WO2011070788A1 - 原子炉内作業システム及び原子炉内作業方法 - Google Patents

原子炉内作業システム及び原子炉内作業方法 Download PDF

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Publication number
WO2011070788A1
WO2011070788A1 PCT/JP2010/007184 JP2010007184W WO2011070788A1 WO 2011070788 A1 WO2011070788 A1 WO 2011070788A1 JP 2010007184 W JP2010007184 W JP 2010007184W WO 2011070788 A1 WO2011070788 A1 WO 2011070788A1
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WO
WIPO (PCT)
Prior art keywords
moving mechanism
reactor
flaw detection
vehicle
depth sensor
Prior art date
Application number
PCT/JP2010/007184
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
島村　光明
裕 戸賀沢
久士 穂積
謙司 松崎
湯口　康弘
Original Assignee
株式会社 東芝
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 株式会社 東芝 filed Critical 株式会社 東芝
Priority to SE1250805A priority Critical patent/SE537389C2/sv
Priority to JP2011545093A priority patent/JP5634411B2/ja
Publication of WO2011070788A1 publication Critical patent/WO2011070788A1/ja
Priority to US13/489,963 priority patent/US20120243649A1/en

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    • 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
    • G21C17/007—Inspection of the outer surfaces of vessels
    • 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
    • G21C17/013—Inspection vehicles
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F9/00—Treating radioactively contaminated material; Decontamination arrangements therefor
    • G21F9/28—Treating solids
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
    • G21C19/20—Arrangements for introducing objects into the pressure vessel; Arrangements for handling objects within the pressure vessel; Arrangements for removing objects from the pressure vessel
    • G21C19/207—Assembling, maintenance or repair of reactor components
    • 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 in-reactor work system that performs various operations such as cleaning, inspection, inspection, preventive maintenance, and repair of a reactor internal structure such as a shroud installed in a nuclear reactor in a nuclear power plant and a work method thereof.
  • the inspection and inspection work of the shroud weld line performed in the reactor water with the top of the reactor pressure vessel being opened when the reactor operation is stopped will be described as an example.
  • the inspection and inspection work of the shroud weld line in the reactor water is required to be performed in parallel during the fuel change in order to shorten the work period and reduce the cost. Advantages of working time, inspection range, and cost Sex is required.
  • Patent Document 2 the work apparatus is moved in the horizontal direction using the core spray pipe in the reactor as a guide, and monitoring support for the inspection work in the reactor can be performed during the fuel change without using the fuel changer. ing.
  • Patent Document 3 an access arm suspended along the outer side of the shroud is mounted on a circumferential traveling carriage installed in the upper part of the shroud in the nuclear reactor, and the work device is moved and installed on the outer periphery of the shroud.
  • shroud inspections and inspections are required to be performed in parallel during the fuel change in order to shorten the work period and cost, and the work time is short, the inspection range is wide, and the cost is low. It was necessary for the work system to perform inspection and inspection.
  • Patent Document 1 in the method of installing a tow rope and a moving guide from a fuel changer or work carriage at the top of the furnace, a fuel changer or work carriage is always required during inspection and inspection. It is considered unsuitable for parallel work. Further, since the working device moves on the shroud support plate, it is considered that it is not suitable for the weld line above the shroud.
  • Patent Document 2 and Patent Document 3 in the method of moving using a furnace internal structure such as a shroud upper shell as a guide, the working device is attached to the tip of a telescopic structure such as a mast and installed on the outer periphery of the shroud. It is necessary to move while avoiding the jet pump, which may lead to an increase in work time, such as the need to change the installation of the moving device.
  • the present invention has been made to solve the above-described problems, and when performing inspection and inspection of the shroud weld line during fuel replacement, a wide range of inspection and inspection can be performed in a short time.
  • In-reactor work that contributes to labor saving and shortening of the regular inspection process because no manual work such as positioning and operation monitoring is required (automatic accessibility), and no crane or work cart is required during inspection and inspection. It is an object to provide a system and a method for working in a nuclear reactor.
  • an in-reactor working system of the present invention includes a moving mechanism that moves in a circumferential direction along an outer surface of a cylindrical structure that is disposed in a reactor pressure vessel with a vertical axis.
  • a working device that is mounted on the moving mechanism and performs work on the cylindrical structure; an installation device that sets an initial position of the moving mechanism on the cylindrical structure; and the moving mechanism and the installation device.
  • the posture of the moving mechanism can be changed to be rotatable around an arbitrary horizontal axis and set to an initial position. To do.
