• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    27SummaryA working system inside the reactor is described, in which it is provided with a crack-discovering vehicle (11) which moves in a peripheral direction along an outer surface of a housing (2) which is arranged inside a reactor pressure vessel (1).with a vertically oriented shaft, an inspection / function control sensor mounted on the crack-detecting vehicle (11) and performing work on the housing (2), avehicle positioning mast (10) which sets an initial position of the navigable device on the cylindrical structure the crack-detecting vehicle (11) on the housing (2), a vehicle fixed device which mounts andremoves the crack detecting vehicle (11) and the vehicle placement maston and off each other, and a load-bearing vehicle carrying the vehicle placement mast (10) mounting the crack detecting vehicleinside the reactor pressure vessel (1).
    公开号:SE1250805A1
    申请号:SE1250805
    申请日:2010-12-10
    公开日:2012-09-10
    发明作者:Mitsuaki Shimamura；Yutaka Togasawa；Hisashi Hozumi；Kenji Matsuzaki；Yasuhiro Yuguchi
    申请人:Toshiba Kk；
    IPC主号:
    专利说明:

    AWAPATENT ABKABUSHIKI KAISHA TOSHIBAOffice / AdministratorDesk numberNo referenceMalmo / Gustaf Sarner / GSR1250805-7PC-SE-210581001WORKING SYSTEMS INSIDE THE REACTOR AND WORKING PROCEDURES INSIDEREACTORTechnical areaThe present invention relates to a working system inside a reactor which performs, in a nuclear power plant, various kinds of work such as staging,functional inspection, inspection, preventive maintenance, repairs, andsimilar work on a reactor structure such as a housing mounted inside a reactor and a working method thereof.
    The technology roundThe description Ors has by taking as an example onefunction check and inspection of welding edges on a casing, the work is carried out in an underwater environment inside the reactor, during a stoppage of the reactor, with the upper part of the reactor pressure vessel opened. It is necessary to carry out the function check and inspection of the welding edges on a well in the underwater environment inside the reactor in parallel with the exchange of fuel with the object.shorten working hours and reduce costs, and benefits in terms of working hours, scope of inspection and cost are required.
    As a procedure even at a distance / automatically perform work asFunctional inspection and inspection of the housing have been preceded by procedures using mechanical displacement means such as a control device forpositioning of the working device.
    For example, in patent specification 1, in order to circumferentially move a working device on a support plate carrying the housing on an annular part outside a reactor housing, a towing line from a work vehicle at the upper part of the reactor is maneuvered to move the working device.
    In patent specification 2, a nuclear spray in a reactor is used as acontrol device for aft horizontal Movement of a working device for aft to support Monitoring and the like for a reactor control and inspection during industry exchange without even using an industry changer.
    In patent specification 3 a working device is properly mounted around onereactor housing such that an access arm, vertically suspended along the outside of a reactor housing, is mounted on a circumferentially passable vehicle mounted at the upper part of the reactor housing.2Documents according to the state of the artPatentsPatent Specification 1: Japanese Patent Application, Publication No. 2007-309788.
    Patent Specification 2: Japanese Patent Application, Utlaggningsskrift nr. 2004-294373Patent Specification 3: Japanese Patent Application, Publication No. 8 201573Summary of the inventionProblems to be solved with the inventionConventionally, during function check and inspection of the welding edges on a casing which is the main structural part of a reactor, a worker maneuvers a vehicle or access device for function checkor inspection from an industry changer or a work vehicle, and it is he or she himself who performs the function check or inspection at the same time as positioning at the grinding weld edge Ors or Monitoring of operating condition takes place. Della can lead to a variation in working hours and even delay work.
    Furthermore, it is necessary to carry out the function check and inspectionof hOljet in parallel with industry exchange with the other to shorten working hours and reduce costs, and shorter working hours, extended scope of inspection and Idgre costs are necessary for a work system that uffiir function control and inspection work.
    However, in the process described in patent specification 1 in which onetow line or control device is mounted in the fuel exchanger or work vehicle at the Upper part of the reactor, the fuel exchange gear or work vehicle is indispensable during the inspection, said, it seems that that procedure is impossible for parallel work with the fuel exchange. It further appears that the work vehicle cannot be used at the welds on the housing because it is movingsig pa hOljets stOdplatta.
