. After that, operate the frame elevating device 65 to The lifting and lowering support frame mechanism 633 is slid upward by the amount of the pan S, and thereafter these operations are sequentially repeated.
  • the irradiation trajectory 72 4 of the laser beam L at that time is represented by the zigzag scanning trajectory cL 0 as shown in FIG. 8 (A).
  • the distance from the reflecting point 0 of the reflecting mirror 678 to the laser irradiation point changes. If the laser beam L is not focused at the laser irradiation point and the laser energy density that can be applied cannot be obtained, the lens movement adjusting device 674 is operated to operate the condenser lens 6777 and the reflection mirror. By adjusting the distance of 678, the laser beam L can be focused on the construction point (laser irradiation point).
  • the laser irradiation head 626 is moved from the seal glass 717 of the overhang cylinder 712 as shown in FIG.
  • the light path from the light guide member 658 inside the head, the light path from the light guide member 658 inside the head to the condenser lens 677, and the light path from the condenser lens 677 to the reflection mirror 678 The optical path is exposed to the surrounding environment, and the laser light L is transmitted directly underwater. Since a light guide tube for aerial light transmission is not used to guide the laser light L, the light guide member 658 in the head, the condenser lens 677, and the reflection mirror 6778 are irradiated with the laser. Can be individually mounted on the pads 62 and 26, and the degree of freedom of mounting is improved, and the optical axis adjustment force of the laser beam L is facilitated.
  • the relative distance between the condenser lens 677 and the reflecting mirror 6778 can be easily moved and adjusted by the lens movement adjusting device 6774, the relative distance between the condenser lens 6777 and the reflecting mirror 6778 can be adjusted.
  • the frame can be raised and lowered by the frame lifting mechanism 665 while maintaining the relative distance.
  • the thickness of the light guide tube can be used as the light guide area for laser light guide, and the reliability at the time of light guide up to the reflective mirror 678 Can be improved.
  • the procedure for irradiating the laser beam L with the laser irradiation head 626 described above discloses the procedure for irradiating the laser beam when the laser irradiation head 626 is pressed and fixed in one place. Yes, hereafter, this laser beam irradiation procedure is performed by changing the installation position of the laser irradiation head 6 26 up and down, left and right with respect to the vertical welding line (V 5 inner welding line) 7 23.
  • Laser irradiation of the horizontal welding line (H6a inner welding line) of the cylindrical narrow part 6 21 The laser beam irradiation can be performed by changing the installation position of the head 6 26 in various ways. .
  • the welding line on the shroud shell inner wall which is the reactor internal structure 615, is a cylinder sandwiched between the difficult-to-install shroud middle shell and core support plate 612. Even in the narrow part 21, it is possible to automatically perform remote stress improvement of the surface layer near the weld line using laser light, surface modification of the sharpened metal structure, and welding repair work. .
  • a visual camera 690 attached to the laser irradiation head 626, which improves construction quality. it can.
  • ultrasonic waves generated and transmitted from the laser irradiation point B are detected by an ultrasonic microphone 691 mounted in the laser irradiation head 6 26, and a relative laser beam to the laser irradiation head 6 26 is detected.
  • the optical member 658 may be made of a highly transparent rod-shaped glass.
  • the laser beam L received at the upper part of the laser irradiation head 626 is drawn on the side of the glass. Since the light can be reflected and guided, it can be guided to the condenser lens 767 without fail. As a result, the reliability of the preventive maintenance / repair device 620 is improved, and the construction quality can be further improved.
  • the laser irradiation head 6 26 is provided with a lifting support frame mechanism 6 33 having a flat frame structure on the irradiation head main body 6 32 so as to be able to move up and down freely.
  • a lens movement adjusting device 674 is provided as shown in Fig. 3 to make the focusing lens 6777 movable and adjustable.
  • An interval adjusting device that can adjust the relative interval between the lens 677 and the reflecting mirror (output mirror) 678 may be used. This distance adjusting device may be capable of moving and adjusting the reflection mirror 678 side.
  • the preventive maintenance and repair device for the internal structure of the nuclear reactor comprises a laser irradiation head main body for irradiating the laser irradiation head and a lifting / lowering support frame mechanism slidable up and down on the irradiation head main body.
  • a laser irradiation head main body for irradiating the laser irradiation head
  • a lifting / lowering support frame mechanism slidable up and down on the irradiation head main body.
  • An example was shown in which the elevating support frame mechanism was formed in a slender flat frame structure so that it could freely enter and exit the cylindrical narrow part of the reactor internal structure. As long as it can be put in and out of a narrow part, it is not limited to the flat frame structure.
  • It may be an elongated box structure, an elongated tubular structure or other shapes.
  • preventive maintenance / repair device for a reactor internal structure performs preventive maintenance / repair of not only a reactor internal structure in a boiling water reactor but also a reactor internal structure in a pressurized water reactor. be able to.
  • the present invention further provides an optical transmission device and a method of adjusting the same, and an embodiment thereof will be described below with reference to the accompanying drawings.
  • FIG. 9 is a basic configuration diagram showing a first embodiment of the optical transmission device according to the present invention.
  • reference numeral 810 denotes an optical transmission device for transmitting laser light in the air.
  • the optical feit device 810 is a combination of a mirror and an optical transmission means 812 as a laser light guiding means constituting the optical transmission path 811.
  • Main laser device 8 13 as a light source that outputs laser light for preventive maintenance or repair, and guide laser device 8 1 that outputs guide laser light as guide light for adjusting the optical axis of optical transmission line 8 11 4 and equipped.
  • the laser light output from the main laser device 8 13 is guided to an optical path 8 11 via a dichroic mirror 8 15 which is a photosynthesis means, and is transmitted in the air in the optical transmission path 8 11. Is guided to the laser irradiation head 8 16, and is irradiated from the laser irradiation head 8 16 to the object 8 17, so that the object 8 17 is processed, inspected, preventively maintained, or repaired. It has become.
  • FIG. 9 shows an example in which a YAG laser device is used for the main laser device 8 13.
  • a laser beam oscillated from a YAG laser device is guided in an optical transmission line 811 by an optical transmission device 810 and an object 813 is irradiated to, for example, a reactor internal structure under a radiation environment.
  • the main laser device 8 13 includes a CO2 laser, a pulse laser, etc. in addition to the YAG laser.
  • the optical transmission path 811 constituting the optical transmission means 8 1 2 is covered with a shield tube 8 18 such as a laser light guide tube or a light guide tube, and the laser light is transmitted in the air inside the shield tube 8 18. It has become so.
  • the guide laser light output from the guide laser device 8 14 is fed through the half mirror guide means 8 19 to the upstream optical transmission line 8 1 of the dichroic mirror 8 1 5 You will be guided to 1.
  • a He—Ne laser that outputs circularly polarized laser light is used for the guide laser device 8 14. Any laser beam having a different wavelength from the main laser beam may be used other than the He—Ne laser, and the guide laser beam may be a non-polarized laser beam.
  • the dichroic mirror 815 constitutes a mirror for photosynthesis, and has a large reflectance for laser light near the wavelength of the main laser light, and can transmit most of the laser light of other wavelengths.
  • the half mirror of the half mirror guide means 8 19 has a reflectivity of about 50% with respect to the guide laser light and has a high transmission characteristic with respect to laser light of other wavelengths.
  • the optical transmission line 811 incorporates a plurality of, for example, six automatic mirrors and one fixed mirror and power.
  • Fig. 9 four (1st to 4th) automatic adjustment mirrors 8 2 1, 8 2 2, 8 2 3, 8 2 4 on the optical transmission path 8 11 1 and two angle fine adjustment mirrors
  • the figure shows an example in which an automatic angle adjustment mirror (automatic adjustment mirror) 8 25, 8 26 and one fixed mirror 8 27 are arranged.
  • Each of the automatic adjustment mirrors 8 2 1, 8 2 2, 8 2 3, 8 2 4 adjusts the mirror tilt angle by the mirror adjustment device 8 30 driven by the control device 8 29, while each automatic angle
  • the adjusting mirrors 8 25 and 8 26 are also adjusted by the mirror angle adjusting device 8 31 driven by the control device 8 29.
  • Each of the automatic angle adjusting mirrors 8 25, 8 26 constituting the optical transmission line 8 11 1 is installed opposite to the upstream side of the first and second automatic adjusting mirrors 8 2, 8 2 2
  • the first to fourth optical angle adjustment mirrors 8 26 and the third and fourth automatic adjustment mirrors 8 23, 8 24 and the optical transmission line 8 11 1 near the fixed mirror 8 27 are provided.
  • Four image processing targets 833, 834, 835, 836 are arranged.
  • Each of the targets 833, 834, 835, 836 is a plate made of aluminum, the surface of which is blasted and arranged so as to cross the optical transmission line 811.
  • Each target 833, 834, 835, 836 has various shapes such as a torus shape, a washer shape, a ring shape, and a square shape, and transmits light.
  • a light transmission hole is formed in the substrate.
  • the optical transmission line 811 is provided with lamps 838, 833 as lighting devices so that the vicinity of each image processing evening gate 833, 834, 835, 836 can be irradiated.
  • 9, 840 and 841 are installed.
  • Each of the lamps 838, 839, 840, 841 is individually turned on or off by the lamp blinking control means 843 in response to a control command from the control device 811. I have.
  • the third automatic adjustment mirror 8 24 provided in the middle of the optical transmission line 8 11 constitutes a sampling separation mirror 1 means 8 24.
  • the separating mirror means 8 24 is constituted by a half mirror or a wavelength separating mirror for separating the guide laser light from the optical transmission line 8 11.
  • the separating mirror means 824 is a mirror having a transmittance of about 50% near the wavelength of the guide laser light and having a large reflectance with respect to main laser light other than the guide laser light.
  • a 1Z4 wave plate 845 as polarizing optical means and a retroreflector 846 as parallel reflecting optical means are installed on the optical path 844 separated by the separating mirror 824.
  • the 1 Z4 wave plate 845 performs polarization of the laser light guided to the separation optical path 8444, and for example, passes through the 1Z4 waveplate 845. With this, circularly polarized laser light is converted to linearly polarized light, and linearly polarized laser light is converted to circularly polarized light.
  • a parallel reflecting optical element such as a corner cube prism or a hollow corner cube constituted by combining three mirrors is used, but a parallel reflecting optical element represented by a Katzai optical system is used. May be used.
  • the retroreflector 846 When the laser beam enters the center, the retroreflector 846 reflects the reflected beam through exactly the same path as the incident beam, and when the laser beam is incident off-center, it is positioned symmetrically with respect to the center. The light is reflected in parallel with the incident beam.
  • the fixed mirror 827 arranged on the optical transmission line 811 near the laser irradiation head 816 also constitutes a separating mirror means.
  • the fixed mirror 827 has a high transmittance for the main laser light, and a mirror having a high reflectance for the guide laser light is used.
  • a retroreflector 849 as a parallel reflection optical means is arranged on the optical path 848 separated by the separating mirror 827. This retro-reflector 849 reflects the circularly polarized incident laser light by reversing the direction of polarization rotation, and constitutes a laser light displacement detection means.
  • the reflected guide laser light power from the retroreflectors 8 4 6 and 8 49 is guided.
  • a CCD camera that is formed as an extension of the optical axis on the light source side of the guide light path 851 8 5 2 is installed.
  • the CCD camera 852 has a notch filter 853 that transmits light other than the wavelengths of the main laser light and the guide laser light, and a lens 855 that can electrically adjust the focal length and focal position.
  • the optical axis is adjusted so that the possible optical axis direction is coaxial with the main laser beam.
  • Image information detected by the CCD camera 852 is input to the image processing device 855, and subjected to image processing.
  • a reference image is registered in advance in the image processing device 855, and the registered image and the camera image observed by the CCD camera 852 are compared by a pass-through matching process, and are displayed on the image. Is output to the control device 829.
  • the image processing device 855 is provided with a pattern matching device.
  • the controller 8229 inputs the positional deviation information, and moves the mirror adjusting device 830 in the direction of eliminating or minimizing the positional deviation.
  • a dichroic sampling mirror 857 is provided in the middle of the detection guide optical path 851, and the sampling optical path 858 is branched by the dichroic sampling mirror 857.
  • the sampling optical path 858 is formed as an extension of the optical axis on the light source side of the optical transmission path 811.
  • the sampling optical path 858 has retroreflectors 846, 849 installed in the optical transmission device. The guide laser beam reflected by the parallel reflection optical means such as the above is considered.
  • the sampling optical path 858 through which the reflection guide laser light is guided has a 1Z 4 wavelength plate 860 which is a polarization optical means, an interference filter 861 which passes only the reflection guide laser light, and an interference filter. And a polarizing beam splitter 862 as a light separating means for splitting the reflection guide laser light passed through 861.
  • Each of the reflection guide lasers split by the polarizing beam splitter 862 is input to each of the optical position detectors 863, 864, and is guided by the optical position detectors 863, 864. The incident position of light is detected, and the optical axis shift amount is calculated by arithmetic processing.
  • the optical position detectors 863 and 864 a 4-quadrant detector Detector and CCD element.
  • the four-quadrant detector converts the incident state of the reflected guide laser beam on the photoelectric surface divided into four quadrants and the equilibrium state at ⁇ ° as the beam incident position, and detects the displacement of the optical transmission line 811 Things.
  • the amount of displacement of the guide laser beam detected by the optical position detectors 863 and 864 is converted into an electric signal by the signal processor 865 and input to the controller 829, and the controller 82
  • the mirror adjusting device 30 or the mirror angle adjusting device 31 is controlled so that the direction in which the displacement is eliminated or the displacement is minimized.
  • the automatic adjustment mirrors 8 2 1 to 8 24, which are controlled by the mirror adjustment device 8 330, are mirrors installed on a two-axis tilt stage driven by a stepping motor. 8 1 1 to 8 2 4 are designed so that the mirror adjusting device 8 30 drives a stepping motor driver (not shown) in response to a control command from the controller 8 29 so that the mirror angle can be adjusted. It has become.
  • the automatic adjustment mirrors 82 1 to 8 24 driven by a steving motor are slow in operating speed, but have the feature of having a wide driving range. Instead of the stepping motor, a drive mechanism such as a servomotor may be used.
  • the automatic angle adjustment mirror 8 (operation mirror) 8 25, 8 26, which is controlled by the mirror angle adjustment device 8 31, is an automatic fine adjustment mirror.
  • 25, 82, and 26 are PZT automatic mirrors with mirrors installed on a two-axis tilt stage driven by an electrostrictive element (PZT), and a mirror angle adjustment device in response to a control command from the controller 829. 8 3 1 allows fine adjustment of the mirror angle.
  • an electrostrictive element drive mirror is used as the automatic angle adjustment mirror 825, 826, the mirror angle adjustment can be performed at high speed and with high accuracy, although the operating range of the mirror is narrow. Even if a galvanometer-driven mirror is used as the automatic angle adjustment mirror instead of the electrostriction element drive mirror, the same function is achieved. You.
  • the automatic angle adjusting mirrors 8 25 and 8 26 are used for the main laser light (for example, YAG laser light), the guide laser light (for example, He—Ne laser light), and the wavelength observed by the CCD camera 852. It is a mirror that has high reflectivity for the light in the area.
  • the distance between the automatic angle adjusting mirror 8 2 5 and the first automatic adjusting mirror 8 2 1 and the distance between the automatic angle adjusting mirror 8 2 6 and the second automatic adjusting mirror 8 2 2 The proximity of the optical transmission line 811 is kept close enough to the transmission distance.
  • the alignment of the optical transmission line 8 11 of the optical transmission device 8 10 is adjusted.
