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History of Robotics Research and Development of Japan2010BusinessAdvanced INLAY System for Inlet/Outlet Nozzles of Reactor Vessel of Nuclear Power Plant

Noriaki SHIMONABEMitsubishi Heavy Industries, Ltd.
Ken ONISHIMitsubishi Heavy Industries, Ltd.
Makoto OHIRAMitsubishi Heavy Industries, Ltd.
Kazuyuki HINAMIMitsubishi Heavy Industries, Ltd.
Atsushi SUGIURAMitsubishi Heavy Industries, Ltd.
The construction method which realizes with high precision and efficiently stress-corrosion-cracking preventive maintenance construction of the Inconel 600 welding alloy in the weld zone between the reactor pressure vessel (RV) nozzle stub and a safe-end of a PWR type nuclear power plant was developed. By this construction method, a cylindrical container is sunk in RV filled with cavity water, and air environment is created from the scaffold on RV to nozzle stubs by draining the cavity water in nozzle stubs. Robots access nozzle stubs from the inside of a cylindrical container, cuts a stress-corrosion-cracking concern part (Inconel 600 alloy), and carries out cladding by welding of the Inconel 690 alloy instead. This minimizes the plant stop which is not in a plan and contributes to the improvement in an operating ratio. By the conventional construction method, the worker was carrying out installation of equipment, exchange, clearing up, etc. under high radiation. By a new construction method, construction equipment is hung from the temporary scaffold on the turntable in a cylindrical container with a crane, and a turntable performs automatically alignment with construction equipment and a robot manipulator. Using the newest manipulator technology and remote-operating three or more manipulators at a same time, workers’ contamination is reduced and construction period is shortened. Manipulators had remote automatic attachment function and various kinds of end-effectors could be attached, performed highly precise inspection, welding, care, etc., and carried out construction at about 70% of process to the conventional construction method. In 2011, 16th RSJ Technical Innovations Awards
作業ステップ１
Work Procedure STEP 1
作業ステップ２
Work Procedure STEP 2
シリンドリカルコンテナ
Cylindrical Container
位置決め搬送装置類
Positioning and Conveying Machines
マニピュレータ準備中
Manipulator in preparation
マニピュレータで溶接中
Manipulator in welding
 

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