    In the process described in patents 2 and 3, in which the working device moves by using a structure inside the reactor such as a hollow upper part of the control, the working device needs to be mounted on the front end of an expanding / contracting structure.such as a mast and is moved at the same time as beam pumps that are mountedaround the cover is avoided, which feeds off the mounting position of the device others, which can Increase the working time.3The present invention has been made to solve the above-mentioned problems and an object is to provide a working system inside a reactor and a working method inside a reactor capable of performing, for short periods of time, after a wide range of function control and inspection of welding edges on the oil.during industry exchanges without the need for human labor such as positioning of equipment or monitoring of work (automatic accessibility) and without the need for a crane or work vehicle, and even contribute to labor savings for a periodic control process.
    Remedy for losnino of the problemTo achieve the above object, in accordance with the present invention, a working system inside the reactor is provided comprising: a navigable device which moves in a circumferential direction along an outer surface of a cylindrical structure which is arranged inside a reactor pressure vessel with avertically directed shaft, a working unit mounted in the movable device and which performs work on the cylindrical structure, a mounting unit which sets an initial position of the movable device on the cylindrical structure, a mounting / removing device which mounts / removes the movable device and the mounting unit pa / franeach other, and a bearing unit carrying the mounting unit which mounts the navigable device inside the reactor pressure vessel, the mounting unit is capable of setting the navigable device to the initial position so that the layer of the navigable device rotates about a given horizontal axis depending on whether the navigable device on the initial positionon the surface of the cylindrical structure moves in a clockwise or counterclockwise direction.
    According to the present invention, there is also a working process inside the reactor provided which performs work, during shutdown of a nuclear reactor inwhich a cylindrical structure is arranged inside a reactor pressure vessel withits axis directed in a vertical direction, by having a work unit mounted in a movable device running along an outer rock surface of the cylindrical structure, the method comprising: a bearing step where the mounting unit removably mounts the movable device from above the reactor pressure vessel in a state then the Upper part of the reactor pressure vesselis opened and the reactor pressure vessel is filled with water, carried; a setting step in which the initial position of the navigable device on the outer rock surface of the cylindrical structure is set; after removal / mounting steps dar4the navigable unit is removed / mounted from the mounting unit; and a working step in which the working unit is allowed to perform work by causing the navigable device to move along the outer surface of the cylindrical structure.
    Advantages of the inventionAccording to the present invention, it is possible to carry out, for short periods of time, a wide range of functional control and inspection ofwelding edges on a housing during industry exchange without the need for a crane orwork vehicles and without the need for human labor such as positioning of a device or monitoring of work (automatic accessibility), and even contributing to work savings for a periodic control process.
    Brief description of the ritninoarnaFig. 1 is a view schematically showing a state in which a firstEmbodiment of a working system inside a reactor in accordance with the present invention is mounted inside a reactor.
    Fig. 2 is an enlarged view showing a crack detecting vehicle from Fig. 1 seen from behind.
    Fig. 3 is a configuration view showing a fixed arm frail Fig. 1 in oneenlarged state.
    Fig. 4 is an enlarged view of a developable portion of Fig. 1. Fig. 5 is an enlarged view showing a vehicle head of Fig. 1. Fig. 6 is a conceptual view showing a layout of assemblies.wires in the case where the crack-discovering vehicle of Fig. 1 is located substantially at the center of the vehicle placement mast and when the crack-discovering vehicle does not move horizontally.
    Fig. 7 is a conceptual view showing a layout of composite conduits in the case where the crack detecting vehicle of Fig. 1 is located substantially at the center of the vehicle placement mast and when the crack detecting vehicle is moving horizontally.
    Fig. 8 is a conceptual view showing a layout of composite conduits in the case where the crack detecting vehicle of Fig. 1 is located at the upper part of the vehicle placement mast and when the crack detecting vehicle does not move horizontally.
    Fig. 9 is a conceptual view showing a layout of composite conduits in the case where the crack detecting vehicle of Fig. 1 is located atthe upper part of the vehicle placement mast and when the crack-detecting vehicle moves horizontally.