  • Alignment adjustment includes coarse adjustment work for the purpose of securing a rough optical transmission path 811, fine adjustment using two parallel reflection optical means 846, 849 after this rough adjustment work. This is performed separately from a vibration correction operation for compensating for a positional shift due to vibration of the optical transmission line 811.
  • the optical transmission device 810 is provided with optical path coarse adjustment means for roughly adjusting the optical transmission path 811 and optical path fine adjustment means for finely adjusting the optical transmission path 811.
  • the adjustment means can be automatically controlled by remote control.
  • the optical path fine adjustment means is a control means for performing feedback control of the automatic adjustment mirrors 825 and 826 at high speed, and can also perform a vibration correction work by external vibration.
  • the optical axis of the laser light is at the center of the image taken by the CCD camera 852. . Therefore, by changing the focal position and focal distance of the CCD camera 852, the laser at any position on the optical transmission path 811 can be obtained. The light transmission position can be confirmed.
  • the coarse adjustment of the optical transmission line 811 is performed by sequentially adjusting the automatic adjustment mirrors 821 to 8224.
  • the optical transmission line 811 is covered with a shield tube 818 to prevent light from leaking to the outside. Without illumination, it is impossible to observe the image processing evening get 833. For this reason, the control device 8229 activates the lamp blinking control means 843 to light up the lamp 838 located downstream of the first automatic adjustment mirror 821, and the image processing target 8 3 Light only 3 By illuminating the target 833, the target 833 can be selectively observed by the CCD camera 852, and a mirror image of the first automatic adjustment mirror 21 can be observed.
  • the zoom position and the focal position of the CCD camera 852 are adjusted by the command from the signal processing device to the shape of the image processing target 833, and thus the mirror of the first automatic adjustment mirror 821. Adjust to a preset position so that one image can be sufficiently grasped.
  • the target 833 can be observed by the CCD camera 852 via the automatic adjustment mirrors 825 and 821. At this time, if the installation angle of the automatic adjustment mirror 821 is shifted, the position of the target 833 on the captured image appears to be shifted from the center of the shooting screen.
  • the image processing device 855 pre-registers a reference image when the target 833 is seen at the center, and compares the registered image with the observed camera image by pattern matching processing. By the pattern matching process, a force calculation is performed to determine how much the target position on the image is deviated from the center, and the calculation result (image shift amount) is used. Output to 29.
  • the control device 8229 drives the mirror adjusting device 830 based on the image misalignment information, and adjusts the mirror angle so that the automatic adjusting mirror 821 can reduce or minimize the amount of image misalignment. You. By this mirror angle adjustment, adjustment is made so that the evening get 833 is at the center position on the image swollen by the CCD camera 852.
  • the force at which the evening get 8 3 3 can be seen at the image center on the image taken by the CCD camera 85 2 This is the center position of the evening get 8 3 3 Means that the laser beam is passing through.
  • the coarse adjustment force of the automatic adjustment mirror 8 2 1 is completed by positioning the target 8 3 3 at the center of the 3 ⁇ 4B image of the CCD camera 8 52 2.
  • the rough adjustment work of the adjustment mirror 8 22 is performed. This rough adjustment basically conforms to the adjustment work of the automatic adjustment mirror 8 21.
  • the lamp blinking means 843 is operated by the command of the control device 829 to turn off the lamp 838, and only the next lamp 839 is turned on.
  • the zoom position and focal position of the CCD camera 852 are adjusted to the preset positions so that the shape of the camera 8348 can be fully understood by the command from the signal processing device. I do.
  • the automatic adjustment mirror can be used to observe the target 834 for image processing via the 828, 821, 826, 822
  • the mirror image of the adjusting mirror 8 22 can be observed. If the setting angle of the automatic adjustment mirror 8 22 is shifted, it will appear to be shifted from the center of the position shooting screen of the evening get 8 3 4 on the image taken by the CCD camera 8 52.
  • the image processing device 855 pre-registers a reference image when the target 835 appears to be at the center, and compares the registered image with the observed camera image (mirror image) by pattern matching processing. .
  • the result of calculating how much the position of the target 834 on the image deviates from the center by pattern matching processing is controlled from the image processing device 855 (the amount of image shift and angle shift). Output to device 829.
  • the control device 8229 drives the mirror adjusting device 8330 automatically based on the image shift information so that the target 834 is positioned at the center of the image captured by the CCD camera 852. Adjust the angle of the adjusting mirror 8 2 2.
  • the target 8 3 4 can be seen at the center of the image taken by the CCD camera 8 52. This means that the laser beam power has passed through the center of the evening get 834.
  • the target 834 is located at the center of the image captured by the CCD camera 852, the coarse adjustment of the automatic adjustment mirror 8222 is completed.
  • the fine adjustment operation of the optical transmission line 811 and the function of vibration detection are operated.
  • the guide laser device 8 14 shown in FIG. 9 is preliminarily adjusted using, for example, a He—Ne laser so that the guide laser light to be emitted is a clockwise circularly polarized beam.
  • This circularly polarized guide laser beam is split into two laser beams, a reflected beam and a transmitted beam, at the position of the automatic adjustment mirror 824 as a means for sampling and separating mirrors.
  • the guide laser beam transmitted through the automatic adjustment mirror 824 is transmitted through the 1Z4 wavelength plate 845, the polarization direction defined by the polarization characteristic axis is converted to a linearly polarized laser beam.
  • This linearly polarized laser beam is subsequently reflected by the retroreflector 846 and returns to the 1Z4 wave plate 845 again.
  • the retroreflector 846 has the optical property of reflecting the incident laser beam parallel to the incident beam at any angle.
  • the reflected laser beam is reflected through the same path as the incident laser beam.
  • the incident light is shifted from the center, the light is reflected parallel to the incident laser beam from a position shifted to a symmetric position with respect to the center.
  • the retroreflector 846 is constituted by a hollow cornercap parallel reflecting optical element in which three mirrors are combined, and the polarization of the reflected laser beam from the retroreflector 8464 is the same as that of the incident laser beam. It is reflected as linearly polarized light having the direction of polarization.
  • the linearly polarized laser beam reflected by the retroreflector 8 4 6 is 1 Z4 Since the light re-enters the wave plate 845 from the opposite direction, it is returned as a circularly polarized reflected laser beam having the same rotation direction as when the light is incident. This return laser beam follows the incident optical transmission line 811 in reverse, and returns to the light source ⁇ j of the guide laser device 814.
  • the reflected guide beam is reflected by the dichroic sampling mirror 857 on the sampling optical path 858 and sampled.
  • the reflection guide laser beam guided to the sampling optical path 858 is converted into a linearly polarized laser beam by a 1Z4 wavelength plate 860.
  • the positional relationship between the 14-wavelength plate 860 and the polarizing beam splitter 862 is such that, when the incident laser beam is circularly polarized, the direction of rotation of the circularly polarized light, that is, the clockwise circularly polarized light or the counterclockwise circularly polarized light. Is adjusted so as to be distributed to the position detecting device 863 or 864 in accordance with.
  • the interference filter 861 is provided in the middle of the sampling optical path 858, light other than the wavelength of the guide laser light cannot reach the position detecting devices 863 and 864. I have.
  • the reflected laser beam from the retro-reflector 46 is circularly polarized clockwise with respect to the traveling direction at the time when the reflected laser beam is reflected by the dike reflection mirror 857.
  • the incident position of the laser beam incident on the optical position detecting device 865 is converted into an electric signal by the signal processing device 865 and taken into the control device 829 as control information.
  • the guide laser light reflected by the automatic adjustment mirror 8 2 4 travels in the direction of the fixed mirror 8 27, and only the He-Ne laser light of the guide laser light is retro Reflector 4 Reflected in 9 directions, the remaining The laser beam is transmitted and guided to the laser irradiation head 8 16.
  • the retro-reflector 849 like the retro-reflector 846, is a combination of three plane mirrors, so that light incident as circularly polarized light is reflected with the polarization direction reversed.
  • the guide laser light reflected by the retroreflector 849 returns in the opposite direction to that of the incident beam, and reaches the dichroic mirror 857 through the optical transmission line 811.
  • the direction of circular polarization of the reflected guide laser light returned from the retroreflector 849 is opposite to the direction of circular polarization of the reflected guide laser light returned from the other retroreflectors 846.
  • the reflected guide laser beam from the retroreflector 849 enters the optical position detection device 864 side, and the positional deviation information of the guide laser beam at the position of the retroreflector 849 is transmitted to the signal processing device. It can be provided to the control device 829 via 865.
  • the controller 8229 Based on the information on the light (beam) displacement at these two locations, the controller 8229 drives the mirror angle adjuster 831 so that the displacement of the reflected laser beam is eliminated or minimized. Then, feedback control for adjusting the angles of the automatic angle adjustment mirrors 825 and 826 is performed.
  • the position detectors 863, 864, the signal processor 865, the controller 8229, and the automatic angle adjustment mirrors 825, 826 used for fine adjustment of the optical transmission line 811 In each case, the response characteristics are fast, and according to the speed of these feedback loops, it is effective to detect the displacement of the beam caused by the vibration of each of the automatic angle adjustment mirrors 8 25, 8 26. It is possible. Also, The transmission position of the laser beam can be controlled according to the accuracy of the trolley reflectors 846 and 849, the position detection devices 863 and 864, and the control accuracy of the automatic angle adjustment mirrors 825 and 826.
  • the fluctuation of the laser light due to air or mechanical vibration generated during long-distance transmission using the automatic adjustment mirror can be corrected.
  • the laser beam can be transmitted to 817 irradiation points.
  • the optical axis of the laser light optical transmission path 81 1 and the measurement axis of the CCD camera 852 to be observed are the same and set as a common axis, the laser light optical transmission path 811 Can be observed linearly from the entrance side to the exit side, the angle deviation of the optical axis is calculated from the position deviation on the exit side, and the optical axis is roughly adjusted using the automatic adjustment mirrors 821 to 824 by the deviation amount be able to. Therefore, there is no need to install an electronic imaging device such as a CCD camera 852 in the middle of the optical transmission line 811. Even in an environment with strong radiation, the optical axis of the optical transmission line 811 can be automatically and stably adjusted remotely. It is possible to do that.
  • remote adjustment can be performed with one CCD camera 852 without installing a CCD camera for each location of the automatic adjustment mirror in the optical transmission line 811.
  • the image information input to the CCD camera 852 is input to the image processing device 855, and in order to obtain the image shift information, the angle shift amounts of the automatic adjustment mirrors 821 to 824 are automatically determined based on the images captured by the CCD camera 852. It is possible to measure dynamically and automatically adjust the automatic adjustment mirrors 821-824.
  • this optical transmission device 810 is provided with image processing targets 833 to 836 near mirrors 826, 823, 824, and 827 used for optical transmission, and the angle of the optical axis is calculated from the displacement of the targets 833 to 836. Gap Is calculated, so that only the mirrors 8 26, 8 23, 8 24, and 8 27 immediately before the target 8 3 3 to 8 36 in which the displacement has occurred are used to calculate the optical axis. Can be adjusted. In other words, when remotely adjusting the automatic adjustment mirrors 8 21 to 8 24 in the optical transmission line 8 11 1, the position to be transmitted can be clarified by adjusting, and the processing contents can be simplified in image processing. Can be achieved.
  • the position of the mirror and target on the optical axis of the optical transmission line 811 that is currently being adjusted is clearly judged and adjusted according to the shape of the image processing evening target 833 to 836. This makes it easy to determine the position to be used, and also makes it possible to accurately measure the amount of deviation of the automatic adjustment mirror 82 1 to 8 24.
  • the optical transmission device 810 according to the present embodiment includes a lamp 838 to 841 as a lighting device in the vicinity of a mirror 826, 823, 824, 827 used for transmission. By setting up the lights of each of the targets 833 to 836 observed by the CCD camera 852, it is possible to determine which target deviation is being corrected. The displacement can be calculated with a clearer camera image.
  • the evening adjustment at the downstream position of the automatic adjustment mirror 8 21 1 to 8 24 currently being adjusted should be clearly separated from the image of another mirror or target.
  • Mirror to be adjusted because it is possible — It is possible to easily determine the position of the image and to accurately measure the amount of deviation of the mirror.
  • the mirror adjusting device 8330 driven by the control device 829 is an automatic mirror device of a stepping motor drive system or a servo motor drive system, and image processing information is transmitted.
  • the automatic adjustment mirror 8 2 1 to 8 2 4 is driven, the automatic adjustment mirror 8 2 1 to 8 2 4 can be accurately driven according to the amount to be driven. Without adjusting the adjustment mirror 8 2 1 to 8 2 4 over and over again, Since the mirror angle can be adjusted at a time, faster optical axis adjustment is possible.
  • the optical transmission device 810 has a pattern matching function added to the image processing device 855 of the CCD camera 852, so that the registered image of the optical transmission line 811 recorded in advance and observation can be performed.
  • the angle deviation of the optical axis can be calculated and the optical axis can be adjusted. Wear.
  • the shape and displacement of the evening get 8 3 3 8 3 6 corresponding to the current automatic adjustment 8 2 1 8 2 4
  • the optical transmission device 810 of the present embodiment includes an optical transmission unit 812 that forms an optical transmission line 811 by combining one or more mirrors.
  • the mirror adjustment devices 830, 831 that can remotely control the tilt angle of the mirrors are provided on some or all of the mirrors constituting the mirror.
  • a part of the mirrors on the optical transmission line 811 is used as a separating mirror as a semi-transmitting mirror or a wavelength separating mirror as 824 and 827, and each separating mirror is used as a separating mirror.
  • the optical position detectors 863 and 864 are installed at the positions where the reflected light of the guide laser light divided by 824 reaches, and output from the optical position detectors 863 and 864 Since it is equipped with a control device 829 that drives the automatic mirror device as the mirror angle adjustment device 831 by calculating the position information, the mirror position shift measurement method using the CCD camera 852 is used. Accuracy can be increased. In addition, the speed of position measurement was also measured using a CCD camera 8 5 2 gg can be much faster than in the case of gg. It is possible to drive 8 26 at high speed to eliminate the effects of external vibration.
  • the optical transmission device 810 includes a guide laser device 814 in addition to the main laser device 813 that outputs the main laser light, the main laser light, which is the laser light to be transmitted, has a low repetition rate. Even when there is a variable element such as a pulsed laser, the optical path can be adjusted based on the guide laser beam emitted from the separate guide laser device 814 for adjusting the optical axis. Optical transmission becomes possible.
  • the optical transmission device 810 is provided with a separation mirror means such as a semi-transmissive mirror or a wavelength separating mirror, which is a part of the automatic adjustment mirror 824 or the fixed mirror 827 on the optical transmission line 811.
  • a separation mirror means such as a semi-transmissive mirror or a wavelength separating mirror, which is a part of the automatic adjustment mirror 824 or the fixed mirror 827 on the optical transmission line 811.