  • the in-reactor working method of the present invention is mounted on a moving mechanism when the reactor is shut down with a cylindrical structure having a vertical axis arranged in the reactor pressure vessel.
  • the reactor in which the work apparatus is moved along the outer wall surface of the cylindrical structure, the upper portion of the reactor pressure vessel is opened, and water is filled in the reactor pressure vessel.
  • a transfer step for transferring the installation device to which the moving mechanism is detachably mounted from above the reactor pressure vessel, and an initial position of the moving mechanism on the outer wall surface of the cylindrical structure are set.
  • the present invention when performing inspection and inspection of the shroud weld line during fuel replacement, a wide range of inspection and inspection can be performed within the shroud in a short time, and no crane or work carriage is required during the inspection and inspection. This eliminates the need for manual operations such as device positioning and operation monitoring (automatic accessibility). For this reason, labor saving and shortening of a regular inspection process are attained.
  • FIG. 1 is a schematic view showing a state where a first embodiment of an in-reactor work system according to the present invention is installed in a reactor. It is the enlarged view which looked at the flaw detection vehicle in FIG. 1 from the back surface. It is a block diagram which expands and shows the fixed arm in FIG. It is an enlarged view of the expansion
  • FIG. 2 is a conceptual diagram showing a route of a composite cable when the flaw detection vehicle in FIG. 1 is positioned substantially at the center of the vehicle positioning mast and the flaw detection vehicle is not moving horizontally.
  • FIG. 2 is a conceptual diagram showing a state in which a composite cable is routed when the flaw detection vehicle in FIG.
  • FIG. 1 is positioned substantially at the center of the vehicle positioning mast and the flaw detection vehicle moves horizontally.
  • FIG. 3 is a conceptual diagram showing a routed state of the composite cable when the flaw detection vehicle in FIG. 1 is positioned on the top of the vehicle positioning mast and the flaw detection vehicle is not moving horizontally.
  • FIG. 2 is a conceptual diagram showing a routed state of the composite cable when the flaw detection vehicle in FIG. 1 is positioned on the top of the vehicle positioning mast and the flaw detection vehicle moves horizontally.
  • FIG. 2 is a conceptual diagram showing a routed state of the composite cable when the flaw detection vehicle in FIG. 1 is positioned below the vehicle positioning mast and the flaw detection vehicle is not moving horizontally.
  • FIG. 3 is a conceptual diagram showing a routed state of the composite cable when the flaw detection vehicle in FIG. 1 is positioned on the top of the vehicle positioning mast and the flaw detection vehicle is not moving horizontally.
  • FIG. 2 is a conceptual diagram showing a routed state of the composite cable when the
  • FIG. 2 is a conceptual diagram showing a routed state of a composite cable when the flaw detection vehicle in FIG. 1 is positioned below a vehicle positioning mast and the flaw detection vehicle moves horizontally.
  • FIG. 2 is a schematic view showing the installation position of a vehicle positioning mast viewed from above the reactor in a state where the first embodiment of the in-reactor working system according to the present invention is installed in the reactor. It is an enlarged view of the vehicle storage part which installed the signal multiplexing unit in 2nd Embodiment of the reactor internal work system which concerns on this invention. It is the schematic which shows the state which installed 3rd Embodiment of the in-reactor working system which concerns on this invention in the reactor.
  • FIG. 1 is a schematic view showing a state in which a first embodiment of an in-reactor work system according to the present invention is installed in a reactor.
  • a shroud 2 which is a cylindrical welded structure whose axis is a vertical direction, is installed in a reactor pressure vessel 1.
  • a shroud support plate 3 which is a donut disk-like structure extending horizontally, is disposed below the outer side of the shroud 2.
  • a vehicle positioning mast 10 is installed on the annulus portion on the shroud support plate 3.
  • the upper part of the vehicle positioning mast 10 is provided with a shroud upper ring 4 and a fixed arm 12 for the reactor pressure vessel 1, and a lower part is provided with a vehicle storage part 13.
  • the flaw detection vehicle 11 for inspecting and inspecting the horizontal weld line of the shroud 2 in the deployment portion 7 of the vehicle positioning mast 10 is connected to the vehicle positioning mast 10 by the deployment arm 16 via a vehicle attachment / detachment portion described later. ing. Further, the elevating base 14 is arranged to be movable up and down by an elevating guide 15 in the vehicle positioning mast 10.