    Fig. 10 is a conceptual view showing a layout of composite conduits in the case where the crack detecting vehicle of Fig. 1 is located atthe lower part of the vehicle placement mast and when the crack-detecting vehicle does not move horizontally.
    Fig. 11 is a conceptual view showing a layout of composite conduits in the case where the crack detecting vehicle of Fig. 1 is located at the lower part of the vehicle placement mast and when the crack detectingthe vehicle moves horizontally.
    Fig. 12 is a view schematically showing a state in which a first embodiment of a working system inside a reactor in accordance with the present invention is mounted inside the reactor, the mounting position of the vehicle placement mast being seen from above the reactor.
    Fig. 13 is an enlarged view showing a vehicle head of Fig. 1 inwhich a multi-channel signal unit is arranged according to a second embodiment of a working system inside a reactor in accordance with the present invention.
    Fig. 14 is a view schematically showing a state in which a third embodiment of a working system inside a reactor in accordance with the presentinvention is mounted inside the reactor.
    Fig. 15 is an enlarged view of a crack detecting vehicle seenrear view according to a fourth embodiment of a working system inside a reactor in accordance with the present invention.
    Fig. 16 is an enlarged view of a rear-view cracking vehicle according to a fifth embodiment of a working system inside a reactor in accordance with the present invention.
    Fig. 17 is an enlarged view of a crack detecting vehicle seenrear view according to a sixth embodiment of a working system inside a reactor in accordance with the present invention.
    Fig. 18 is an enlarged view of a crack detecting vehicle seenrear view according to a seventh embodiment of a working system inside a reactor in accordance with the present invention.
    Fig. 19 is an enlarged view of a crack detecting vehicle seen from behind according to an eighth embodiment of a working system inside a reactor in accordance with the present invention.
    Fig. 20 is an enlarged view of a crack detecting vehicle seenrear view according to a ninth embodiment of a working system inside the reactor in6according to the present invention, in which Fig. 20 (a) shows a normal state, and Fig. 20 (b) shows a mirror-like state.
    EMBODIMENTS FOR CARRYING OUT THE INVENTIONEmbodiments of the present invention will now be describedbelow with male reference to the accompanying drawings.
    FIRST EMBODIMENTFig. 1 is a view schematically showing a state of a firstEmbodiment of a working system inside a reactor in accordance with the present invention is mounted inside a reactor.
    In Fig. 1, after reactor pressure vessel 1 and an MI * 2 are mounted, in which housing there is a cylindrically welded construction with its shaft vertically extended. A support plate 3 for the housing in which a hollow disc-shaped construction stretchesis mounted horizontally below and outside the housing 2. A vehicle placement mast 10 is mounted on the annular part of the support plate 3 in front of the housing.
    A fixed arm 12 is arranged on an upper ring 4 of the housing and the reactor pressure vessel 1 on the upper part of the vehicle locating mast 10 and a vehicle head 13 is arranged on the lower part of the vehicle locating mast 10.
    On a developable part 7 of the vehicle placement mast 10, a crack detecting vehicle 11 performs function check and inspection of horizontal welding edges on the housing 2 and is connected to the vehicle placement mast.with a expandable arm 16 through a fastening / releasing member which will be described later. Furthermore, a liftable base 14 is arranged so that it can be moved up and down by a lifting device 15 inside the vehicle placement mast 10.
    The following describes a procedure that performs a function check andinspection of the horizontal welding edges on a housing 2 by using the vehicle placement mast 10 and a crack detecting vehicle 11.
    The crack-detecting vehicle 11 is mounted on the support plate 3 for the housing by underwater elevators (not shown) and a traverse (not shown) which is located in the vehicle head portion 13 of the vehicle placement mast 10.
    The fixed arm 12 is developed in relation to the reactor pressure vessel 1,and its reaction force is received by the upper ring 4 of the housing, thereby fixing the vehicle placement mast 10 at its upper position.7After the assembly process, the liftable base 14 is moved along the lifting device 15 to move the crack detecting vehicle 11 to the location of the horizontal weld edge, and a expandable arm 16 is used to press the crack detecting vehicle 11 against the outer periphery of the housing.2, Mr aft armed determine the starting position from which the crack-detecting vehicle 11 begins to move.