  • a parallel reflection typified by a corner cube prism, a hollow corner cube, and a cat's-eye optical element installed at the position where the guide laser beam divided by the separation mirror means 8 24 and 8 27 reaches.
  • the optical transmission device 810 of the present embodiment oscillates with non-polarized light or circularly polarized light separately from the main laser device 813 that outputs laser light to be transmitted.
  • a guide laser device 8 14 is provided, and in two portions of the optical transmission line 8 11, some mirrors on the optical transmission line 8 11 1 are partially transmissive mirrors or wavelength separating mirrors. 8 2 4 and 8 2 7 are installed.
  • Polarizing optical element 8 4 5 installed at the position where the guide laser beam divided by 2 4 reaches, and parallel reflecting optical element 8 typified by a corner cube prism and a hollow corner gap ⁇ While installing 46, the half mirror means 8 19, 8 57 installed on the guide laser device 8 14 side and the polarizing optical element installed following the half mirror means 8 19, 8 57 860 and the two light position detectors 6, 864 and the position information output from these light position detectors 863, 864 are processed and mirrors are automatically processed as angle adjustment means.
  • a control device 829 for driving the mirror device 831 is provided. For this reason, it is possible to provide two places for measuring the displacement of the guide laser beam with one type of guide laser device 8 14 using the polarization characteristics of light.
  • an automatic mirror device 831 as a mirror angle adjusting means uses an electromirror device driven by an electrostrictive element or an automatic mirror device driven by a galvanometer with a fast response characteristic, and a light position detecting device 831. 3, 8 6 4? Since an optical position detection element using a 30 (Positi on Sensitive Detectors) element or a split-type photodiode element is used, the optical transmission device 8100 is affected by external vibration having higher frequency components. In this case, it is possible to eliminate the influence of the optical axis shift due to vibration.
  • the optical device 8110 can be automatically automated from rough optical path coarse adjustment of the optical transmission line 811 to fine adjustment of the optical path and removal of the influence of vibration.
  • the optical transmission device 8 10 When repairing the object 817, which is an internal structure of the nuclear reactor, high-power laser light can be transmitted to the optical transmission line 811 stably, ensuring reliable construction. Using the optical transmission line 811, the transmission position can be remotely photographed by the CCD camera 852.
  • FIG. 10 is a basic configuration diagram showing a second embodiment of the optical transmission device according to the present invention.
  • the optical transmission device 870 shown in the second embodiment is different from the optical transmission device 870 shown in the first embodiment in that a plurality of guide laser devices 871 and 872 having different oscillation wavelengths of laser light are provided. Although it is basically different from the 870, the provision of a plurality of guide laser devices 871 and 872 eliminates the need for polarizing optical means, and makes the configuration of the sampling detection path 873 different. Other configurations are not substantially different from those of the optical transmission device 810 shown in the first embodiment, and therefore the same reference numerals are used and the description will be briefly given.
  • FIG. 10 shows an example in which two guide laser devices 871 and 872 are provided.
  • the first guide laser device 871 has a He—Ne laser device for oscillating He—Ne laser light
  • the other guide laser device 871 has a second laser device.
  • An example is shown in which a 2-guide laser device 872 is provided with a He-Cd laser device having a different oscillation wavelength from the He-Ne laser beam.
  • the red guide laser light (He-Ne laser light) output from the first guide laser device 871 is used as the purple guide laser light (He-Cd laser light) output from the second guide laser device 872.
  • the light is combined by a dichroic mirror 874 as a light combining means, and is input from a half mirror, which is a half mirror guide means 819, to an optical transmission line 811 via a dichroic mirror 815, which is a light combining means.
  • the main laser device 813 as a light source is, for example, a carbon dioxide laser device, and the main laser output from the main laser device 813 is provided.
  • the light carbon dioxide laser light
  • the irradiation head (laser irradiation construction head) is guided to 8 16, and is irradiated from this laser irradiation head 8 16 to the laser irradiation section of the object 8 17, such as the reactor internal structure. Processing, inspection and preventive maintenance of the object 8 17 L ⁇ is to be repaired.
  • a YAG laser, a pulse laser, or another laser is selected according to the application such as processing, inspection, preventive maintenance or repair of the object 817 other than the carbon dioxide laser.
  • the dichroic mirror 815 is designed to have a large reflectance only for light in the vicinity of the wavelength of the carbon dioxide laser light, which is the main laser light, and to transmit most of light of other wavelengths.
  • the half mirror of the half mirror means 8 19 that guides the guide laser light as the guide light from the first and second guide laser devices 8 7 1 and 8 7 2 to the optical transmission line 8 11 1 side is a guide laser. It is designed to have a partial reflection characteristic with a reflectivity of about 50% at the wavelength of the He—Cd laser light and He—Ne laser light, which is the primary light, and to increase the transmission characteristics at other wavelengths. ing.
  • the guide laser beams output from the first and second guide laser devices 871, 872 are converted by the dichroic mirrors 873, 815 and the half mirror optical device 819, which are photosynthesis means.
  • the light is guided into the optical transmission line 811 and scanned in the optical transmission line 811.
  • the guide laser light scanned in the optical transmission path 8 11 1 is automatically adjusted by a self-adjusting mirror 8 24 serving also as a separating mirror means, for example, the first guide laser light (He—Ne laser light) is separated by an optical path 8 4 4.
  • the second guide laser beam (He—Gd laser beam) is guided to the separation optical path 848 by the fixed mirror 827, which is also a separation mirror.
  • the self-adjusting mirror 824 constituting the separation mirror means has, for example, a transmission / reflection characteristic having a high wavelength transmittance with respect to the first guide laser beam (He-Ne laser beam), and a wavelength of other wavelengths.
  • This mirror has high reflectivity for light, main laser light, and second guide laser light.
  • a fixed mirror 827 which is another means of separating mirrors, is a mirror having a high wavelength reflectance of the second guide laser light and a high transmittance for light of other wavelengths / main laser light. It is.
  • the guide laser light guided to each of the separation optical paths 844, 848 is reflected in parallel by retroreflectors 846, 849 as parallel reflection optical means, and the original optical transmission path 811 Is returned to.
  • retroreflectors 846 and 849 prism-type parallel reflective elements are used, but instead of the retroreflectors 846 and 849, a parallel reflective optical element such as a cat's eye optical system may be used.
  • the guide laser light returned inside the optical transmission line 8 11 passes through the dichroic mirror 8 15 and the half mirror 8 9 to be guided to the dichroic sampling mirror 8 5 7, and this dichroic sampling is performed. It is guided to the sampling detection path 873 3 by the mirror 8857.
  • An interference filter 8766 which transmits the first and second guide laser beams and cuts light having a wavelength other than the first and second guide laser beams, through the sampling detection path 873 and the transmitted guide laser beam,
  • a dichroic mirror 877 is provided as a light separation means for splitting.
  • the dichroic mirror 8 7 7 separates the transmitted guide laser light into a first guide laser light (He-Ne laser light) and a second guide laser light (He-Ge laser light). .
  • the first guide laser light is transmitted and the second guide laser light is reflected.
  • the wavelength-separated first guide laser light passes through an interference filter 878 and is guided to a light position detecting device 879.
  • the light position detecting device 879 causes the first guide laser light to shift its optical position. Is detected and sent to the signal processing device 865.
  • the interference filter 878 transmits only light near the wavelength of the first guide laser light, and cuts other light.
  • the second guide laser light wavelength-separated by the dichroic mirror 877 7 of the light separating means is guided to the light position detecting device 81 via an interference filter 880 that passes only the second guide laser light.
  • the optical position detecting device 81 detects the amount of optical position deviation of the second guide laser beam, and the detection signal is sent to the signal processing device 865.
  • the detection signal of the deviation amount of the optical position (optical axis) of the two guide laser beams is signal-processed, converted into an electric signal, and input to the control device 829.
  • the mirror adjustment means 8 33 and mirror angle adjustment (fine adjustment) are controlled by means of 9 and the drive of the means 8 31 is controlled, and the automatic adjustment mirrors 8 2 1, 8 2 2, 8 2 3, 8 2 4 and the automatic angle adjustment ( (Fine adjustment)
  • the operation control of the mirrors 8 25 and 8 26 is performed to adjust to minimize or minimize the amount of optical axis deviation.
  • the reflected guide laser light that is not reflected by the dichroic sampling mirror 857 and is not reflected by the sampling detection path 873 is transmitted to a CCD camera 852 as an electro-optical imaging means.
  • the CCD camera 852 has a notch filter 852 that can transmit light other than the wavelength of the main laser light (acid gas laser light) and the guide laser light, and a lens 853 that can electrically adjust the focal length and position.
  • the camera system is equipped with an optical axis that can be photographed and is adjusted so that it is coaxial with the main laser beam.
  • the image output from the CCD camera 852 is taken into the image processing device 855 and subjected to image processing.
  • the center position of the target is An image is registered in advance, and the registered image is compared with the image observed by the CCD camera 852 by pattern matching processing, and the deviation amount of the observed image from the reference 3 ⁇ 4 recorded image is detected.
  • the detected image shift amount is input to the control device 29 and is subjected to arithmetic processing.
  • the controller 8 2 9 controls the driving of the mirror adjusting device 8 30 to automatically eliminate or minimize the image shift amount.
  • the angle of the mirror 8 2 1, 8 2 2, 8 2 3, 8 2 4 Adjustments are being made.
  • the optical transmission line 811 is configured by combining, for example, six automatic mirrors and fixed mirrors that can adjust the reflection angle of light remotely.
  • the automatic mirror is composed of, for example, four automatic adjustment mirrors 8 21, 8 22, 8 23, 8 24 and an automatic angle adjustment (fine adjustment) mirror 8 25, 8 26.
  • the automatic adjustment mirrors 8 21, 8 22, 8 23, and 8 24 are automatic mirrors with mirrors installed on a two-axis tilt stage driven by a stepping motor, and the control unit 8 29
  • the mirror angle adjustment can be performed by the stepping motor driver constituting the mirror adjustment device 830 in accordance with the control command.
  • An automatic mirror driven by a steering motor has a slow operating speed, but can have a wide driving range.
  • a drive mechanism such as a servomotor may be provided instead of the stepping motor.
  • the automatic angle adjusting mirrors 8 25 and 8 26 are PZT automatic mirrors in which a mirror is installed on a two-axis tilt stage driven by an electrostrictive element (PZT).
  • PZT electrostrictive element
  • the mirror angle adjusting device 831 is operated and controlled according to a control command from the control device 829 so that the mirror angle can be adjusted.
  • An electrostrictive element (PZT) drive mirror is a fine adjustment mirror that generally has a narrow operating range but very high accuracy.
  • the automatic angle adjusting mirrors 825 and 826 are mirrors having high reflectance in the wavelength range of the guide laser light, the wavelength of the main laser light, and the wavelength range observed by the CCD camera 852.
  • the g separation between the automatic adjustment mirrors 8 25 and 8 21 and the distance between the automatic adjustment mirrors 8 26 and 8 22 are relative to the total transmission distance of the optical transmission line 8 11. And close enough to L.
  • Each of the 0 targets 8 3 3 to 8 3 6 is a plate made of aluminum with a blasted surface, and has a donut shape, a square shape, or another shape with a hole in the light passage part. You.
  • lamps 8 3 85 to 8 4 1 as lighting devices will be installed at positions where only the vicinity of the evening get can be brightly illuminated respectively.
  • These lamps 838 to 841 can be individually turned on or off by the lamp blinking control means 843 in accordance with a control command from the control device 829.
  • the main laser light output from the main laser device 813 is guided to the optical transmission means 812 by the dichroic mirror 815, It is guided to the laser irradiation head 8 16 through the optical transmission line 8 11 of 8 12, and from the laser irradiation head 8 16, the object 8 17, for example, the internal structure of the reactor Is irradiated.
  • the object 8 17 for example, the internal structure of the reactor Is irradiated.
  • the main laser beam from the main laser device 8 13 is transmitted through the optical transmission means 8 1 2 Before the light is transmitted in the air and the target is irradiated from the laser irradiation head 816, the optical path adjusting force of the light transmission path 811 constituting the light transmission means 812 is adjusted.
  • the optical path adjustment of the optical transmission line 811 is divided into a coarse adjustment operation using each target 833 836 and an illumination device, and a fine adjustment operation using the guide laser devices 871 and 872 and parallel reflection optical means.
  • the coarse adjustment work of the optical transmission line 811 is performed by setting the CCD camera 852, which is an electron optical imaging means, so as to coincide with the optical axis of the laser light of the optical transmission line 811 and placing the laser light at the center of the captured image of the CCD camera 852 It is set so that the optical axis of is located.
  • the CCD camera 852 can automatically adjust the position and distance of the focal point. If the focus position and the i-separation of the CCD camera 852 are changed and photographed, the laser light at any position on the optical transmission path 811 can be adjusted. Can recognize and recognize the passing position.
  • the optical transmission line 811 is usually covered with a cover of a shield tube 818, and constitutes an optical transmission means 812 for aerial transmission in which light does not leak outside. For this reason, since the target 833 cannot be observed without illumination, first, only the lamp 838 is turned on by the lamp blinking control means 843 according to the instruction of the control device 829. Since only the target 833 is illuminated by turning on the lamp 838, only the target 833 can be selectively observed by the CCD camera 852.
  • the position of the zoom position and the focal position of the CCD camera 852 are adjusted according to a command from the signal processing device, and set in advance so that the shape force of the target 833 can be sufficiently grasped.
  • the image processing target 833 is mirrored through the automatic adjustment mirrors 825 and 821. Observe as one image. At this time, if the installation angle of the automatic adjustment mirror 821 is shifted, the position of the target 833 on the image captured by the CCD camera 852 will appear to be shifted from the center of the screen. . The captured image is sent from the CCD camera 852 to the image processing device 855.
  • the image processing device 855 pre-registers the image when the evening get 833 is seen in the center, and compares the registered image with the observed camera image (mirror image). Matching processing is performed. By this pattern matching processing, the image processing device 855 calculates how much the position of the evening target on the image is deviated from the center, and this processing signal is transmitted from the image processing device 855 to the control device 822. Output to 9
  • the control device 829 drives and controls the mirror adjustment device 8330 based on the image processing information to drive the automatic adjustment mirror 8221. By the mirror angle adjustment of the automatic adjustment mirror 821, it is adjusted so that the evening get 833 is located at the center on the image displayed by the CCD camera 852.
  • the center of the target 833 can be seen at the center of the image captured by the CCD camera 852.
  • the fact that the inside of the target 833 is positioned at the center of the observation image of the CCD camera 852 is equivalent to passing the laser beam force to the center position of the target 8333.
  • the coarse adjustment of the automatic adjustment mirror 82 1 has been completed.
  • the coarse adjustment force of the next automatic adjustment mirror 8221 is performed.
  • the coarse adjustment of the automatic adjustment mirror 822 is performed in accordance with the coarse adjustment of the automatic adjustment mirror 821.
  • the lamp blinking means 843 is operated to turn off the lamp 838 in accordance with a command from the control device 829, and only the lamp 839 is turned on and turned on.
  • the zoom and focus positions of the CCD camera 852 are adjusted according to commands from the signal processing device, and the target 834 It is set in advance so that the shape of can be grasped sufficiently.