  • the flaw detection vehicle 11 is installed on the shroud support plate 3 by an overhead crane (not shown) through an underwater hoist (not shown) in a state of being stored in the vehicle storage unit 13 of the vehicle positioning mast 10.
  • the fixed arm 12 is expanded with respect to the reactor pressure vessel 1 and the reaction force is received by the shroud upper ring 4 to be fixed at the upper part.
  • the elevating base 14 is moved along the elevating guide 15 to align the position of the flaw detection vehicle 11 with the position of the horizontal welding line, and the flaw detection vehicle 11 is pressed against the outer periphery of the shroud 2 by the deployment arm 16.
  • the initial positioning is set to 11 operation start position.
  • the flaw detection vehicle 11 has a function of adsorbing to the vertical wall of the shroud 2 and capable of self-propelling in the horizontal direction.
  • the flaw detection vehicle 11 is separated from the deployment arm 16 side by a vehicle attaching / detaching portion described later, travels along a horizontal welding line, and is mounted with a visual inspection camera and a volume inspection ultrasonic flaw detection sensor. Or, the inspection and inspection of the eddy current flaw detection sensor, etc., and the inspection and inspection of the weld line are performed.
  • polishing work and cleaning work with a brush, a polishing jig, a water washing nozzle, prevention with a water jet peening head and a laser peening head are also possible.
  • FIG. 2 is an enlarged view of the flaw detection vehicle in FIG. 1 viewed from the back side.
  • the flaw detection vehicle 11 includes two thrusters 17a and 17b, and is covered with the frame body 9 except for these two thrusters 17a and 17b.
  • the thruster 17a and the thruster 17b are connected to the thruster motor 20a and the thruster motor 20b via the timing belt 18a and the bevel gear 19a, and the timing belt 18b and the bevel gear 19b, respectively, and are driven to rotate by these thruster motors 20a and 20b. Is done.
  • the flaw detection vehicle 11 has two traveling wheels 21a and a traveling wheel 21b arranged on the left side in the figure.
  • the wheels are respectively connected to the timing belt 22a and the timing pulley 23a, and the timing belt 22b and the timing pulley 23b. It is connected to the drive motor 24a and the wheel drive motor 24b, and is rotationally driven by these wheel drive motors 24a and 24b.
  • the three points of the traveling wheels 21a and 21b and the free wheel 25 come into contact with the shroud wall surface, and the distance to the shroud wall surface is kept constant.
  • the horizontal travel distance is converted into the number of rotations of the distance measurement wheel 26a and the distance measurement wheel 26b, and is detected by the distance measurement sensor 27a and the distance measurement sensor 27b, respectively.
  • Each sensor and motor cable is combined into two composite cables 28, connected to the vehicle positioning mast 10 shown in FIG. 1, and finally connected to, for example, a control device installed on the operation floor. Is done.
  • An inspection / inspection sensor 30 is connected to the flaw detection vehicle 11 via a movable guide 29.
  • the flaw detection vehicle 11 rotates the thruster 17 a and the thruster 17 b, sucks it from the shroud 2 wall surface side of the flaw detection vehicle 11, and discharges it to the back side of the flaw detection vehicle 11. Is generated.
  • the pressure on the shroud 2 wall surface side of the flaw detection vehicle 11 becomes smaller than that on the back surface side, so that the flaw detection vehicle 11 can be adsorbed to the shroud 2 wall surface.
  • the traveling wheel 21a and the traveling wheel 21b are rotationally driven in the same direction with respect to the flaw detection vehicle 11, whereby the traveling wheel 21 can travel rightward or leftward on the shroud 2.
  • the inspection / inspection sensor 30 side may be shifted upward or downward.
  • the inspection / inspection sensor 30 is shifted upward during traveling in the right direction in the state of FIG. 2, the traveling distance measured by the measuring wheel 26b is larger than the traveling distance measured by the measuring wheel 26a.
  • adjustment control is performed so that the flaw detection vehicle 11 becomes horizontal, and posture correction is possible.
  • the posture can be corrected by increasing the rotational speed of the traveling wheel 21b with respect to the traveling wheel 21a.
  • FIG. 3 is an enlarged configuration diagram showing the fixed arm 12 in FIG.
  • a rack 32 is attached to the tip of the air cylinder 31, and the fixed arm 12 is arranged via a pinion gear 33.
  • the pinion gear 33 and the fixed arm 12 can be rotated by moving the rack 32 up and down by the air cylinder 31.
  • the fixed arm 12 shown in FIG. 1 is accommodated in the vehicle positioning mast 10, or the fixed arm 12 is expanded and pressed against the inner surface of the reactor pressure vessel 1 and the reaction force is received by the shroud upper ring 4.