    The crack-detecting vehicle 11 is adsorbed by the vertical cradle of the housing 2 and can be moved in the horizontal direction by itself, which will be described later. After the above-mentioned determination of starting position is completedthe crack-detecting vehicle 11 is separated from the side of the developable arm 16 by a fastening / disengaging part which will be described later and performs function check and inspection of the welding lines, using a function check / inspection sensor mounted therein such as a visual inspection camera, a volumetricinspection ultrasonic crack detection sensor, or aeddy current inspection sensor while moving along the horizontal welding edge.
    By aft, install the necessary working means in the crack openingthe vehicle 11 it is possible to perform cleaning or cleaning work withuse of a brush, a cleaning machine, or a water cleaning nozzle, preventive maintenance work using a water jet head or a laser head for improving the material properties of the surface, and repair work using a welding head or polishing machine,the inspection.
    In the following, the crack detecting vehicle 11 is described in detail. Fig. 2 is an enlarged view showing a crack-discovering vehicle from Fig. 1 seen from behind.
    The crack detecting vehicle 11 has two propulsion generators 17a and17b and is thanks to a frame body 9 with the exception of the two driving force generators 17a and 17b. The propulsion generators 17a and 17b are connected to propulsion generating motors 20a and 20b, respectively, by a toothed belt 18a and by a bevel gear 19a and by a toothed belt 18b and a bevel gear 19b, and are rotatably driven by the propulsion generating motors 20aand 20b.
    The crack detecting vehicle 11 has two propulsion wheels 21a and 21b arranged on the left side of the figure. The propulsion wheels 21a8and 21b are coupled to sprocket motors 24a and 24b, respectively, through a gear belt 22a and a gear 23a and through a sprocket 22b and a gear 23b, and are rotatably driven by the sprocket motors 24a and 24b.
    The crack-detecting vehicle 11 has contact with the cradle surface of the housingthree points: the propulsion wheel 21a, the propulsion wheel 21b, and a guide wheel 25, thereby maintaining a constant distance between itself and the cradle surface of the housing. The horizontal trajectory is converted into the number of rotations of the spacer wheel 26a and the spacer wheel 26b.which is fed by the distance feed sensors 27a and 27b, respectively.
    Wires belonging to the above-mentioned sensors and motors are bundled together into two composite wires 28, which are connected to the vehicle placement mast 10 in Fig. 1, and finally with a control device mounted on, for example, a work floor. Function check / inspection sensoris connected to the crack-detecting vehicle 11 by a control device 29.
    After the determination of the starting position, made by the vehicle placement mast 10 in Fig. 1, is completed, the crack detecting vehicle 11 rotates the driving force generators 17a and 17b to generatea flow from its side facing the rocking surface of the housing 2 (intake side) to its rear side (exhaust side). As a result, a pressure map of the crack-detecting vehicle 11 on the cradle surface of the housing 2 becomes lower than that on its rear side, armed the crack-detecting vehicle 11 is adsorbed to the cradle surface of the housing 2. In this state, by aft rotatably chorus the propulsionwheels 21a and 21b in the same direction in relation to the crack-detecting vehicle 11, the crack-detecting vehicle 11 'can fit well on the housing 2 in both the right and left directions.
    Even if the propulsion wheel 21a or the propulsion wheel 21b slips, the horizontal moving track is sensed directly bythe distance feed wheels 26a and 26b said the actual state of motion can be sensed.
    When one of the propulsion wheels 21a and 21b slips, the crack-detecting vehicle 11 is tilted, which can have a function check./ inspection sensor 30 aft be moved up or neat. For example, whenfunction control / inspection sensor 30 is moved upward as it rises to Niger in the state of Fig. 2, the moving distance fed by the distance feed wheel 26b becomes larger than that fed by9the distance feed wheel 26a. In this case, the difference between the moving tracks is sensed and then the rotational speed of the propulsion wheel 21b can be reduced compared with that of the propulsion wheel 21a so that adjustment control is performed so that the crack detecting vehicle11 flattens out, thus achieving team correction. When the function check / inspection sensor 30 is moved, the grating increases the rotational speed of the propulsion wheel 21b compared to that of the propulsion wheel 21a to thereby achieve position correction.