  • the CCD camera 852 By turning on the lamp 839, it becomes possible for the CCD camera 852 to observe the target 8334 via the automatic mirrors 825, 821, 826, and 822. At this time, if the installation angle of the automatic adjustment mirror 8 22 is shifted, the position of the target 8 34 on the image captured by the CCD camera 8 52 will appear to be shifted from the center of the shooting screen. The image captured by the CCD camera 852 is input to the image processing device 855 and processed.
  • the image when the target 834 is seen at the center is registered in the image processing device 855 in advance, and the image is compared with the camera image observed by the registered image power by the pan matching process. By comparing the registered image and the observed image, how much the position of the target on the image deviates from the center is arithmetically processed and output from the image processing device 855 to the control device 829.
  • the control unit 829 is based on the image processing information from the image processing unit 855, and the mirror adjustment unit 8 is set so that the evening get 834 is located at the center of the image captured by the CCD camera 852.
  • Drive 30 to adjust the mirror angle of the automatic adjustment mirror.
  • the center of the image processing evening get 834 can be seen at the center of the image taken by the CCD camera 852. This means that the laser beam has passed through the center position of the target 8334, and the coarse adjustment of the automatic adjustment mirror 8222 has been completed.
  • the same rough adjustment work is performed with the combination of the lamp 840, the target 835, and the automatic adjustment mirror 823.
  • the same operation is performed with the combination of the lamp 841, the target 836, and the automatic adjustment mirror 82.4, and the automatic adjustment mirror Adjust 824.
  • the automatic adjustment mirrors 821 to 824 are roughly adjusted by the control device 829 using the CCD camera 852 and the image processing device 855, so that there is no need for people to approach each point of the optical transmission line 811.
  • the optical path of the optical transmission line 811 to the target point can be automatically adjusted, and the carbon dioxide laser light, which is the main laser light, can be provided in the optical transmission path 811 whose optical path has been adjusted.
  • the guide laser light (He-Ne laser light and He-Cd laser light) oscillated from the guide laser devices 871 and 872 is coaxially adjusted by the light combining means 874.
  • the coaxially adjusted He—Ne laser light and He—Cd laser light are guided into the optical transmission line 811 and scanned.
  • the guide laser light guided along the optical path 811 is wavelength-separated at the position of the automatic adjustment mirror 824 on the way, passes through only the e-Ne laser beam, is guided to the separation optical path 844, and other beams Is reflected and transmitted in the direction of the next fixed mirror 827.
  • the He-Ne laser beam guided to the separation optical path 844 is reflected by a retro-reflector 846 as parallel reflection optical means.
  • the retroreflector 846 has the property of reflecting the incident beam parallel to the incident beam at any angle.
  • the light enters the center of the retroreflector 846, it is reflected through the same path (optical transmission path) 811 as the incident beam.
  • the light is incident off the center, the light is reflected parallel to the incident beam from a position symmetrical with respect to the center.
  • the He—Ne beam reflected by the retroreflector 846 follows the incident optical transmission line 811 in reverse, and returns to the guide laser devices 871 and 872 of the light source.
  • a dichroic sampling mirror 857 is installed, and only the reflected guide beam is reflected and sampled by the sampling mirror 857 on the sampling detection path 873, and the dichroic as a light separating means is further provided.
  • the light passes through the mirror 877 and enters the position detection device 8779.
  • the interference filters 876 and 878 are installed in the sampling detection path 873, light other than the wavelength of the He-Ne guide laser light reaches the position detection device 879. I cannot do it.
  • only the reflected beam of the He—Ne guide laser light from the retroreflector 846 is incident on the force position detecting device 879.
  • the beam incident on the optical position detecting device 879 is converted into an electric signal by the signal processing device 65 at the incident position, and is taken into the control device 829 as control information.
  • the guide laser light reflected by the automatically adjusting mirror 8 24 of the optical transmission line 8 11 travels in the direction of the fixed mirror 8 27, where the He-Cd laser light, which is the guide laser light, Only the retroreflector 849 is reflected in the direction, and the remaining light is transmitted and guided to the laser irradiation head 816.
  • the guide laser light (He_Cd laser light) reflected by the fixed mirror 827 and guided to the separation optical path 848 is reflected by the retroreflector 849 which is a parallel reflection optical means.
  • the light reflected by the retroreflector 849 returns in the opposite direction to that of the incident light and reaches the dichroic sampling mirror 857 through the optical transmission line 811.
  • the reflection guide laser light from the retroreflector 849 is wavelength-separated by a dichroic mirror 8777 as a light separating means, and the light position detecting device 81 Then, information on the positional deviation of the guide laser beam at the position of the retroreflector 849 is input to the control device 829 via the signal processing device 685. At this time, since the interference filters 876 and 880 are installed in the sampling detection circuit 873, only the He-Cd laser light is guided by the optical position detection device 81. I have.
  • the reflection guide laser beams from the retroreflectors 846 and 849 are returned through the optical transmission line 811 and individually incident on the optical position detection devices 879 and 81. .
  • both reflected laser beams can be individually detected, and the retroreflector 846 and the retroreflector can be detected.
  • the position shift information at each position of 849 can be separated and recognized by the control device 829.
  • the controller 8229 controls the operation of the mirror angle adjuster 831 based on the information on the optical position shifts at the two locations so that these position shifts are eliminated or minimized. 8 25 and 8 26 are feedback controlled.
  • a position control device that detects the position deviation of the reflection guide laser light and detects the position deviation of the reflection guide laser light.
  • 8 7 9, 8 1, signal processing device 65, control device 8 29, and mirror angle adjusting means 8 3 1 all have fast response characteristics. According to the speed of the feedback loop of the detection control adjustment system, it is possible to detect the beam position shift due to the vibration of each mirror.
  • the beam transmission position is controlled according to the accuracy of the retroreflectors 846 and 849, the position detectors 879 and 81, and the control accuracy of the automatic angle adjustment mirrors 825 and 826. Will be possible.
  • the optical transmission device 870 can correct the fluctuation of laser light due to air or mechanical vibration generated during long-distance transmission using an automatic adjustment mirror, so that irradiation of the object 817 can be stably performed for a long time.
  • a laser beam can be transmitted to a point.
  • the optical axis of the laser light optical transmission path 81 1 and the measurement axis of the CCD camera 852 for observation are the same common axis.
  • the laser beam can be observed linearly up to the point, and the angle shift of the optical axis is calculated from the position shift of the laser irradiation point, and the optical axis can be adjusted by using the automatic adjustment mirrors 821 to 824 by the shift amount. it can. That is, there is no need to install an electronic imaging device such as the CCD camera 852 in the middle of the transmission path, and it is possible to remotely adjust the optical axis even in an environment with strong radiation.
  • remote adjustment can be performed with one CCD camera 852 without installing a CCD camera at each location of the automatic adjustment mirror in the optical transmission line 811.
  • the image information input to the CCD camera 852 is sent to the image processing device 855, where the image information is compared with a reference registered image and subjected to pattern matching processing.
  • pattern matching processing it is possible to automatically measure the amount of deviation of one mirror image based on the image obtained by the CCD camera 852 and automatically adjust the automatic adjustment mirrors 821 to 824.
  • the optical transmission device 870 installs image processing targets 833 to 836 near the mirrors 826, 823, 824, and 827 used for optical transmission, and calculates the angle deviation of the optical axis from the positional deviation of the targets 833 to 836. Since the calculation is performed, the optical axis can be adjusted using only the mirrors 826, 823, 824, and 827 immediately before the targets 833 to 836 where the displacement has occurred. That is, the automatic adjustment mirrors 821 to 8 in the optical transmission line 811 When remotely adjusting 24, it is possible to clarify the position to be optically transmitted by making adjustments, and to simplify the processing contents in image processing.
  • the automatic adjustment mirror 8 2 1 to 8 2 4 on the optical axis of the optical transmission path 8 11 1 currently being adjusted and the target 8 3 3 to 8 3 The effect that the position of 836 can be clearly determined, the position to be adjusted can be easily determined, and the deviation amount of the automatic adjustment mirror 8 21 to 8 24 can be measured accurately. There is.
  • the optical transmission device 870 includes a lamp 838 to 841 as a lighting device in the vicinity of a mirror 826, 823, 824, 827 used for transmission.
  • a lamp 838 to 841 as a lighting device in the vicinity of a mirror 826, 823, 824, 827 used for transmission.
  • the position of the image processing target 8 33 3 to 8 36 corresponding to the current automatic adjustment mirror 8 2 1 to 8 24 is not adjusted and another automatic adjustment mirror 8 2 1 to 8 24 4 Target 8 3 3 to 8 3 6
  • the image can be more clearly separated, making it easier to determine the position to adjust, and the automatic adjustment mirror 8 2 1 to 8 2 4 It is possible to accurately measure the amount of deviation.
  • the mirror adjusting device 830 driven by the control device 829 is an automatic mirror device of a steering motor driving type or a servo motor driving type, and image processing information is transmitted.
  • the automatic adjustment mirrors 8 2 1 to 8 24 are originally driven, the automatic adjustment mirrors 8 2 1 to 8 2 4 can be tail-moved accurately according to the amount to be driven. Can be adjusted at once without having to make adjustments over and over again. Therefore, there is an effect that the optical axis of the optical transmission line 811 can be adjusted more quickly.
  • the optical transmission device 870 of the present embodiment is a A pattern matching function has been added to the image processing device 855, so that it can be compared with a pre-recorded reference image of the optical transmission line 811 and the laser light irradiation point can be compared with the CCD camera. Even if it is not possible to observe with 852, the angle deviation of the optical axis can be calculated and the optical axis can be adjusted.
  • the shapes and positional deviations of the targets 833 to 836 that are currently being adjusted can be adjusted based on the reference registered when the adjustment has been performed once. It is impossible to evaluate easily based on the password (registered image). For this reason, the speed and accuracy of the optical axis adjustment of the optical transmission line 811 can be improved, and the frequency of the device malfunctioning due to the incorrect recognition result of the image processing device 855 can be reduced. Power becomes possible.
  • the optical transmission device 870 of the present embodiment includes an optical transmission unit 812 that constitutes an optical transmission line 811 by combining one or more mirrors, and a part that constitutes the optical transmission line 811.
  • the mirror adjusters 830 and 831 that can remotely control the mirror tilt angle are used for one or all of the mirrors. Then, a part of the mirrors on the optical transmission line 811 of the optical transmission device 8700 is used as a half mirror or a wavelength separation mirror as a means for separating mirrors.
  • the light position detectors 879, 81, and the position information output from the light position detectors 879, 81, which are installed at the positions where the reflected light of the divided guide laser light reaches, are arithmetically processed.
  • the mirror 8 is equipped with a controller 8 2 9 that drives the mirror angle adjuster 8 3 1, so the mirror angle of the automatic angle adjusting mirror is higher than the mirror misalignment measurement method using the CCD camera 8 52. Adjustments can be made and the speed of position measurement can be much faster than with a CCD camera, so even if the optical axis is blurred due to vibration of the equipment, the direction to cancel the optical axis deviation Drive the automatic angle adjustment mirrors 8 25 and 8 26 To eliminate the effects of vibration Become.
  • the optical transmission device 870 Since the optical transmission device 870 has a plurality of guide laser devices 871 and 872 separately from the main laser device 813 that outputs the main laser light, the main laser light is a pulse laser.
  • the optical transmission path 8 1 is based on the laser beam as the guide light emitted from the guide laser device 8 7 1, 8 7 2 for adjusting the optical axis. Optical axis adjustment of 1 can be performed, and stable optical transmission becomes possible.
  • the optical transmission device 870 of the present embodiment separates a part of the automatic adjustment mirror 824 and the fixed mirror 827 on the optical transmission line 811 into a half mirror or a wavelength separation mirror. It is composed of a single mirror, and is separated by the separating mirrors 8 24 and 8 27.
  • Electronic components such as optical position detectors must be installed in the optical transmission line 8 11 Since it is possible to measure the amount of light displacement at a remote location, complicated wiring is not required, and no electronic components are installed on the optical transmission line 811. There is also an effect that can be applied to
  • the optical transmission device 870 of the present embodiment oscillates at a different wavelength from the main laser light to be transmitted, and has a plurality of guide laser devices 871 and 872 having different oscillation wavelengths, for example, two or more. More than one machine, and a plurality of mirrors in the middle of the optical transmission line 811 were designated as wavelength separating mirrors corresponding to the number of installed guide laser devices 871 and 872, and were separated by this wavelength separating mirror.
  • the parallel-reflection optical elements 8 46, 8 49 represented by corner-cube prisms and hollow-corner-cube-Kazzai optical elements installed at the positions where light reaches, and the guide laser devices 8 7 1, 8 7 2 Half mirror means 8 19 installed on the light source side, wavelength separation mirror means 8 7 7, and multiple light position detection devices 8 7 9, 8 8 1 that individually detect the wavelength-separated guide laser light
  • a control device 829 is provided which drives the mirror angle adjusting means 831 as an automatic mirror device by arithmetically processing the position information output from each of the optical position detecting devices 879, 881.
  • the optical transmission device 870 of the present embodiment is a mirror angle adjusting means (automatic mirror device) driven by the control device 829 (automatic mirror device).
  • the control device 829 automated mirror device
  • PSD Position Sensitive Detectors
  • the optical transmission device 870 of the present embodiment is capable of consistently automating the optical axis adjustment of the optical transmission line 811 from rough coarse adjustment to fine adjustment and eliminating the effects of vibration. become.
  • the optical transmission device 870 can adjust the optical axis of the optical transmission line 811 from a remote place, and the laser device can be adjusted from a place where material processing or inspection is performed. Even if it is installed in a distant place, stable processing and inspection power become possible. Furthermore, the optical transmission device 870 of the present embodiment can stably transmit a high-output laser beam when performing preventive maintenance and repair of a reactor internal structure, and can perform reliable construction. At the same time, the transmission position can be remotely photographed by a CCD camera using the same optical transmission line 811.
  • the present invention further provides a preventive maintenance / repair device for a reactor internal structure, and an embodiment thereof will be described with reference to the drawings.
  • Fig. 11 shows the overall configuration for explaining an embodiment of the preventive maintenance and repair equipment for reactor internal structures according to the present invention, in particular, installed from the operation floor 1 to the reactor pressure vessel 2.
  • the figure shows up to the upper part of the core shroud cylinder 6.
  • a laser oscillator 70 including an automatic alignment device and a position sensor (PSD), a power supply device 71, and a control device 72 are installed on the operation floor 1.
  • the light guide tube 25 is connected to the laser oscillator 70, and the movable reflection mirror box 24 as the first reflection mirror box is connected to the light guide tube 25.