  • the upper part of the vehicle positioning mast 10 can be fixed.
  • FIG. 4 is an enlarged view of the development part 7 in FIG.
  • the flaw detection vehicle 11 has its longitudinal direction facing up and down, and is fixedly held to the vehicle fixing bracket 35 by the vehicle fixing mechanism 34.
  • the vehicle fixing bracket 35 is provided with a cable length adjusting pulley 38 for feeding and drawing the composite cable 28 and an idler roller 39 for sandwiching the composite cable.
  • the cable length adjusting pulley 38 is rotationally driven by a pulley rotating motor 36 via a bevel gear 37.
  • the flaw detection vehicle 11, the vehicle fixing bracket 35, the vehicle fixing mechanism 34, the cable length adjusting pulley 38, the idler roller 39, the bevel gear 37, and the pulley rotating motor 36 are all driven by the vehicle rotating mechanism 41 via a bearing. Rotating about the horizontal axis with the deployment arm 16 side, that is, the end in the longitudinal direction of the flaw detection vehicle 11 comes to a position of 90 degrees on the front side of the paper and 90 degrees on the side facing the paper from the state shown in FIG. So that it can rotate.
  • a detection dog 78 is attached to the rotation side, and the detection dog 78 is rotated as the end of the flaw detection vehicle 11 in the longitudinal direction rotates 90 degrees from the state shown in FIG. Is also able to follow and rotate.
  • proximity sensors 79a and 79b are attached to the fixed side to which the deployment arm 16 is connected. Accordingly, the detection dog 78 is detected by the proximity sensor 79a when the detection dog 78 is rotated 90 degrees toward the front side of the paper, and is detected by the proximity sensor 79b when the detection dog 78 is rotated 90 degrees toward the side of the paper. With the above operation, a change in orientation when the flaw detection vehicle 11 is placed on the shroud 2 is detected. Further, these elements are connected to the vehicle positioning mast 10 side by a lifting base 14 and two deployment arms 16.
  • the flaw detection vehicle 11 is stored in a vehicle storage portion 13 below the vehicle positioning mast 10 in a posture in which the longitudinal direction is vertical.
  • the deployment arm 16 is rotationally driven by an air cylinder (not shown) to deploy the flaw detection vehicle 11 to the shroud side as shown in FIG.
  • the flaw detection vehicle 11 is moved.
  • the flaw detection vehicle 11 is rotated 90 degrees by the vehicle rotation mechanism 41, and the longitudinal direction of the flaw detection vehicle 11 is made horizontal as shown in FIG.
  • the deployment arm 16 is driven to rotate, and the flaw detection vehicle 11 is brought into contact with the outer wall of the shroud 2.
  • the flaw detection vehicle 11 is attracted to the shroud 2, the holding of the flaw detection vehicle 11 is released by the vehicle fixing mechanism 34, and the flaw detection vehicle 11 is caused to travel horizontally.
  • the traveling direction is reversed, the rotation direction of the flaw detection vehicle 11 by the vehicle rotation mechanism 41 is reversed.
  • the vehicle positioning mast 10 since the vehicle positioning mast 10 is fixed, it is necessary to adjust the length of the composite cable 28 in accordance with the position of the flaw detection vehicle 11.
  • the moving distance of the flaw detection vehicle 11 is measured by the measuring wheel 26a and the measuring wheel 26b, and the length of the composite cable 28 is adjusted and controlled by rotating the cable length adjusting pulley 38 according to the distance.
  • the cable reaction force acting on the flaw detection vehicle 11 can be reduced, and stable horizontal running can be performed, so that accurate flaw detection work can be performed.
  • FIGS. 6 to 11 are conceptual diagrams showing a routed state of the composite cable 28 in the flaw detection vehicle 11 of the present embodiment.
  • 6 and 7 show a state in which the composite cable 28 is routed when the composite cable 28 is fed out when the flaw detection vehicle 11 is positioned substantially at the center of the vehicle positioning mast 10.
  • the composite cable 28 is drawn in an S shape, and the upper pulley 45 and the lower pulley 46 are pulled upward or downward by, for example, a Conston spring so that the composite cable 28 does not sag. It is arranged at 3m.
  • the composite cable 28 is fed out by the cable length adjusting pulley 38 and the idler roller 39, and the distance between the upper pulley 45 and the lower pulley 46 is, for example, 1 m as shown in FIG.
