EP0479344A2 - Arbeitssystem für Innenwände der Wasserkammern in dem Dampferzeuger eines Kernreaktors - Google Patents

Arbeitssystem für Innenwände der Wasserkammern in dem Dampferzeuger eines Kernreaktors Download PDF

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Publication number
EP0479344A2
EP0479344A2 EP19910122369 EP91122369A EP0479344A2 EP 0479344 A2 EP0479344 A2 EP 0479344A2 EP 19910122369 EP19910122369 EP 19910122369 EP 91122369 A EP91122369 A EP 91122369A EP 0479344 A2 EP0479344 A2 EP 0479344A2
Authority
EP
European Patent Office
Prior art keywords
arm
vehicle
steam generator
water box
suction cup
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19910122369
Other languages
English (en)
French (fr)
Other versions
EP0479344B1 (de
EP0479344A3 (en
Inventor
Antoine Gemma
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Electricite de France SA
Original Assignee
Electricite de France SA
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 Electricite de France SA filed Critical Electricite de France SA
Publication of EP0479344A2 publication Critical patent/EP0479344A2/de
Publication of EP0479344A3 publication Critical patent/EP0479344A3/fr
Application granted granted Critical
Publication of EP0479344B1 publication Critical patent/EP0479344B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F9/00—Treating radioactively contaminated material; Decontamination arrangements therefor
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F9/00—Treating radioactively contaminated material; Decontamination arrangements therefor
    • G21F9/001—Decontamination of contaminated objects, apparatus, clothes, food; Preventing contamination thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F22—STEAM GENERATION
    • F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
    • F22B37/00—Component parts or details of steam boilers
    • F22B37/002—Component parts or details of steam boilers specially adapted for nuclear steam generators, e.g. maintenance, repairing or inspecting equipment not otherwise provided for
    • F22B37/003—Maintenance, repairing or inspecting equipment positioned in or via the headers
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F9/00—Treating radioactively contaminated material; Decontamination arrangements therefor
    • G21F9/001—Decontamination of contaminated objects, apparatus, clothes, food; Preventing contamination thereof
    • G21F9/002—Decontamination of the surface of objects with chemical or electrochemical processes
    • G21F9/004—Decontamination of the surface of objects with chemical or electrochemical processes of metallic surfaces

Definitions

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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Food Science & Technology (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Thermal Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • General Chemical & Material Sciences (AREA)
  • Manipulator (AREA)
  • Structure Of Emergency Protection For Nuclear Reactors (AREA)
  • Cleaning In General (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Domestic Plumbing Installations (AREA)
EP91122369A 1987-01-28 1988-01-26 Arbeitssystem für Innenwände der Wasserkammern in dem Dampferzeuger eines Kernreaktors Expired - Lifetime EP0479344B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR8700994 1987-01-28
FR8700994A FR2610137B1 (fr) 1987-01-28 1987-01-28 Systeme de decontamination des tuyauteries primaires et de la boite a eau d'un generateur de vapeur de centrale nucleaire
EP88400163A EP0281433B1 (de) 1987-01-28 1988-01-26 Arbeitssystem für primäre Rohrleitungen und Wasserkammer des Dampferzeugers eines Kernreaktors

Related Parent Applications (1)

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

Publications (3)

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

Family

ID=9347350

Family Applications (2)

Application Number Title Priority Date Filing Date
EP88400163A Expired - Lifetime EP0281433B1 (de) 1987-01-28 1988-01-26 Arbeitssystem für primäre Rohrleitungen und Wasserkammer des Dampferzeugers eines Kernreaktors
EP91122369A Expired - Lifetime EP0479344B1 (de) 1987-01-28 1988-01-26 Arbeitssystem für Innenwände der Wasserkammern in dem Dampferzeuger eines Kernreaktors

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP88400163A Expired - Lifetime EP0281433B1 (de) 1987-01-28 1988-01-26 Arbeitssystem für primäre Rohrleitungen und Wasserkammer des Dampferzeugers eines Kernreaktors

Country Status (10)

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

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5265129A (en) * 1992-04-08 1993-11-23 R. Brooks Associates, Inc. Support plate inspection device
US5305356B1 (en) * 1992-05-14 1998-09-01 Brooks Support Systems Inc Inspection device
JP5314609B2 (ja) * 2010-01-27 2013-10-16 三菱重工業株式会社 水室内作業装置
CN102494326B (zh) * 2011-11-28 2014-05-28 中国核工业二三建设有限公司 蒸汽发生器的观察孔的检修方法及所用到的工具

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3599871A (en) * 1969-07-08 1971-08-17 Goodrich Co B F Jet spray tank cleaner
US3741808A (en) * 1970-08-12 1973-06-26 Goodrich Co B F Tank cleaner
FR2381657A1 (fr) * 1977-02-24 1978-09-22 Commissariat Energie Atomique Vehicule autopropulse a bras articules
US4244523A (en) * 1979-03-15 1981-01-13 Looper Bruce T Apparatus for cleaning tanks or vessels
US4220170A (en) * 1979-07-30 1980-09-02 Hebert Chris J Apparatus for cleaning large tank interiors
US4326317A (en) * 1979-10-16 1982-04-27 Westinghouse Electric Corp. Decontamination apparatus
JPS57185000A (en) * 1981-05-08 1982-11-13 Mitsubishi Heavy Ind Ltd Method and device for working by remote control
FR2538602B1 (fr) * 1982-12-23 1988-05-06 Thome Paul Equipage automoteur de controle des canalisations du circuit primaire des centrales nucleaires
FR2544123B1 (fr) * 1983-04-07 1988-02-12 Thome Jean Patrick Dispositif et procede d'intervention sur des tubes de generateurs de vapeur de chaudieres nucleaires
US4646768A (en) * 1983-07-18 1987-03-03 Mitsubishi Jukogyo Kabushiki Kaisha Extendable and retractable cleaning apparatus
DE3345278A1 (de) * 1983-12-14 1985-06-27 Kraftwerk Union AG, 4330 Mülheim Vorrichtung zum elektropolieren der innenoberflaeche von hohlzylindrischen koerpern
FR2566309B1 (fr) * 1984-06-22 1986-11-07 Barras Provence Dispositif pour positionner selectivement un outil porte par un vehicule se deplacant sur la plaque perforee d'un faisceau de tubes
FR2570314B1 (fr) * 1984-09-20 1987-03-06 Commissariat Energie Atomique Robot porte-outil pour effectuer des interventions a l'interieur d'une enceinte possedant une ouverture d'acces
US4672741A (en) * 1985-06-27 1987-06-16 Westinghouse Electric Corp. End effector apparatus for positioning a steam generator heat exchanger tube plugging tool

Also Published As

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

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