WO2014020280A3 - Colmatage de fissure dans une piscine d'installation nucléaire, utilisant un robot - Google Patents

Colmatage de fissure dans une piscine d'installation nucléaire, utilisant un robot Download PDF

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Publication number
WO2014020280A3
WO2014020280A3 PCT/FR2013/051841 FR2013051841W WO2014020280A3 WO 2014020280 A3 WO2014020280 A3 WO 2014020280A3 FR 2013051841 W FR2013051841 W FR 2013051841W WO 2014020280 A3 WO2014020280 A3 WO 2014020280A3
Authority
WO
WIPO (PCT)
Prior art keywords
crack
pool
sealing
nuclear facility
robot
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.)
Ceased
Application number
PCT/FR2013/051841
Other languages
English (en)
Other versions
WO2014020280A2 (fr
Inventor
Marc Kuntz
Mathieu LAMONTAGNE
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
Priority to CN201380040680.3A priority Critical patent/CN104704575B/zh
Priority to RU2015106896A priority patent/RU2611613C2/ru
Priority to CA2879919A priority patent/CA2879919C/fr
Priority to JP2015524836A priority patent/JP6014762B2/ja
Priority to EP13826047.6A priority patent/EP2880660B1/fr
Priority to KR1020157004635A priority patent/KR101668789B1/ko
Priority to US14/418,574 priority patent/US10522258B2/en
Publication of WO2014020280A2 publication Critical patent/WO2014020280A2/fr
Publication of WO2014020280A3 publication Critical patent/WO2014020280A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P6/00—Restoring or reconditioning objects
    • B23P6/04—Repairing fractures or cracked metal parts or products, e.g. castings
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C13/00—Pressure vessels; Containment vessels; Containment in general
    • G21C13/02—Details
    • G21C13/028—Seals, e.g. for pressure vessels or containment vessels
    • G21C13/0285—Seals, e.g. for pressure vessels or containment vessels for container apertures
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/02—Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
    • E04G23/0203—Arrangements for filling cracks or cavities in building constructions
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/02—Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
    • E04G23/0203—Arrangements for filling cracks or cavities in building constructions
    • E04G23/0214—Arrangements for filling cracks or cavities in building constructions using covering strips
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C13/00—Pressure vessels; Containment vessels; Containment in general
    • G21C13/02—Details
    • G21C13/028—Seals, e.g. for pressure vessels or containment 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
    • 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
    • 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
    • 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
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/40—Vacuum or mangetic
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/44—End effector inspection

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Architecture (AREA)
  • Plasma & Fusion (AREA)
  • High Energy & Nuclear Physics (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Robotics (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Manipulator (AREA)

Abstract

Colmatage de fissure dans une piscine d'installation nucléaire, utilisant un robot L'invention concerne le colmatage notamment de fissure dans une paroi de piscine d'une installation nucléaire. En particulier, l'invention met en ouvre un robot mobile portant un dévideur (DIS) de ruban adhésif. On prévoit alors au moins : - une commande d'une pluralité de systèmes d'aspiration (V11-V14; V21-V24), le dévideur étant solidaire mécaniquement d'un premier système d'aspiration (V21-V24), et - une étape de commande de déplacement du premier système (V21-V24) par rapport aux autres systèmes (V11-V14) de ladite pluralité de systèmes
PCT/FR2013/051841 2012-07-31 2013-07-30 Colmatage de fissure dans une piscine d'installation nucléaire, utilisant un robot Ceased WO2014020280A2 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
CN201380040680.3A CN104704575B (zh) 2012-07-31 2013-07-30 利用机器人对核设施的池子中的裂缝的密封
RU2015106896A RU2611613C2 (ru) 2012-07-31 2013-07-30 Герметизация трещин в бассейне атомной электростанции
CA2879919A CA2879919C (fr) 2012-07-31 2013-07-30 Colmatage de fissure dans une piscine d'installation nucleaire, utilisant un robot
JP2015524836A JP6014762B2 (ja) 2012-07-31 2013-07-30 ロボットを使用する、核施設のプールにおけるクラックのシーリング
EP13826047.6A EP2880660B1 (fr) 2012-07-31 2013-07-30 Colmatage de fissure dans une piscine d'installation nucléaire utilisant un robot
KR1020157004635A KR101668789B1 (ko) 2012-07-31 2013-07-30 로봇을 이용하여, 핵시설의 풀에서 크랙을 봉인하는 방법
US14/418,574 US10522258B2 (en) 2012-07-31 2013-07-30 Sealing of a crack in a pool of a nuclear facility, using a robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1257424A FR2994320B1 (fr) 2012-07-31 2012-07-31 Colmatage de fissure dans une piscine d'installation nucleaire, utilisant un robot.
FR1257424 2012-07-31

Publications (2)

Publication Number Publication Date
WO2014020280A2 WO2014020280A2 (fr) 2014-02-06
WO2014020280A3 true WO2014020280A3 (fr) 2015-01-08

Family

ID=47553213

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FR2013/051841 Ceased WO2014020280A2 (fr) 2012-07-31 2013-07-30 Colmatage de fissure dans une piscine d'installation nucléaire, utilisant un robot

Country Status (9)