  • the cable can be fed out, and the composite cable 28 can be routed without slack in the vehicle positioning mast 10 even when the cable is returned.
  • the composite cable 28 is drawn in an S-shape, and the upper pulley 45 and the lower pulley 46 are pulled upward or downward by, for example, a Conston spring so that the composite cable 28 does not sag. For example, it is arranged at 2 m.
  • the composite cable 28 is fed out by the cable length adjusting pulley 38 and the idler roller 39, so that the distance between the upper pulley 45 and the lower pulley 46 is approximately 0 m as shown in FIG.
  • the cable can be fed out, and the composite cable 28 can be routed without slack in the vehicle positioning mast 10 even when the cable is returned.
  • FIGS. 10 and 11 show a state in which the composite cable 28 is routed when the composite cable 28 is fed out when the flaw detection vehicle 11 is positioned below the vehicle positioning mast 10.
  • the composite cable 28 is drawn in an S shape, and the upper pulley 45 and the lower pulley 46 are pulled upward or downward by, for example, a Conston spring so that the composite cable 28 does not sag.
  • a Conston spring for example, it is arranged at 4 m.
  • the composite cable 28 is fed out by the cable length adjusting pulley 38 and the idler roller 39, and the upper pulley 45 is lowered by 2 m, for example, as shown in FIG.
  • the cable can be fed out by maintaining the position, and the composite cable 28 can be routed without slack in the vehicle positioning mast 10 even when the cable is returned.
  • the composite cable 28 is arranged without sagging in the vehicle positioning mast 10, and the composite cable 28 is moved in accordance with the movement of the flaw detection vehicle 11. It is possible to adjust the length.
  • FIG. 12 is a schematic view when the installation position of the vehicle positioning mast 10 is viewed from above the reactor in the present embodiment.
  • the vehicle positioning mast 10 is installed beside the access hole cover 6. As described above, after the flaw detection vehicle 11 is rotated and the flaw detection vehicle 11 is placed on the outer surface of the shroud 2, the inside of the jet pump 5 runs 90 degrees in the CW (clockwise) direction along the weld line as shown in the figure. Move and inspect and inspect the weld line of the shroud 2.
  • the flaw detection vehicle 11 is returned to the vehicle positioning mast 10 and moved 90 degrees in the CCW (counterclockwise) direction to inspect and inspect the weld line. As a result, the inspection and inspection of the half circumference of the shroud 2 are performed.
  • the vehicle positioning mast 10 is similarly installed on the opposite access hole cover 6 located below in FIG. 12, and the remaining half-round is inspected and inspected.
  • the vehicle positioning mast 10 is simply installed at two locations on the shroud 2. 2. Inspection and inspection of welding around the entire circumference can be performed.
  • the flaw detection vehicle 11 can be moved and moved only in the horizontal direction. However, by using a vehicle having a steering function for the traveling wheel, it is possible to move the flaw detection vehicle 11 vertically. is there.
  • the inspection and inspection of the weld line is performed when the inspection and inspection of the weld line of the shroud 2 is performed during the fuel change.
  • An inspection crane 30 is transported along the weld line by the flaw detection vehicle 11 without using an overhead crane or work carriage. Therefore, a wide range of inspections and inspections can be performed in a short time, and initial positioning can be performed remotely and automatically, thereby reducing uncertainties due to manual work and shortening the time. As a result, it can contribute to labor saving and shortening of the regular inspection process.
  • the cable 28 is connected to the flaw detection vehicle 11 at the rear in the movement direction of the flaw detection vehicle 11.
  • the flaw detection vehicle 11 can be moved in both directions from the initial position without being obstructed by the cable 28.
  • a signal multiplexing unit 50 such as a multiplexer is disposed in the vehicle storage portion 13 below the vehicle positioning mast 10. Has the same configuration as that of the first embodiment.
  • the number of cables can be reduced when the vehicle positioning mast 10 and the flaw detection vehicle 11 are installed.
  • the means for conveying the flaw detection vehicle 11 and the vehicle positioning mast 10 into the reactor pressure vessel 1 are the submersible hoist of the first embodiment and Instead of using an overhead crane, as shown in FIG. 14, a transport vehicle 52 capable of swimming is used. That is, the vehicle positioning mast 10 and the flaw detection vehicle 11 are transported by being suspended by the transport vehicle 52 and installed at the locations shown in FIG.