  • the laser light from the laser-oscillator 70 is positioned and adjusted so that it oscillates horizontally toward the center of the reactor core in the reactor pressure vessel 2, and is connected to the outside so that light does not leak through the light guide tube 25. Cut off.
  • the support 20 supporting the load of the light guide tube 25 is installed on the reactor pool ⁇ so as to straddle the reactor pool ⁇ .
  • the movable reflection mirror box 24 is mounted at the center of the support column 20, and the movable reflection mirror box 24 is provided with wheels 58 at a lower portion thereof and is mounted on rails 23. And the rear end of the light guide tube 25 is connected.
  • the movable reflective mirror box 24 has a built-in 90-degree reflective mirror (not shown) with an automatic alignment function that can automatically adjust the angle remotely. Right angle laser beam passing through tube 25 , And the laser beam descends directly below the reactor core.
  • the movable reflective mirror box 24 has a length of about 4 m on the lower surface and a total length of 4
  • the lower end of the light guide tube mast 26 is inserted into a light guide tube guide 34 of a swivel mechanism 28 located on a swing center provided on a swivel carriage 27.
  • the swivel bogie 27 has a clamp mechanism 33 provided on the lower surface of the swivel center, and this clamp mechanism 33 is inserted into the lattice of the upper grid plate 3 incorporated in the upper part of the core shroud cylinder 6 at the core center position. Locked.
  • the other end of the swivel bogie 27 has wheels 32 on which the swivel bogie 27 rests on the outer peripheral upper ring 4 of the core shroud cylinder 6 and the outer periphery of the core shroud cylinder 6 It is movable along.
  • a horizontal light guide tube 29 for guiding laser light from the light guide mast 26 is installed horizontally on the swivel trolley 27 from the center of rotation to the normal direction. It is connected to a laser application device 73 for annulus, and it is configured so that one laser beam can be spatially transmitted to this laser application device 73.
  • the lower end of the light guide tube mast 26 is connected to a second reflection mirror box having an upper surface connected thereto and having an automatic angle correcting arrangement composed of at least one mirror. This reflection mirror box is connected to the horizontal light guide tube 29.
  • FIG. 12 is a cross-sectional view showing a part of the embodiment of FIG.
  • reference numeral 80 denotes a light guide tube
  • the light guide tube 80 corresponds to the light guide tube 25, the light guide mast 26, and the horizontal light guide tube 29 shown in FIG. is there.
  • a flat glass 81 which has been polished on both sides and has been processed with high flatness and parallelism, is fitted, and an airtight structure is formed by a 0 ring 82.
  • a tapped hole 86 is made in a part of the light guide tube 80, a pneumatic connector 84 is screwed into the tapped hole 86, and a pneumatic hose 85 is connected to the pneumatic connector 84.
  • the pneumatic hose 85 extends to the pneumatic unit (not shown) installed on the operation floor 1 shown in FIG.
  • the pneumatic unit is configured to supply 100% dry nitrogen gas to the light guide tube 80 by using a nitrogen cylinder as a supply source.
  • FIG. 13 is a view showing a structure of an intermediate joint portion of the multi-stage assembled light guide tube 26.
  • a flange 67 is attached to the end of each light guide tube 26, which is connected and fixed by bolts 65 and nuts 66, and the flange joint surface is airtight by an O-ring 68.
  • the bolt 65 is fixed to the light guide tube 26 by means of a hinge 64, and has an L-shaped structure that cannot be accidentally dropped off during connection work.
  • Reference numeral 69 denotes a laser beam passing through the light guide tube 26.
  • FIG. 14 shows the structure of the swivel bogie 27 and the state in which it is mounted on the upper lattice plate 3 and the core shroud cylinder 6 in the fifth embodiment of the present invention.
  • the swivel trolley clamp mechanism 3 is composed of an air cylinder 3 9, a link 40, no. It is composed of head 41.
  • a swivel mechanism 28 is installed on the swivel carriage clamp mechanism 33.
  • the turning mechanism 28 includes a bearing 42, an electric motor 43, and gears 44, 45.
  • the turning rotation axis is made to coincide with the center of the turning carriage clamp mechanism 33.
  • car The wheel 32 is a turning wheel and is attached to a position where it runs on an upper ring 4 provided at the upper end of the upper shroud cylinder 6a.
  • the guide rollers 46 are mounted in such a manner that the guide rollers 46 can be pressed against the inner surface of the skat 5 provided inside the upper ring 4 by the air cylinder 47.
  • the light guide tube guide 34 which is the pedestal for the light guide tube mast 26, is installed so that the optical axis of the laser beam 69a of the multi-stage assembled light guide tube mast 26 comes on the rotation axis of rotation. I do.
  • the light guide tube 34 is attached to the horizontal light guide tube 29 via a bearing 35 so that it can rotate freely.
  • the light guide tube 34 is partitioned by a flat glass 56a to keep the light guide tube 29 airtight.
  • the upper end of the light guide tube 34 is formed in a mortar shape, and guides the insertion of the multi-stage assembled light guide tube 26.
  • the light guide tube 34 has a water supply inlet line 37 and a water supply outlet 38, and circulates water accumulated in the gap between the flat glass 55 and the flat glass 56a of the light guide tube 26.
  • the structure is such that it can be used.
  • reflection mirrors 53, 54 that reflect the laser beam 69 at about 45 degrees, and descend from the multi-stage assembled light guide mast 26.
  • the reflected laser beam 9 is bent by the reflecting mirror 53 at an estimated angle of 45 degrees and enters the reflective mirror 54, and is further bent at an estimated angle of 45 degrees to the light guide tube 29 horizontally.
  • the other end face is configured to be pulled out to the flat glass 56b.
  • the electric actuator of the reflecting mirror 53 uses an electric motor to enable a wide angle adjustment, and is used for low-speed automatic alignment for coarse adjustment.
  • the motorized actuator of the other reflective mirror 54 uses a piezo element and has a small adjustment angle, but high speed, high resolution, and high accuracy. It can be adjusted by using it for high-speed automatic alignment for fine adjustment.
  • the laser beam transmission between the horizontal light guide tube 29 and the laser processing device 73 for annulus is configured to be performed once through water, and the flat glass 56 b at the laser one exit side of the horizontal light guide tube 29 is used.
  • the optical axis of the flat-panel glass 90 at the laser entrance of the laser-construction device for annulus 73 is matched with the flat glass 90, and fixed on the telescopic table 48 on the swivel carriage 27 so as to face each other.
  • the telescopic table 48 can be remotely slid in the radial direction from the core center by the slide mechanism 30.
  • the slide mechanism 30 is realized by the linear guide 49, the motor 59, and the ball screw 60.
  • the telescopic table 48 includes a positioning pin 52 for positioning the laser application device 73 for the annulus and a clamp mechanism 31 for fixing the laser application device 73 for the annulus after installation.
  • the vicinity of the laser exit of the horizontal light guide tube 29 is constituted by a bellows tube 50 which can be freely extended and retracted.
  • the laser exit can be slid by an air cylinder 47, so that the laser processing device 73 It is possible to temporarily evacuate the laser exit of the horizontal light guide tube 29 during the installation work.
  • FIG. 15 is a diagram showing a structure in a case where the above-mentioned support column 20 is of a movable type. Wheels 21 are attached to both sides of the flat support 20.
  • the movable support 20 is installed on the rail 22 temporarily provided on the operation floor 1, and the automatic support 20 is mounted on the movable support 20. It is equipped with a laser oscillator 70 including an alignment device and a position sensor (PSD) (not shown), a power supply 71, a light guide tube 25, a movable reflection mirror box 24, and the like.
  • PSD position sensor
  • the control panel 72 will be installed on the operation floor 1.
  • the movable reflection mirror box 24 is mounted on a wheel 58 as shown in FIG. Adjustment is possible, and the light guide tube 25 is connected.
  • the light guide tube 25 has a bellows tube structure in part, and allows the position of the movable reflection mirror box 24 to be adjusted.
  • the movable reflective mirror box 24 has a built-in 90-degree reflective mirror with an automatic alignment function that can automatically adjust the angle remotely.
  • the laser beam from the oscillator 70 is bent at a right angle, and the laser beam is dropped right below the reactor core.
  • FIG. 16 is a bird's-eye view showing a partial cross section of the laser-for-annulus construction apparatus 73.
  • the laser laser processing apparatus 73 for annulus has a positioning pin hole 100 for positioning, and a positioning pin 52 attached to a telescopic table 48 of the swivel carriage 27 is inserted. Furthermore, the laser beam processing device 73 for annulus is installed and fixed by the clamp mechanism 31 of the swivel carriage 27.
  • a laser reflecting construction device that can remotely adjust the angle is built into the case at the upper end of the laser beam processing device 7 3 for the annulus, and a light guide tube that vertically lowers the laser beam transmitted from the swivel carriage 27. It is bent about 90 degrees to 101.
  • the light guide tube 101 is a long, two-stage hollow cylinder-shaped pipe, equipped with a laser projection head 102 and a fixed part 103 at its tip, and the outer shape of a jet pump 108 diffuser. The dimensions are such that they can pass through one piece 106.
  • a ball screw 104 and a motor 105 are attached to the light guide tube 101 so that they can be extended and contracted by remote control.
  • FIGS. 17 (A) and 17 (B) are views showing one form of the fixing portion 103 of FIG.
  • a hollow bag-shaped fixing portion 103 made of an elastic thin film such as rubber is provided between the light guide tube 101 and the laser projection head 102, and the fixing portion 10 3 is connected to a pressure hose (not shown).
  • the ground extends to the operation floor 1 shown in Fig. 11 and is connected to the control panel pneumatic circuit on the ground side.
  • FIG. 18 is a diagram showing another form of the fixing portion 103 of FIG.
  • the fixed portion 103 is composed of a link mechanism 110, a pad 111, and a hydraulic cylinder 112.
  • FIG. 19 is a diagram showing an embodiment of an annulus laser one application apparatus 73.
  • the laser application device 73 for the annulus has a positioning pin hole 100 for positioning, and a positioning pin 52 attached to the telescopic table 48 of the swivel carriage 27 is inserted. Furthermore, the laser beam processing device 73 for annulus is installed by the clamp mechanism 31 of the swivel bogie 27, and then fixed.
  • the upper case of the laser processing device for the annulus 73 has a built-in electric reflection mirror that can remotely adjust the angle, and the rotary light guide that vertically lowers the laser light transmitted from the swivel carriage 27
  • the tube is bent about 90 degrees to 120.
  • the lower end of the rotary light guide tube 120 is shaped to be seated in the upper end hole of the diffuser 106.
  • the lower arm of the rotary light guide tube 120 below the riser bracket 107 is connected to the lower arm 122, and the rotary light guide tube 120 and the construction arm 1 2 1 are connected to each other by a connection mechanism 1 2 It can be remotely attached and detached by 2a and 122b.
  • the laser projection head 102 is attached to the lower end of the construction arm 1 2 1 via the short arm 1 32.
  • a rotary light guide tube 120 is provided at an upper part of a diffuser 106, and at a lower end of the rotary light guide tube 120, there is a seat portion 123, Part 1 2 3 is the bearing 1 2 4 a, clamp; «Consisting of 1 2 9, 0 ring 1 2 6 a, motor 1 2 7, rotation of motor 1 2 7 enables rotation of intermediate light guide tube 1 2 0 a provided above seat 1 2 3 ing.
  • the intermediate light guide tube 120a is composed of a motorized reflection mirror 125, a flat glass plate 130, a connection mechanism 1222a, bearings 124b, and a 0 ring 126b.
  • the lower part of the tube 120 is rotatable.
  • An electric reflection mirror 1 28 (not shown) is also provided on the rotary light guide tube 120, and the laser beam transmitted from the swivel bogie 27 is once bent downward and rotated. It passes through the light guide tube 20 and is connected by the lower reflective mirror 125; it is bent to the flat glass 130 of the connection window of the 122a.
  • the construction arm 12 1 is composed of a connection mechanism 122 a, a telescopic light guide tube 131, a pneumatic cylinder 134, and a laser projection head 102.
  • a pneumatic piston 13 2, a ball screw 104 and a motor 105 are attached to the telescopic light guide tube 13 1.
  • FIG. 21 is a configuration diagram near the connection mechanism 122 a.
  • the connection mechanism 122 on the side of the rotary light guide tube 120 consists of a connection base 136, positioning pins 137, electromagnetic chuck 138, flat glass 130 and water jet nozzle 131. You.
  • the connection mechanism 1 2 2b on the construction arm 1 2 1 side is provided with positioning pin holes 1 40 that fit with the positioning pins 1 3 7, flat glass 1 4 1, and water jet nozzles 1 4 2 (not shown). Zu).
  • FIG. 22 is a diagram showing an embodiment of a laser application apparatus 73 for an annulus.
  • the laser laser processing apparatus 73 for the annulus has a positioning pin hole 100 for positioning, and a positioning pin 52 attached to the telescopic table 48 of the swivel carriage 27 is inserted. Further, the laser beam processing device 73 for the annulus is installed and fixed by the clamp mechanism 31 of the swivel truck 27. The case at the upper end of the laser application device 73 for the annulus has a built-in electric reflection mirror (not shown) that can adjust the angle remotely, and vertically lowers the laser beam transmitted from the swivel carriage 27.
  • the light guide tube is bent about 90 degrees to 150.
  • An articulated light guide tube section 151 according to the embodiment of claim 15 is provided at a position about 1.5 m lower than the light guide tube 150, and a pneumatic piston 15 2 and The optical axis can be offset to an arbitrary distance according to the movement of the parallel link mechanism 153.
  • An insertion mast 161 and a laser-projecting head 162 are provided below the articulated light guide tube 151.
  • This light guide tube 151 is composed of four 90-degree reflecting mirrors, two of which are the second joint axis 15 1 b and the third joint axis 15 1 c. It is rotatable on the rotating shaft by bearings 154 and 0-rings 155.
  • a retroreflector 156 is inserted into the first joint 151a as a mechanism for detecting an optical axis shift for an automatic alignment device for adjusting the optical axis of one laser beam. For this reason, the reflection mirror in this joint is a half mirror.
  • the center of the rotation axis of the first joint axis 15 1 a is aligned with the link center line 15 8 of the fixed side base 15 3 a of the parallel link mechanism 15 3 and the third joint axis 15 1 c
  • the center of the rotation axis is aligned with the link center line 159 of the moving base 153b of the parallel link mechanism 153, and in accordance with the movement of the parallel link mechanism 153, the articulated light guide tube 1 5 Make 1 bend.
  • the parallel link mechanism 15 3 and the articulated light guide tube 15 1 allow the wire to go under the boundary between the upper shell 6 a of the chassis and the middle shell 6 b of the shroud (Fig. 22). Since it is possible, this part is generically referred to as a shroud intermediate part body retraction mechanism 160.
  • the insertion mast 16 1 is strongly connected to the moving side base 15 3 b, and the upper end is connected to the light guide tube 15 1 d.
  • a laser projection head 16 2 is connected to the end of the insertion mast 16 1.
  • FIG. 24 shows a specific embodiment of the insertion mast 161.
  • the insertion mast 16 1 has a shape that can pass through the gap between the jet pump 17 3 and the shroud body 6 at the annulus portion, and is adjusted to the gap between the riser 1 brace 17 2 and the riser 1 bracket 17 3 etc. Partially increase or decrease the thickness.
  • the inner light guide tube 175 is shifted in the depth direction by a flat glass 163 slightly inclined with respect to the optical axis, and the radius of the light guide tube 175 is efficiently maximized at each thickness. So that you can get it.
  • the electric cable and pneumatic hose of the laser projection head 16 2 are also incorporated into the insertion mast 16 1 along the light guide tube 1 75.
  • Fig. 25 (A) and (B) show an embodiment of the laser-one construction device for annulus.
  • the laser application device 73 for annulus has a positioning pin hole 100 for positioning, and a positioning pin 52 attached to a telescopic table 48 of a swivel carriage 27 is inserted.
  • the laser beam application device 73 for annulus is installed by the clamping mechanism 31 of the swivel bogie 27 and then fixed.
  • the case at the upper end of the laser application device 73 for the annulus has a motorized reflecting mirror (not shown) capable of remotely adjusting the angle, and the laser beam transmitted from the swivel carriage 27 is lowered vertically. Approximately 9 0 to 150 Bends. The tip of the light guide tube 150 is connected to a horizontal articulated arm 190.
  • the horizontal articulated arm 190 has a hollow inside and allows the passage of laser light.
  • One joint has two 90-degree reflecting mirrors 191a and 191b, and these two reflections It consists of a mechanism for twisting the light guide tube 192 between the mirrors, that is, a bearing 193, an O-ring 194, and a hollow motor 195.
  • Each joint of this horizontal articulated arm 190 is made up of the same parts.
  • Fig. 26 shows the details of the riser fixing part.
  • the fixing part 25 3 provided at the lower part of the light guide tube 25 1 is connected to the link mechanism 260, pad 26 1 and hydraulic cylinder 26 2 It consists of.