    Fig. 3 is a configuration view showing the fixed arm 12 of Fig. 1 in an enlarged condition.
    In Fig. 3, a rack 32 is connected to the front end of an air cylinder 31, and the fixed arm 12 is connected to the rack 32 by a gear 33.
    Moving the rack 32 up / down of the air cylinder 31 can rotate the gear 33 and the fixed arm 12. This function allows the fixed arm 12from Fig. 1 all be placed inside the vehicle placement mast 10 or all be developed externally. When the fixed arm is developed, it is pressed against the inner surface of the reactor pressure vessel 1, and its reaction force is received by the upper ring 4 of the housing, thereby fixing the upper part of the vehicle placement mast..
    Fig. 4 is an enlarged view of the developable part 7 from Fig. 1.
    In Fig. 4, the crack-discovering vehicle 11 is arranged so that its longitudinal axis is vertically oriented and fixed to and retained at a vehicle attachment 35 by a vehicle attachment device 34. On the vehicle attachment 35 is aline hose adjuster block 38, which discharges and retracts itcomposite conduit 28, and a non-driven roller 39, for clamping the composite conduit 28 between itself and the conduit tube adjuster blockarranged. The line tube adjuster block 38 is rotatably driven by a block drive motor 36 through a bevel gear 37.
    The above-mentioned crack-discovering vehicle 11, the vehicle mount 35,vehicle fixture a 34, the line hose adjusting block 38, the driven rollerbevel gear 37, and the block drive motor 36 are all connected to the side of the developable arm 16, by a bearing device, by a vehicle rotating device 41 so that it canrotated about its horizontal axis, i.e. so that it can be rotated so that all the longitudinal front part of the crack-detecting vehicle 11has been moved from the position shown in Fig. 4 to a 90-degree rotated position on the front and back sides of the paper surface of Fig. 4.
    Further, in Fig. 4, a carrier 78 is connected to the rotating side and is configured to rotate following a 90 degree rotation of the rotating side.the longitudinal front portion of the crack detecting vehicle 11 ft-5n the position shown in Fig. 4 towards the front and rear sides of the paper surface of Fig. 4. Furthermore, proximity sensors 79a and 79b are connected to the fixed side connected to the developable arm 16. Thus , when the carrier 78 is rotated 90 degrees toward the front side of the paper surfacedetected by the proximity sensor 79a, while when the carrier 78 is rotated 90 degrees toward the rear side of the paper surface, this is detected by the proximity sensor 79b. With the above function, it will be possible to detect a change in the direction of the crack-detecting vehicle 11 to be mounted on the housing 2. The above-mentioned components are interconnected withthe side of the vehicle placement mast 10 of the liftable base 14 and two developable arms 16.
    In the following, according to the procedure for function check and inspection of the horizontal welding lines on the housing 2, the challenge of the crack-detecting vehicle 11 is described in detail.
    As shown in Fig. 5, the crack detecting vehicle 11 is housed inthe vehicle head part 13 arranged at the lower part of the vehicle placement mast 10 in a state where its longitudinal axis is directed vertically.
    After the completion of the assembly of the vehicle placement mast 10 they arethe developable arms 16 rotated by an air cylinder (not shown) or the like to unfold the crack detecting vehicle 11 on its side towards the housing 2, as shown in Fig. 4, so that the fracture detecting vehicle 11 is moved outside the vehicle placement mast 10.
    Then the crack-detecting vehicle is rotated 11 90 degrees by itvehicle rotating device 41 which or the longitudinal axis of the crack detecting vehicle 11 is directed in the horizontal direction shown in Fig. 2.
    Then the expandable arm 16 is rotated accordinglythe crack detecting vehicle 11 is in contact with the outer surface of the housing 35 2.