  • an inclination mechanism (not shown) that can rotate around two horizontal axes is disposed at the connection portion between the transport vehicle 11 and the vehicle positioning mast 10. With this tilting mechanism, even if the entire transport vehicle 11 and the vehicle positioning mast 10 are tilted, the long vehicle positioning mast 10 can be inserted and installed in a narrow annulus.
  • the vehicle positioning mast 10 and the flaw detection vehicle 11 can be installed and moved without using an overhead crane, and the shroud can be prevented without interfering with other in-reactor operations in regular inspection operations. 2 inspections and inspection work can be carried out.
  • the flaw detection vehicle 55 and the flaw detection vehicle 11 in the first embodiment are the same as the flaw detection vehicle 55 except that a visual camera 57 is mounted as shown in FIG. It is set as the same structure.
  • images of the surface of the shroud 2 are continuously acquired by the visual camera 57.
  • Image processing is performed on the acquired camera image to detect a shift in the vertical direction with respect to the moving direction, and the rotational direction of the two traveling wheels of the flaw detection vehicle 55 is adjusted and controlled to correct the traveling direction.
  • the traveling direction can be corrected without giving disturbance to the movement of the flaw detection vehicle 55.
  • the scanning accuracy of the inspection / inspection sensor 30 is improved, which contributes to improving the accuracy of acquired data.
  • the flaw detection vehicle 60 is the same as the flaw detection vehicle 11 in the first embodiment except that a depth sensor 62 is mounted as shown in FIG. It is made up of.
  • the depth sensor 62 continuously acquires the water depth during horizontal travel. A shift in the vertical direction with respect to the moving direction is detected from the acquired water depth data, and the traveling direction is corrected by adjusting and controlling the rotational speeds of the two traveling wheels of the flaw detection vehicle 60.
  • the traveling direction can be corrected without giving disturbance to the movement of the flaw detection vehicle 60.
  • the scanning accuracy of the inspection / inspection sensor 30 is improved, which contributes to improving the accuracy of acquired data.
  • the flaw detection vehicle 65 is the same as the flaw detection vehicle 11 in the first embodiment except that an acceleration sensor 67 is mounted as shown in FIG. It is made up of.
  • the acceleration sensor 67 continuously acquires the vertical deviation from the movement direction from the sensor information. From the acquired deviation, the rotational direction of the two traveling wheels of the flaw detection vehicle 65 is adjusted and controlled to correct the traveling direction.
  • the traveling direction can be corrected without giving disturbance to the movement of the flaw detection vehicle 65.
  • the scanning accuracy of the inspection / inspection sensor 30 is improved, which contributes to improving the accuracy of acquired data.
  • the two ultrasonic sensors 72a and 72b are mounted as the flaw detection vehicle 70 as shown in FIG.
  • the configuration is the same as that of the flaw detection vehicle 11.
  • these ultrasonic sensors 72a and 72b move horizontally on the wall surface of the shroud 2 while measuring the distance to the lower surface 51 of the intermediate ring of the shroud 2 in FIG.
  • the detection distances by the respective ultrasonic sensors 72a and 72b are continuously acquired, a deviation in the vertical direction with respect to the moving direction is detected from the detected distances, and the inclination angle of the flaw detection vehicle 70 is calculated from the difference in the detection distances.
  • the rotational speed of the two traveling wheels of the flaw detection vehicle 70 is adjusted and controlled from the acquired vertical deviation and inclination angle to correct the traveling direction and inclination angle.
  • the traveling direction and the inclination angle of the vehicle can be corrected without giving disturbance to the movement of the flaw detection vehicle 70.
  • the scanning accuracy of the inspection / inspection sensor 30 is improved, which contributes to improving the accuracy of acquired data.
  • the configuration is the same as that of the vehicle 11.
  • these contact rollers 77a and 77b move horizontally on the wall surface of the shroud 2 along the intermediate ring while bringing the rollers into contact with the lower surface 51 of the intermediate ring of the shroud 2 in FIG. .
  • buoyancy in water By applying buoyancy in water to the flaw detection vehicle 75, it becomes floating, and the roller can be brought into contact with the lower surface 51 of the intermediate ring. Therefore, since the rollers are in contact with each other, it is possible to suppress the occurrence of vertical displacement when moving in the horizontal direction.
  • a contact roller is disposed below the flaw detection vehicle 75 and moved horizontally on the wall surface of the shroud 2 along the shroud support cylinder 54 while contacting the roller with the upper surface of the shroud support plate 3 shown in FIG. It is also possible to do. In this case, if the flaw detection vehicle 75 is submerged in water, the roller can be brought into contact with the upper surface of the shroud support plate 3 due to underwater weight. Since the rollers are in contact with each other, it is possible to suppress the occurrence of vertical displacement when moving in the horizontal direction.