  • FIG. 27 is a view for explaining an embodiment of the mechanism configuration of the laser-projection head 102.
  • the step linear motion mechanism 273 mainly includes a linear guide 281, a ball screw 282, a gear 283, and an AC servomotor 282 so that the entire optical system of the head can move up and down in steps.
  • the focusing lens unit 270 consists of a focal length adjustment mechanism 274, which mainly consists of a linear guide 285, a ball screw 286, and an ultrasonic motor 287, and the focusing lens 2 It consists of 90.
  • the oscillating scanning mechanism 27 2 mainly includes a bearing 29 1, a gear 29 2, and a supersonic wave motor so that the reflection mirror 27 1 can swing and rotate around the optical axis of the laser incident light.
  • Focus adjustment mechanism 2 7 4 and automatic scanning mechanism 2 There is a horizontal scan mechanism 295 that can move the whole step to the left and right. It mainly consists of a linear guide 296, a ball screw (not shown), a timing belt 298 and a motor 299. .
  • FIG. 28 is a view for explaining another embodiment of the mechanical configuration of the laser-projection head 102.
  • FIG. 28 is a view for explaining another embodiment of the mechanical configuration of the laser-projection head 102.
  • Mainly condensing lens unit 300 Mainly condensing lens unit 300, reflection mirror for scanning 310, swing scanning mechanism 302, telescopic light guide tube mechanism 303, focal length adjustment mechanism 304, construction surface dust removal device 3 06, three small microphones 307, and a monitoring camera 308.
  • the telescopic light guide tube mechanism 303 is composed of two flat glass plates 310, 311, a linear position sensor 312, a 0-ring 313, a light guide tube with a piston mechanism 314, and a return panel 3. 15 and pneumatic tube 3 16
  • the condenser lens unit 300 is composed of a focal length adjustment mechanism 304 composed of a parallel key 320, a ball screw 321, an ultrasonic motor 32, and the like, and a condenser lens 3224.
  • the oscillating scanning mechanism 302 includes a bearing 325 in which the reflecting mirror 301 is fixed at a right angle to the optical axis of the laser incident light and an axial rotation axis in the axial direction including the mirror surface, and an ultrasonic motor 322. , Resolvers 3 2 7 etc.
  • FIG. 29 is a view for explaining an embodiment of the laser-projection head 102.
  • This laser projection head 102 is mainly composed of a condenser lens unit 34, a condenser lens rotating mechanism 341, a scanning mirror 3432, a telescopic light guide tube mechanism 3443, and a focal point. It consists of a distance adjustment mechanism 3 4 4, a horizontal scanning mechanism 3 4 5, a construction surface dust removal device 3 4 6, three small microphones 3 4 7, and a monitoring camera 3 4 8.
  • Telescopic light guide The tube mechanism 343 is composed of two flat glass plates 350 and 351, a hollow piston-shaped light guide tube 352, an O-ring 353, a linear position sensor 354, a return panel 355, and a pneumatic tube 356.
  • the condenser lens unit 340 is composed of a condenser lens rotation 341 and a focal length adjustment mechanism 344, and the condenser lens rotation 341 is a bearing.
  • the condenser lens 362 is decentered with respect to the rotation axis of the lens.
  • the focal length adjustment 344 mainly includes a parallel key 363, a ball screw 364, and an ultrasonic motor 365 that enable the focal length to be adjusted remotely.
  • the horizontal scanning mechanism 345 includes a rotation bearing that enables the reflection mirror 342 to rotate and scan coaxially with the rotation axis of the condenser lens rotation mechanism 341.
  • FIG. 30 is a block diagram of a control system as a whole showing a configuration of a control panel operatively connected to a laser oscillator 70 for controlling laser light.
  • the control panel 400 includes a signal processing circuit 401, a control driver 402, and a computer.
  • Input circuit 410 which processes the acoustic signal from the ultrasonic microphone 421, a signal preprocessing circuit 413 consisting of an amplification amplifier 411, a frequency filter 412, etc. 413, an 80 conversion circuit 414, and the construction point position measurement during construction It is composed of a program calculation processing circuit 415 that performs calculation processing of the construction state quantity and construction abnormality judgment.
  • the control panel 400 receives the outputs of the various sensors 422 installed in the laser processing apparatus 420 for the annulus by the signal processing circuit 401, After performing the processing by the control driver 1402, the control signal is output to the motor (actuator) of the laser-construction apparatus 420 for annulus.
  • the positional relationship between the construction object and the annulus laser construction apparatus 420 is measured by the distance sensor of various sensors 422, and the result is output to the signal processing circuit 401.
  • the set value is compared with the computer 400. If the set value is deviated, a control signal is output to the motor (actuator) via the control driver 402, and the laser processing device for annulus is used. Set 4 20 to the normal position. By repeating this operation, it is possible to always maintain a normal positional relationship between the object to be processed and the laser laser processing apparatus 420 for annulus.
  • FIG. An embodiment of the hard structure of the acoustic signal analysis unit is shown in FIG. Further, a specific example of the operation principle will be described below with reference to FIG.
  • laser-peening performed by laser-peening to improve the stress of a metal weld and laser-irradiation for surface modification generate a patterned sound. From the sound data, it is possible to obtain the following construction status information.
  • a laser bean nig is a technique in which a high-power pulsed laser beam is instantaneously applied to a metal surface in water, and the residual energy on the metal surface is reduced by pressure waves generated when the surface metal is turned into plasma by the light energy. This is a technology that changes from tension to compression. When this plasma is generated, the time measurement of the sound generated from the focal point is imaged as shown in Fig. 31.
  • a sharp peak sound is observed in the collected acoustic signal from the focusing point, and the time of occurrence of this peak sound is measured for each microphone, and the laser light Is replaced by the elapsed time from the time of firing.
  • the elapsed time of light can be regarded as the propagation time of sound reaching each microphone from the focal point because the propagation time of light is negligible compared to the propagation time of sound, and this time is divided by the propagation speed of sound.
  • the distance from each microphone to the focal point can be calculated.
  • the three-dimensional position of sound generation can be calculated from three or more distance data using the principle of three-point surveying.
  • the measurement of the construction state quantity is, for example, to quantitatively analyze and measure the energy level of the laser beam and the state of light incident on the irradiation point from the peak level of the impact sound and the frequency distribution of the peak sound. For example, in the case of laser pinning, if the laser energy is high, the peak level will be high, and it is possible to detect the light incident energy during construction from this correlation. This can be measured and analyzed even from a single microphone signal.
  • one laser beam is focused before the construction object (metal surface) and energy is not absorbed well, or there is a floating substance such as dust on the optical path of one laser beam. When the energy is attenuated just before the point, this method uses the phenomenon that noise occurs before the peak sound, and this method also allows measurement and analysis from the signal with a single microphone.
  • FIGS. 32 (A) to (D) are diagrams for explaining an embodiment of a construction surface dust removing apparatus 450.
  • it is mounted near the laser irradiation head 102 It is composed of a water jet nozzle 451, a connection hose 453 connecting the nozzle 451 to the pressurized water supply unit 452, a pressurized water supply unit 452, and a filter 4554.
  • FIGS. 33 (A) to (D) are diagrams for explaining an embodiment of another construction surface dust removing apparatus 460.
  • FIG. That is, a suction nozzle 461, which is installed near the laser irradiation head 102, a connection hose 46, which connects the nozzle 461, and the suction pump unit 462, and a suction pump unit 46,
  • the filter consists of 4 6 4.
  • FIGS. 34 (A) and (B) are diagrams showing a specific configuration of the underwater propeller 5 10.
  • an underwater propeller 5 10 composed of a screw 5 11 and a motor 5 12 built into a screw is mounted near the tip of the laser-processing apparatus 73 for annulus.
  • FIG. 35 shows a specific example in which a gyro motor 52 is mounted on a laser projection head 102.
  • FIGS. 36 (A) and (B) are diagrams showing specific configurations of the laser-oscillator 70 and the swivel carriage 27.
  • the laser-oscillator 70 is housed in a water-resistant vessel 530 as shown in FIG. 36 (B), and is set on the base of the swivel carriage 27.
  • the motorized reflection mirrors 53 and 54 for adjusting the optical axis by automatic alignment change the layout so that the optical axis is bent horizontally.
  • the laser oscillator 70 is arranged so that the optical axis of the laser oscillator 70 and the optical axis of the horizontal light guide tube 29 on the swivel carriage 27 intersect by 90 degrees.
  • Fig. 37 (A) and (B) show the specific configuration of the remote attachment / detachment system that enables the laser-oscillator 70 to be remotely separated from the swivel carriage 27. There o
  • the projection port 540 from the laser oscillator 70 is partitioned by a flat glass plate 541, and the laser receiving port 542 of the horizontal light guide tube 229 of the swivel truck 275 is also partitioned by the flat glass plate 543.
  • Water jet nozzles 544a and 544b are arranged on the end faces of the flat glass plates 541 and 543 of each partition.
  • FIG. 38 is an explanatory diagram of an example embodying a method of applying the laser-light transmission system of the present invention to a preventive maintenance / repair work device using laser light in a shroud.
  • the base 560 of the swivel truck 27 is shaped like a horseshoe, and the laser beam from the horizontal light guide tube 29 is dropped vertically into the shroud body 6 through this horseshoe-shaped cavity. Function structure.
  • the junction box 5 6 1 for the installation inside the shroud is turned into a swivel bogie 7
  • the positioning pin 52 used for positioning of the laser beam processing apparatus for annulus is used, and a positioning pin hole 562 is provided in the relay box 561.
  • the relay box 561 is a motorized reflective mirror 563 that can be remotely adjusted by an electric motor, and the angle can be adjusted remotely.
  • the procedure and method for installing this system in the furnace are described below.
  • the swivel bogie 27 is lowered into the reactor pressure vessel, the swivel bogie clamp mechanism 33 is inserted into the center lattice of the upper lattice plate 3, and the wheels 32 of the slide mechanism 30 are simultaneously connected to the upper ring of the shroud body 6. 4 Put on top.
  • the swivel bogie clamp mechanism 3 3 is operated to lock to the grid of the upper grid plate 3, and at the same time, the guide roller 46 is pressed against the inner surface of the scat 5 on the upper ring 4, thereby turning the bogie. 2 Place 7 on shroud barrel 6.
  • columns 20 are installed on the reactor pool so as to straddle the core.
  • the method of installation is to suspend and lower the column 20 with an overhead crane, move it directly on the road, and install it. Also, use the rail 22 on the operation floor 1 for the column 20. There is also a method of once assembling on the operation floor 1 and moving it to the core by traversing it.
  • the light guide tube masts 26 of a multi-stage assembly type are sequentially assembled from the pillars 20 from the bottom to make a long mast of about 16 m.
  • a flange joint structure For this assembly, use a flange joint structure, seal with a 0 ring, etc., and connect with bolts 65 and nuts 66.
  • the lower end of the mast is partitioned by a flat glass 55, and a reflective mirror 160 is attached to the end of the uppermost mast.
  • the load of the light guide tube mast 25 is received by the movable reflection mirror box 24.
  • the movable reflection mirror box 24 can be moved by rollers, linear guides, etc. to absorb the misalignment of the light guide tube mast 26 in the vertical direction. Can be collected.
  • the mounting error at the time of mounting on the core of the support 20 can be corrected by automatically adjusting the fine adjustment of the mirror angle with the motor for correcting the angle of the reflecting mirror inside the light guide tube for each element.
  • laser light can be transmitted with rough mounting accuracy, facilitating workability.
  • the laser application device 73 for the annulus can perform fine adjustment of the positioning in the radial direction of the core by the slide mechanism 30 of the swivel bogie 27, and the shroud cylinder 6 can be adjusted by the combination of the swivel mechanism 30 and the slide mechanism 30.
  • the annulus laser construction device 73 can be positioned at an arbitrary position in the surroundings.
  • each light guide tube Some of the reflection mirrors in each light guide tube are motorized mirrors, which can be used to correct the optical path and control the distance, enabling long-distance transmission. Furthermore, the remote connection of each light guide tube is separated by a flat glass plate, so that it can be easily separated and assembled. To achieve this underwater, each flat glass is equipped with a water jet nozzle to prevent the generation of air bubbles, and a mechanism for sending dry air into the light guide tube is added as a measure to prevent dew condensation inside.
  • This optical path correction is automatically performed by recognizing the positional deviation with the reference light reflected by the retroreflector in the middle of the light guide tube such as the laser sectioning device 73 and the laser projection head 102. .
  • a polarizing filter is incorporated in each retroreflector so that each reference light can be distinguished.
  • acoustic analysis from the ultrasonic microphone enables monitoring of the construction status, and provides important information for construction management, such as focusing control, determination of the intensity of the focused energy, and measurement of the position of the focal point. Measure in real time It is possible to do.
  • a work surface dust removal device using a water jet nozzle will be installed on the laser one optical path.
  • a submerged fan or gyro motor can be provided to fix the position of the head end during construction.
  • the laser-oscillator 70 is placed in the water-resistant vessel 530 and placed on the swivel trolley, eliminating the need for a long light guide tube from the reactor pool to the swivel trolley. .
  • the lock mechanism for fixing the water-resistant vessel 530 incorporating the laser-oscillator 70 to the revolving trolley is manually operated remotely by using an operation pole or the like. During installation, only the laser-oscillator can be taken out of the furnace alone for adjustment and repair, or after installing a swivel trolley or the like inside the furnace, the laser oscillator can be removed later. 0 can be set.
  • the laser irradiation head comprises a light guide member in the head provided in the irradiation head body and a light condensing laser beam from the light guide member.
  • the lens and the reflecting mirror that irradiates the laser beam to the construction target area are provided so that they can be put in and out of the narrow gap, so the narrow part of the reactor internal structure, for example, the cylindrical shape of the shroud and core support plate.
  • the condenser lens and the reflection mirror can be freely inserted and removed from the narrow part, and preventive maintenance and repair work can be performed efficiently and smoothly using laser light even in a narrow part where construction is difficult.
  • the laser irradiation head has a flat and elongated lifting Since the frame mechanism is slidable up and down by the frame lifting device, it can be moved up and down along the optical axis of the laser beam while maintaining the relative distance between the condenser lens and the reflection mirror attached to the lifting support mechanism. Preventive maintenance and repair work by laser beam irradiation can be performed efficiently and smoothly. Furthermore, the laser irradiation head is provided with mirror rotating means for rotating the reflection mirror and distance adjustment means for moving and adjusting the relative distance between the reflection mirror and the condenser lens, so that the distance between the condenser lens and the reflection mirror can be reduced.
  • the laser beam can be easily adjusted so that the laser beam is focused on the construction target area, the laser beam irradiation point at the construction target area can be shaken and moved by rotating the reflection mirror with a mirror rotating means. Therefore, preventive maintenance and repair work by laser beam irradiation can be performed more efficiently and smoothly.
  • the laser irradiation head has a cylindrical light guide member inside the head, and the laser light is transmitted through the air inside the head light guide member to the irradiation head body so as to be guided to the condenser lens. Since the light guide member inside the head can be mounted independently of the condenser lens and reflection mirror, the mounting structure can be simplified, while the light guide member inside the head ⁇ condenser lens and reflection Mirror replacement and maintenance can be easily performed, and as a result, the reliability of the laser irradiation head can be improved.
  • the laser irradiation head is made of glass for the light guide member inside the head, so that even if the mounting position in the laser irradiation head is shifted, the received laser light is reflected by the side surface of the glass and guided. Since it can emit light, it can be guided to the condenser lens without fail, and as a result, the reliability of the laser irradiation head is improved and the construction quality can be further improved.