Country Link
US (1) US10522258B2 (fr)
EP (1) EP2880660B1 (fr)
JP (1) JP6014762B2 (fr)
KR (1) KR101668789B1 (fr)
CN (1) CN104704575B (fr)
CA (1) CA2879919C (fr)
FR (1) FR2994320B1 (fr)
RU (1) RU2611613C2 (fr)
WO (1) WO2014020280A2 (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11326310B2 (en) * 2015-08-21 2022-05-10 Donald Velazquez Concrete and masonry restoration and ornamentation method and apparatus
US20170051522A1 (en) * 2015-08-21 2017-02-23 Donald Velazquez Concrete and masonry restoration and ornamentation method and apparatus
US10290380B2 (en) 2015-12-29 2019-05-14 GE—Hitachi Nuclear Energy Americas LLC Apparatus for inspecting nuclear reactor and method thereof
US10910115B2 (en) * 2017-03-08 2021-02-02 Ge-Hitachi Nuclear Energy Americas Llc Digital systems and methods for high precision control in nuclear reactors
CN109545404A (zh) * 2018-10-29 2019-03-29 中国核工业二三建设有限公司 一种用于核电cv容器对接焊缝射线检测的自动检测装置
RU2751544C1 (ru) * 2020-11-03 2021-07-14 Акционерное Общество "Российский Концерн По Производству Электрической И Тепловой Энергии На Атомных Станциях" (Ао "Концерн Росэнергоатом") Система для ремонта облицовки бассейна выдержки
RU2751997C1 (ru) * 2020-11-03 2021-07-21 Акционерное Общество "Российский Концерн По Производству Электрической И Тепловой Энергии На Атомных Станциях" (Ао "Концерн Росэнергоатом") Комплекс для ремонта облицовки бассейна выдержки
CN112345628A (zh) * 2020-11-18 2021-02-09 上海核工程研究设计院有限公司 一种乏燃料水池水下焊缝裂纹检测装置及使用方法
CN112378990A (zh) * 2020-11-18 2021-02-19 上海核工程研究设计院有限公司 一种乏燃料水池底板水下检测及修复装置及使用方法
CN118722900A (zh) 2023-03-30 2024-10-01 加拿大双赢机器人有限公司 用于沿着表面攀爬和/或移动的机器人

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0010034A1 (fr) * 1978-09-29 1980-04-16 COMMISSARIAT A L'ENERGIE ATOMIQUE Etablissement de Caractère Scientifique Technique et Industriel Véhicule apte à se déplacer avec adhérence sur une surface quelconque
DE29822221U1 (de) * 1998-12-14 1999-08-12 Kommoß, Ulrich Richard, 23909 Ratzeburg Schreitmechanismus für vertikale Flächen
FR2874020A1 (fr) * 2004-08-04 2006-02-10 Electricite De France Procede de reparation in situ d'une zone pouvant comprendre une fissure a la surface d'une enceinte

Family Cites Families (10)

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JPS62111544U (fr) * 1985-12-27 1987-07-16
FR2607093B1 (fr) * 1986-11-21 1990-12-21 Commissariat Energie Atomique Engin apte a se deplacer sur une surface d'orientation quelconque
FR2607421B1 (fr) * 1986-12-01 1989-03-24 Electricite De France Dispositif d'exploration et/ou de traitement d'une surface lisse courbe
JPH0740075B2 (ja) * 1991-04-08 1995-05-01 大江工業株式会社 流体収容装置の内面の補修方法
JPH06201896A (ja) * 1993-01-07 1994-07-22 Toshiba Corp 汚染流体貯留プールの保護方法およびその保護用テーピングロボット
JPH1179019A (ja) 1997-09-12 1999-03-23 Toshiba Corp 壁面移動式切断装置
JP2004323621A (ja) * 2003-04-23 2004-11-18 Hitachi Chem Co Ltd 接着材テープ
CN101367413B (zh) * 2007-08-17 2010-10-13 高汉光 一种爬墙多功能机器人
ITBS20070154A1 (it) * 2007-10-11 2009-04-12 Tecnomac Srl Robot mobile ad ancoraggio magnetico
DE102008014544A1 (de) * 2008-03-15 2009-09-17 Areva Np Gmbh Vorrichtung zur Reparatur einer Schadstelle in einem unter Wasser befindlichen Wandbereich eines Behälters oder Beckens

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0010034A1 (fr) * 1978-09-29 1980-04-16 COMMISSARIAT A L'ENERGIE ATOMIQUE Etablissement de Caractère Scientifique Technique et Industriel Véhicule apte à se déplacer avec adhérence sur une surface quelconque
DE29822221U1 (de) * 1998-12-14 1999-08-12 Kommoß, Ulrich Richard, 23909 Ratzeburg Schreitmechanismus für vertikale Flächen
FR2874020A1 (fr) * 2004-08-04 2006-02-10 Electricite De France Procede de reparation in situ d'une zone pouvant comprendre une fissure a la surface d'une enceinte

Also Published As

Publication number Publication date
RU2015106896A (ru) 2016-09-20
CA2879919C (fr) 2020-04-07
CN104704575B (zh) 2017-07-18
JP6014762B2 (ja) 2016-10-25
FR2994320A1 (fr) 2014-02-07
US20150200026A1 (en) 2015-07-16
WO2014020280A2 (fr) 2014-02-06
KR101668789B1 (ko) 2016-10-24
RU2611613C2 (ru) 2017-02-28
JP2015524923A (ja) 2015-08-27
CN104704575A (zh) 2015-06-10
FR2994320B1 (fr) 2014-09-05
US10522258B2 (en) 2019-12-31
EP2880660A2 (fr) 2015-06-10
EP2880660B1 (fr) 2018-04-25
CA2879919A1 (fr) 2014-02-06
KR20150058169A (ko) 2015-05-28

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