  • the occurrence of vertical displacement when moving in the horizontal direction with respect to the shroud 2 can be suppressed, so inspection and inspection are possible.
  • the scanning accuracy of the sensor 30 is improved. As a result, it contributes to improving the accuracy of acquired data.
  • the flaw detection vehicle 60 equipped with a sensor capable of detecting the water depth even if the vertical direction of the flaw detection vehicle changes has been described.
  • a flaw detection vehicle 80 capable of detecting the water depth even when the vertical direction changes when the direction of travel of the flaw detection vehicle is changed from side to side will be described.
  • a pair of air tubes 81a and 81b are installed at one end of the main body as shown in FIGS. 20 (a) and 20 (b).
  • the structure is the same as that of the flaw detection vehicle 11 in the first embodiment except that a pair of air tubes 82a and 82b are mounted on the other end.
  • an air tube 81a with the opening directed downward and an air tube 81b with the opening directed upward are attached to the right end of the flaw detection vehicle 80.
  • an air tube 82a with the opening facing downward and an air tube 82b with the opening facing upward are attached to the left end of the flaw detection vehicle 80.
  • the water pressure is detected using the air tubes 81a and 81b and the air tubes 82a and 82b.
  • the surrounding water pressure is detected by a pressure gauge (not shown) connected to the air tube 81a.
  • a deviation in the vertical direction relative to the moving direction is detected from the detected water depth data, and the traveling direction is corrected by adjusting and controlling the rotational speeds of the two traveling wheels of the flaw detection vehicle 80.
  • the surrounding water pressure is detected by a pressure gauge (not shown) connected to the air tube 82a, and similarly the rotational speed of the traveling wheel is adjusted and controlled to correct the traveling direction.
  • the flaw detection vehicle 80 when the flaw detection vehicle 80 is turned upside down, as shown in FIG. 20B, when traveling rightward, the flaw detection vehicle 80 is connected to the air tube 82b. Detect the surrounding water pressure with a pressure gauge that does not. A deviation in the vertical direction with respect to the moving direction is detected based on the detected water depth data, and the traveling direction is corrected by adjusting and controlling the rotational speeds of the two traveling wheels of the flaw detection vehicle 80. On the contrary, when traveling left, the surrounding water pressure is detected by a pressure gauge (not shown) connected to the air tube 81b, and similarly, the rotational speed of the traveling wheel is adjusted and controlled to correct the traveling direction.
  • the traveling direction is controlled by detecting the water depth at a position preceding the traveling wheels 21a and 21b.
  • the water pressure is detected by the air tube 81a.
  • the flaw detection vehicle 80 rotates in the CCW (counterclockwise) direction.
  • the position of the air tube 81a rises, and the water pressure in the direction in which the vertical position of the flaw detection vehicle 80 is corrected is detected. That is, since the water pressure that is the state quantity after correction is detected so as to cancel the change in the water pressure that is the state quantity before correction, stable control can be performed.
  • the flaw detection vehicle 80 when traveling in the right direction in FIG. 20 (a), if the water pressure is detected by the air tube 82a and controlled, the flaw detection vehicle 80 becomes CCW when the vertical position of the flaw detection vehicle 80 is lowered. Since it rotates in the (counterclockwise) direction to correct the vertical position, the position of the air tube 82a is further lowered. As a result, the water pressure in the direction opposite to the direction in which the vertical position of the flaw detection vehicle 80 is corrected is detected, which may be unstable as compared with the control based on the air tube 81a. That is, since the water pressure that is the state quantity after correction is detected in a direction that increases the change in the water pressure that is the state quantity before correction, the control becomes unstable.
  • the inclination angle of the flaw detection vehicle 11 can be detected by comparing the water pressures of the air tube 81a and the air tube 82a. Therefore, it is possible to detect the deviation of the posture with higher accuracy and correct the traveling direction.
  • the ninth embodiment described above it is possible to detect a running deviation even when the two distance measuring wheels are deviated in a direction perpendicular to the rotation direction, and since a deviation during running is detected without contact, flaw detection
  • the traveling direction can be corrected without giving disturbance to the movement of the vehicle 11. Further, since the water direction at the position preceding the traveling wheels 21a and 21b is detected and the traveling direction is controlled, stable control is possible. Further, the inclination angle of the flaw detection vehicle 80 can be detected. As a result, the scanning accuracy of the inspection / inspection sensor 30 is improved, which contributes to improvement in accuracy of acquired data.