    Thereafter, the crack-discovering vehicle 11 is adsorbed to the housing as described above, released from the vehicle fastener 34, and the phase is removed in
    权利要求:
    Claims (12)
    [1]
    An inside reactor working system comprising: a navigable device moving in a circumferential direction along an outer surface of a cylindrical structure which is arranged inside a reactor pressure vessel with its axis directed in a vertical direction, a working unit mounted in the navigable device and which performs work on the cylindrical structure, a mounting unit which sets an initial position of the navigable unit on the cylindrical structure, a mounting / removing device which mounts / removes the navigable unit and the mounting unit to / from each other, and a supporting unit which carries the mounting unit which mounts the navigable unit inside the reactor pressure vessel, the mounting unit being capable of placing the navigable device in the initial position so that the position of the navigable device changes rotating about a given horizontal axis depending on whether the navigable device in the initial position on the surface of the cylindrical structure touches sig i en m clockwise or counterclockwise direction
    [2]
    The working system inside the reactor according to claim 1, wherein the passable device comprises at least one frame body, a passable part which moves the frame body along the outer surface of the cylindrical structure, and an adsorption part which forms a flow directed from the cylindrical structure side of the frame body to its rear side during the movement which causes the frame body to be adsorbed to the outer surface of the cylindrical structure.
    [3]
    The working system inside the reactor according to claim 1 or claim 2, wherein the navigable device further comprises a first depth sensor which measures the water depth during the movement.
    [4]
    The working system inside the reactor according to claim 3, wherein the navigable device further comprises a second depth sensor, the second depth sensor is arranged on the rear side relative to the first depth sensor in the direction of movement of the navigable device from the initial position. 10 15 20 25 30 35 25
    [5]
    The working system inside the reactor according to claim 4, comprising a correcting part which corrects a displacement in the direction of movement of the navigable device based on a comparison between sensed results from the first and second depth sensors.
    [6]
    The reactor inside operating system of claim 4, wherein the navigable device further comprises third and fourth depth sensors, each of the first, second, third and fourth depth sensors being an air tube that senses water pressure, the first and second depth sensors being open downwardly in a position when the navigable device moves in a clockwise direction from the initial position, and the third and fourth depth sensors are open downwards in a position when the navigable device moves in a counterclockwise direction from the initial position.
    [7]
    The working system inside the reactor according to claim 1 or 2, wherein the navigable device further comprises at least two rollers on a surface of the frame body, the surface being perpendicular to its rear surface and parallel to the direction of movement.
    [8]
    The working system inside the reactor according to claim 1, wherein the mounting unit is capable of connecting the passable unit and a conduit connected to the passable unit and comprises a developable arm as mechanical for the passable unit in pressure contact with the cylindrical structure, a lifting part which sets the vertical position relative to the cylindrical structure, and conduit means for feeding and housing the conduit according to a state of motion of the navigable unit.
    [9]
    The working system inside the reactor according to claim 8, comprising a multi-channel signal unit on the lower part of the mounting unit.
    [10]
    The working system inside the reactor according to claim 1, wherein the supporting unit has an underwater crane and a traverse which are capable of being remotely controlled.
    [11]
    The operating system inside the reactor according to claim 1, wherein the support unit is a remote controllable support unit capable of moving under water.
    [12]
    A working process inside a reactor performing work, during downtime of a nuclear reactor in which a cylindrical structure is arranged inside a reactor pressure vessel with its axis directed in a vertical direction, by causing a working unit mounted in a navigable device to move along with an outer wall surface of the cylindrical structure, the method comprising: a supporting step of carrying the mounting unit removably mounting the navigable device from above the reactor pressure vessel in a state when the upper part of the reactor pressure vessel is opened and the reactor pressure vessel is filled with water, a setting step where the initial position of the passable device on the outer wall surface of the cylindrical structure is set, a removal / mounting step where the passable unit is removed / mounted from the mounting unit, and a working step where the working unit is allowed to perform work by having the passable the device moves along the outer surface of it cylindrical construction.
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    同族专利:
    公开号 | 公开日
    TW201140609A|2011-11-16|
    JPWO2011070788A1|2013-04-22|
    JP5634411B2|2014-12-03|
    TWI416540B|2013-11-21|
    WO2011070788A1|2011-06-16|
    US20120243649A1|2012-09-27|
    SE537389C2|2015-04-21|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP2009280237|2009-12-10|
    PCT/JP2010/007184|WO2011070788A1|2009-12-10|2010-12-10|In-reactor operation system and in-reactor operation method|
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