  • the laser irradiation head has a gimbal mechanism rotatable around two axes perpendicular to the irradiation head body, and the light guide member inside the head is attached to the inner frame of this gimbal mechanism. Roughness on the installation surface of reactor internals The laser irradiation head can be stably installed by absorbing the light, and the light guide member in the head can be stably supported.
  • the laser irradiation head exposes the optical path from the light guide member in the head to the condenser lens and the optical path from the condenser lens to the reflection mirror to the surrounding environment, and forms a spatial transmission path.
  • the light guide member, condensing lens, and reflection mirror inside the laser can be installed independently of the laser irradiation head, and it is not necessary to use a fixed light guide pipe in each optical path, so the light guide cross section of the laser light is increased. Therefore, the reliability of the light guide is improved and the construction quality can be improved.
  • a main body positioning device installed in the reactor core and a laser irradiation head housed in the main body positioning device are attached to the construction target site.
  • a head advance / retreat mechanism that protrudes into the vicinity, and a laser light transmission unit that guides laser light guided into the reactor to the laser irradiation head are provided, so that preventive maintenance and capture
  • the repair equipment makes it possible to perform preventive maintenance and repair work by remote control, thereby improving work efficiency and saving labor.
  • the preventive maintenance / repair device for the reactor internal structure is provided with the laser irradiation head described in claims 1 to 5, the narrow portion of the reactor internal structure, for example, the shroud inner wall and the core Since various tasks can be performed remotely by irradiating laser light in a narrow cylindrical gap between the support plates, work efficiency can be improved and labor can be saved.
  • preventive maintenance and repair equipment for reactor internal structures is designed so that the laser irradiation head and laser light transmission means can be inserted and removed in the elongated main body case of the main body positioning device, and the main body is positioned in the stored state. Since the device is suspended through the lattice of the upper lattice plate, the main body positioning device can be suspended and lowered through the upper lattice plate, and can be stably and smoothly installed on the control rod guide tube.
  • preventive maintenance and repair equipment for reactor internal structures are a clamp device that fixes the upper part of the main unit positioning device to the upper lattice plate, and a rotation that determines the direction of extension of the laser irradiation head stored in the main unit case.
  • An apparatus a head advancing / retracting mechanism for extending the laser irradiation head and the laser light transmission means to the construction target part, and a base elevating device for elevating and lowering a main body base supporting the head advancing / retreating mechanism in the main body case.
  • the optical transmission device comprises: an electro-optical imaging device installed in a direction parallel to an optical axis of light to be transmitted through an optical transmission path of the optical transmission device; and image information from the electro-optical imaging device. And an image processing device for calculating the angle shift amount of the mirror from a normal position, and a control device for inputting the mirror angle shift amount and driving the mirror adjustment device.
  • an image processing device for calculating the angle shift amount of the mirror from a normal position
  • a control device for inputting the mirror angle shift amount and driving the mirror adjustment device.
  • the optical path of the optical transmission means is covered by a light guide shield tube such as a light guide tube or a light guide tube, and at least one mirror is provided in the middle of the light guide shield tube. Since it is arranged, a complex optical transmission line can be composed of a combination of mirrors and transmitted in the air in a shield cylinder, and the optical transmission is efficiently performed without being affected by the surroundings, for example, the fluctuation of air. Can do well. Further, in the optical transmission device according to the present invention, since the optical transmission means installs image processing targets near the mirror and forms the light passage holes in the targets, the mirror in the optical transmission path can be remotely controlled. At the time of adjustment, the position to be adjusted and transmitted can be clarified, and the processing content in image processing can be simplified.
  • the image processing target is installed so as to cross the optical transmission path, and each evening get is formed in a different shape.
  • the position of the mirror on the optical axis that is currently being adjusted and the position of the evening gate are clearly determined, making it easy to determine the position to be adjusted, and accurately measuring the amount of deviation of the mirror It becomes possible to do.
  • the optical transmission means includes an illumination device capable of illuminating the mirror or the vicinity of the image processing target.
  • the position of the mirror can be more clearly separated from the images of other mirrors and sunsets, making it easier to determine the adjustment position and enabling accurate measurement of the amount of mirror displacement.
  • the mirror adjusting device is constituted by an automatic mirror device of a steving motor drive system or a servo motor drive system
  • the mirror is driven based on the image processing information.
  • the automatic adjustment mirror can be driven accurately according to the amount to be driven, and the mirror can be adjusted at once without adjusting repeatedly for the same mirror. Fast optical axis adjustment becomes possible.
  • the image processing device compares a pre-registered image pattern with an image photographed at the time of mirror adjustment, and a pattern matching that can detect a positional shift amount of the photographed image.
  • the equipment ⁇ By using a pattern matching processing device for Q g , the shape and positional deviation of the evening adjustment target to be adjusted can be easily evaluated based on the pre-registered pattern once adjusted. This makes it possible to improve the speed and accuracy of the optical axis adjustment, and to reduce the frequency of malfunction of the image processing apparatus based on the incorrect recognition result of the image processing apparatus.
  • a part of the mirror on the optical transmission path constituted by the optical transmission means is constituted by a half mirror or a wavelength separation mirror, and is divided by the half mirror or the wavelength separation mirror.
  • Optical position detector installed on the sampling optical path to which the reflected light arrives, and a mirror adjustment device that performs arithmetic processing on the optical position deviation information output from this optical position detector and eliminates the optical position deviation Since the control device for driving the mirror is provided, the accuracy can be higher than that of the mirror displacement measurement using a CCD camera, and the position measurement speed can be much faster than with a CCD camera. Even if the optical axis is deviated due to vibration, the mirror is driven in the direction to cancel the optical axis deviation to eliminate the effect of vibration. It becomes ability.
  • the transmitted light has a repetitive fluctuation like a pulse laser. Even in the case where there is an element, the optical path (optical axis) can be adjusted with reference to the beam emitted from the guide laser device for optical axis adjustment, and stable optical transmission power is achieved.
  • an optical transmission unit that constitutes an optical transmission path by combining mirrors, and a mirror adjustment device that controls an inclination angle of at least one mirror that constitutes the optical transmission unit
  • a main laser device that outputs laser light for processing, inspection, preventive maintenance, or repair of an object, and a guide laser that is different from the main laser light.
  • a parallel reflection optical means provided on the optical path separated by the separation mirror means, a light position detecting device to which reflected light from the parallel reflection optical means enters via a half mirror guide means,
  • a control device for inputting and processing the positional deviation information of the light detected by the optical position detecting device and driving the mirror adjusting device, such that the optical position detecting device can be provided in the optical transmission path as in the optical position detecting device. It is possible to measure the amount of displacement of light without installing electronic components, which not only eliminates the need for complicated wiring, but can also be applied in environments with strong radiation. Will be possible.
  • an optical transmission unit that configures an optical transmission path by combining mirrors, and a mirror adjustment device that controls a tilt angle of at least one mirror that configures the optical transmission unit.
  • An optical transmission device equipped with a main laser device that outputs laser light for processing, inspection, preventive maintenance, or repair of an object, and a non-polarized or circularly polarized guide laser light that is different from the main laser light
  • a guide laser device, a half mirror guide means for guiding the guide laser light from the guide laser device to the optical transmission path, and sampling separation mirror means provided at two different positions in the optical axis direction on the optical transmission path.
  • a parallel reflection optical means provided on the optical path separated by each of the sampling separation mirrors, and one of the bi-parallel reflection optical means.
  • Polarization optical means provided on the separation optical path, a separation polarization optical means through which the reflected light from each of the parallel reflection optical means is guided through a half mirror guide means, and the separation parallel optical means.
  • First and second optical position detecting devices to which respective reflected lights are respectively input, and optical position shift information detected by both the optical position detecting devices are input and processed, and the processing is performed.
  • ⁇ Since it has a configuration that has a control device that drives the Q controller, the polarization characteristics of the guide laser beam can be used, and the location where the beam misalignment is measured and controlled with one type of guide laser device It becomes possible to provide two locations.
  • an optical transmission unit that forms an optical transmission path by combining mirrors, and a mirror adjustment device that controls an inclination angle of at least one mirror that forms the optical transmission unit
  • a main laser device that outputs laser light for processing, inspection, preventive maintenance, or repair of an object, and a guide laser that has a different oscillation wavelength from the main laser light.
  • a plurality of guide laser devices for outputting a single light; a plurality of wavelength separating mirrors respectively installed on the optical transmission path corresponding to the guide laser device; and a wavelength separating mirror.
  • the parallel reflection optical means provided on the optical path of the guide laser light separated by one means, and the guide laser light reflected by each of the parallel reflection optical means are separated for each wavelength.
  • a plurality of optical position detecting devices for individually inputting each of the reflected guide laser beams separated by the wavelength separating mirror, and a plurality of optical position detecting devices.
  • a control device for driving the mirror adjusting device by inputting the calculated light position shift information, so that even when some of the mirrors constitute the rotation indirect portion, the polarization is utilized. It is not necessary to consider the influence of polarization collapse, which is a problem when adjusting the beam misalignment at two locations in the optical transmission path, and the separation performance can be measured even when measuring the beam misalignment at multiple locations. It is possible to measure even if there are three or more points where the amount of beam displacement needs to be measured, simply by increasing the type of guide laser light.
  • the mirror adjustment device includes: This is an automatic mirror device driven by electrostrictive elements or galvanometers with fast response characteristics. Therefore, even when the optical transmission device is affected by external vibration having a higher frequency component, it is impossible to eliminate the effect of the optical axis shift due to the vibration.
  • the optical transmission device according to the present invention is configured by combining the optical transmission device according to any one of claims 10 to 16 with the optical transmission device according to any one of claims 1 to 9.
  • the ability to consistently automate everything from rough coarse adjustment of optical transmission lines to fine adjustment and eliminating the effects of vibrations will be a key factor.
  • the laser irradiation device includes a laser irradiation head on the emission side of the optical transmission path through which the laser light from the main laser device is guided by air transmission. Since the laser irradiation head is designed to irradiate the target object such as the internal structure of the reactor with laser light, the main laser unit is installed in a place away from the place where material processing or inspection is performed. Also, stable processing and inspection can be performed using laser light.
  • an optical transmission device includes a main laser device that outputs laser light for processing, inspection, preventive maintenance, or repair of an object, and irradiates the object with main laser light output from the main laser device.
  • the electronic device disposed toward the optical axis of the optical transmission path is adjusted.
  • the mirror image at the downstream position of the automatic adjustment mirror to be adjusted by the optical imaging means adjust the mirror angle of the automatic adjustment mirror so that the observed mirror image is at the center, and place it on the optical transmission path
  • Automatic adjustment of the optical transmission path is performed sequentially from the near side to adjust the entire mirror, so that there is no need to install electronic equipment such as a CCD camera in the optical transmission path, and strong radiation
  • the optical axis can be adjusted remotely even in the environment.
  • the guide laser light output from the optical axis adjustment guide laser device is guided to an optical transmission line having an automatic adjustment mirror, and the optical transmission line is
  • the transmitted guide laser light is reflected in parallel by the parallel reflection optical means and made incident on the optical position detecting device, and the optical position detecting device detects the optical position deviation amount, and the optical position deviation amount is eliminated.
  • the control device to minimize the mirror adjustment device, and the mirror angle is adjusted by feedback control of the automatic adjustment mirror.
  • the accuracy should be higher than that of the mirror displacement measurement using a CCD camera.
  • the speed of position measurement can be much faster than with a CCD camera. Driving the mirror quickly to eliminate the effects of vibration and force ⁇ edible.
  • the automatic adjustment When adjusting the optical axis of an optical transmission line equipped with a mirror, the angle of the automatic adjustment mirror is adjusted sequentially so that the mirror image is centered on the image at the downstream position of the automatic adjustment mirror to be adjusted by the electronic optical imaging means
  • the optical transmission path is roughly adjusted, and then the automatic adjustment mirror is feedback-controlled so that the deviation of the optical position detected by the optical position detector is eliminated or minimized, and the optical transmission path is finely adjusted. And compensates for the effects of external vibration, so that when repairing reactor internals, high-power laser light can be transmitted stably, and transmitted using the same transmission optical path.
  • the position can be remotely photographed by an electro-optical imaging means such as a CCD camera.
  • the transmission path of one laser beam is provided to a multi-stage long mast light guide tube, a swivel truck installed on an upper lattice plate provided on the upper part of the shroud, and a laser beam installation device for various annulus.
  • the position deviation can be automatically determined by the reference light from the retro-reflector.
  • the light guide tube method which was said to be difficult to transmit, can be realized.
  • this laser light transmission system can be applied to the construction equipment inside the shroud by installing an optional reflection mirror relay box on the swivel carriage.
  • the construction is such that even when the place to be enforced is a narrow place, it can be easily put in and out.
  • preventive maintenance and repair work on the narrow L ⁇ section between the inner wall of the shroud, which is the internal structure of the reactor, and the core support plate are automatically and stably performed by remote control.
  • the laser beam is used for efficient and efficient operation in an underwater environment, and has a great advantage and effect in terms of configuration, operation, and operator safety measures compared to the conventional method. It has a large industrial use.