  • the correction control based on the detection results of the air tubes 81a, 81b, 82a, 82b may be automatically performed by a control device (not shown) of the flaw detection vehicle 80. That is, the flaw detection vehicle 80 is controlled by, for example, a control device configured by a computer or dedicated hardware installed on the operation floor, and has a function of automatically correcting based on the detection result of each air tube in the control device. It can be mounted on the flaw detection vehicle 80.
  • a flaw detection vehicle in which the inspection / inspection sensor 30 is fixed and other elements are added is shown.
  • the signal multiplexing unit 50 of the second embodiment and the transport vehicle 52 of the third embodiment can be used in the fourth to eighth embodiments.
  • the shroud in the boiling water reactor has been described as an application target.
  • the present invention is not limited to this, and for example, application to a reactor tank of a pressurized water reactor is conceivable.
  • SYMBOLS 1 Reactor pressure vessel, 2 ... Shroud (cylindrical structure), 3 ... Shroud support plate, 4 ... Shroud upper ring, 6 ... Access hole cover, 7 ... Expanding part, 9 ... Frame, 10 ... Mast for vehicle positioning (Installation device), 11 ... flaw detection vehicle (moving mechanism), 12 ... fixed arm, 13 ... vehicle storage, 14 ... lift base (lift), 15 ... lift guide, 16 ... deployment arm, 17a, 17b ... thruster ( Suction part), 18a, 18b ... timing belt, 19a, 19b ... bevel gear, 20a, 20b ... thruster motor, 21a, 21b ...
  • Upper pulley, 46 ... Lower pulley, 50 ... Signal multiplexing unit, 51 ... Lower surface of intermediate ring, 52 ... Conveying vehicle (conveying device), 54 ... Shroud support cylinder, 55 ... Flaw detection vehicle (moving mechanism), 57 ... Visual Camera, 60 ... flaw detection vehicle (movement mechanism), 62 ... depth sensor, 65 ... flaw detection vehicle (movement mechanism), 67 ... additional Degree sensor, 70 ... flaw detection vehicle (movement mechanism), 72a, 72b ... ultrasonic sensor, 75 ... flaw detection vehicle (movement mechanism), 77a, 77b ... contact roller, 78 ... detection dog, 79a, 79b ... proximity sensor, 80 ... Flaw detection vehicle (movement mechanism), 81a ... air tube (first depth sensor), 81b ... air tube (third depth sensor), 82a ... air tube (second depth sensor), 82b ... air tube (fourth depth sensor)

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Plasma & Fusion (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
PCT/JP2010/007184 2009-12-10 2010-12-10 原子炉内作業システム及び原子炉内作業方法 WO2011070788A1 (ja)

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SE1250805A SE537389C2 (sv) 2009-12-10 2010-12-10 Arbetssystem inuti reaktor och arbetsförfarande inuti reaktor
JP2011545093A JP5634411B2 (ja) 2009-12-10 2010-12-10 原子炉内作業システム及び原子炉内作業方法
US13/489,963 US20120243649A1 (en) 2009-12-10 2012-06-06 In-reactor work system and in-reactor work method

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JP2009280237 2009-12-10

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JP2022009358A (ja) * 2016-08-16 2022-01-14 ジーイー－ヒタチ・ニュークリア・エナジー・アメリカズ・エルエルシー 炉心シュラウドを検査するための遠隔操作ビークル、システム、および方法

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JP2022009358A (ja) * 2016-08-16 2022-01-14 ジーイー－ヒタチ・ニュークリア・エナジー・アメリカズ・エルエルシー 炉心シュラウドを検査するための遠隔操作ビークル、システム、および方法
JP7348938B2 (ja) 2016-08-16 2023-09-21 ジーイー－ヒタチ・ニュークリア・エナジー・アメリカズ・エルエルシー 炉心シュラウドを検査するための遠隔操作ビークル、システム、および方法
CN113744904A (zh) * 2021-07-26 2021-12-03 国核电站运行服务技术有限公司 一种核反应堆压力容器顶盖检查***
CN113744904B (zh) * 2021-07-26 2023-11-28 国核电站运行服务技术有限公司 一种核反应堆压力容器顶盖检查***

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JP5634411B2 (ja) 2014-12-03
TWI416540B (zh) 2013-11-21
JPWO2011070788A1 (ja) 2013-04-22
TW201140609A (en) 2011-11-16
US20120243649A1 (en) 2012-09-27

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