Landscapes

  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Laser Beam Processing (AREA)

Abstract

L'invention concerne une tête d'émission laser qui applique un faisceau laser produit par un dispositif laser (624) sur une partie d'objet actif, comprenant une partie principale de tête d'émission présentant un élément guide de lumière (625) intégré à la tête, qui guide le faisceau laser, une lentille de condensation (677) qui condense le faisceau laser provenant de l'élément guide de lumière intégré à la tête, un miroir réfléchissant (678) qui applique le faisceau laser condensé sur la partie de l'objet actif, un moyen (684) pour tourner le miroir, qui maintient le miroir réfléchissant en rotation autour d'un axe de faisceau laser, un moyen de réglage de distance (674) qui règle une distance relative entre le miroir réfléchissant et la lentille de condensation, et un moyen de transfert (665) qui transfère le miroir réfléchissant et la lentille de condensation dans le sens de l'axe du faisceau laser alors que la distance relative entre le miroir réfléchissant et la lentille de condensation est maintenue. L'élément guide de lumière intégré à la tête, la lentille de condensation et le miroir réfléchissant peuvent être amenés dans la partie de l'objet actif ou enlevés de celle-ci, laquelle est formée, par exemple, dans un petit espace situé entre les unités structurelles. Ainsi, les travaux d'entretien préventif/réparation au moyen d'un faisceau laser dans, par exemple, un petit espace entre des structures situées à l'intérieur du réacteur nucléaire peut s'effectuer automatiquement, sans risque et plus efficacement.
PCT/JP1998/005569 1997-12-09 1998-12-09 Tete d'emission laser, dispositif de transmission de faisceau laser, procede de reglage de dispositif de transmission de faisceau laser et dispositif d'entretien preventif/reparation de structure de reacteur nucleaire WO1999029463A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US09/367,060 US6881925B1 (en) 1997-12-09 1998-12-09 Laser emission head, laser beam transmission device, laser beam transmission device adjustment method and preventive maintenance/repair device of structure in nuclear reactor
DE19882109T DE19882109T1 (de) 1997-12-09 1998-12-09 Lasermissionskopf, Laserstrahlübertragungsvorrichtung, Verfahren zum Justieren einer Laserstrahlübertragungsvorrichtung, und Innenkernstrukturvorbeugewartungs/Reparatur-Vorrichtung
SE9902857A SE521996C2 (sv) 1997-12-09 1999-08-09 Laserstråleemitterande huvud, ljustransmissionsanordning, sätt för justering av en sådan samt anordning för förebyggande underhåll/reparation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP33897497A JP3865338B2 (ja) 1997-12-09 1997-12-09 原子炉内構造物の予防保全・補修装置
JP9/338974 1997-12-09

Publications (1)

Publication Number Publication Date
WO1999029463A1 true WO1999029463A1 (fr) 1999-06-17

Family

ID=18323092

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1998/005569 WO1999029463A1 (fr) 1997-12-09 1998-12-09 Tete d'emission laser, dispositif de transmission de faisceau laser, procede de reglage de dispositif de transmission de faisceau laser et dispositif d'entretien preventif/reparation de structure de reacteur nucleaire

Country Status (4)

Country Link
JP (1) JP3865338B2 (fr)
DE (1) DE19882109T1 (fr)
SE (1) SE521996C2 (fr)
WO (1) WO1999029463A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022067194A3 (fr) * 2020-09-25 2022-06-23 3D at Depth, Inc. Systèmes et procédés d'inspection et de mesures laser
US11774586B2 (en) 2017-07-10 2023-10-03 3D at Depth, Inc. Underwater optical metrology system
US12019159B2 (en) 2022-01-06 2024-06-25 3D at Depth, Inc. Systems and methods for monitoring underwater structures

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001099987A (ja) * 1999-09-28 2001-04-13 Toshiba Corp 原子炉配管内レーザ研磨装置
JP3306040B2 (ja) * 2000-03-10 2002-07-24 株式会社東芝 原子炉内構造物の保全・補修装置
US7718921B2 (en) 2004-11-17 2010-05-18 Metal Improvement Company Llc Active beam delivery system with variable optical path segment through air
US7851725B2 (en) * 2004-11-17 2010-12-14 Metal Improvement Company Llc Active beam delivery system with image relay
JP4923459B2 (ja) * 2005-07-19 2012-04-25 日産自動車株式会社 レーザ溶接装置およびレーザ溶接システム
JP6189040B2 (ja) * 2013-01-31 2017-08-30 三菱重工業株式会社 原子炉補修装置の据付装置及び方法
JP2016078044A (ja) * 2014-10-14 2016-05-16 三菱電機株式会社 加工状態判定装置及び加工機
DE102020112330A1 (de) 2020-05-07 2021-11-11 Renk Gmbh Werkstückbearbeitungsvorrichtung

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63210240A (ja) * 1987-02-26 1988-08-31 Mitsubishi Motors Corp 円筒状ブロツクの焼入れ方法
JPS63235089A (ja) * 1987-03-24 1988-09-30 Nec Corp レ−ザビ−ム・スキヤナ
JPH01278987A (ja) * 1988-04-28 1989-11-09 Toshiba Corp 光軸調整装置
JPH02255291A (ja) * 1989-03-28 1990-10-16 Toshiba Corp レーザ光照射位置観察装置
JPH07248397A (ja) * 1994-03-09 1995-09-26 Toshiba Corp 原子炉内構造物の補修方法およびその装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63210240A (ja) * 1987-02-26 1988-08-31 Mitsubishi Motors Corp 円筒状ブロツクの焼入れ方法
JPS63235089A (ja) * 1987-03-24 1988-09-30 Nec Corp レ−ザビ−ム・スキヤナ
JPH01278987A (ja) * 1988-04-28 1989-11-09 Toshiba Corp 光軸調整装置
JPH02255291A (ja) * 1989-03-28 1990-10-16 Toshiba Corp レーザ光照射位置観察装置
JPH07248397A (ja) * 1994-03-09 1995-09-26 Toshiba Corp 原子炉内構造物の補修方法およびその装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11774586B2 (en) 2017-07-10 2023-10-03 3D at Depth, Inc. Underwater optical metrology system
WO2022067194A3 (fr) * 2020-09-25 2022-06-23 3D at Depth, Inc. Systèmes et procédés d'inspection et de mesures laser
US12019159B2 (en) 2022-01-06 2024-06-25 3D at Depth, Inc. Systems and methods for monitoring underwater structures

Also Published As

Publication number Publication date
SE9902857L (sv) 1999-10-06
SE9902857D0 (sv) 1999-08-09
DE19882109T1 (de) 2000-03-16
JP3865338B2 (ja) 2007-01-10
SE521996C2 (sv) 2003-12-23
JPH11174191A (ja) 1999-07-02

Similar Documents

Publication Publication Date Title
US6881925B1 (en) Laser emission head, laser beam transmission device, laser beam transmission device adjustment method and preventive maintenance/repair device of structure in nuclear reactor
JP6046033B2 (ja) 高出力レーザシステムの為のフレキシブルビーム供給システム
JP5139808B2 (ja) レーザピーニングのためのアクティブビーム供給システム、及び、レーザピーニング法
KR100912956B1 (ko) 공기를 통한 가변 광 경로 세그먼트를 구비한 능동 빔 전달시스템
WO1999029463A1 (fr) Tete d'emission laser, dispositif de transmission de faisceau laser, procede de reglage de dispositif de transmission de faisceau laser et dispositif d'entretien preventif/reparation de structure de reacteur nucleaire
US20040154402A1 (en) Remote laser beam delivery system and method for use with a robotic positioning system for ultrasonic testing purposes
EP0345469B1 (fr) Système d'alignement et de transport d'un faisceau laser
JPH10216983A (ja) レーザ保全・補修装置
JPH11174192A (ja) 原子炉アニュラス部検査装置
JP2021527571A (ja) パターン化されたミラーを使用したレーザビーム配置方法
JP3485984B2 (ja) 炉内検査システムおよび炉内検査方法
JP2006308547A (ja) 作業装置および作業方法
JP2005331333A (ja) 軸管内径計測装置および軸管内径自動計測装置
JP2000075080A (ja) ジェットポンプ検査装置および取扱い装置
JP3834437B2 (ja) レーザ照射ヘッドおよびこの照射ヘッドを備えた原子炉内構造物の予防保全・補修装置および作業方法
JP3306040B2 (ja) 原子炉内構造物の保全・補修装置
US20120320383A1 (en) Enclosed Laser-Ultrasonic Inspection System
JP3895365B2 (ja) 原子炉内構造物の予防保全・補修装置
JP2003161797A (ja) 原子炉補修ロボット
JPH11109082A (ja) 原子炉内検査装置
US11531184B2 (en) Laser beam positioning method using a patterned mirror
CN217384663U (zh) 一种光电***综合检测平台
JP2005227218A (ja) 炉内保全・補修装置
SU1114910A1 (ru) Стенд контрол оптики
JP2008268151A (ja) 上蓋施工装置、上蓋施工装置の組立方法および上蓋施工装置の挙動監視方法

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): DE SE US

WWE Wipo information: entry into national phase

Ref document number: 99028573

Country of ref document: SE

WWP Wipo information: published in national office

Ref document number: 99028573

Country of ref document: SE

WWE Wipo information: entry into national phase

Ref document number: 09367060

Country of ref document: US

RET De translation (de og part 6b)

Ref document number: 19882109

Country of ref document: DE

Date of ref document: 20000316

WWE Wipo information: entry into national phase

Ref document number: 19882109

Country of ref document: DE