Real-time remote-controlled welding of the inspection nozzle on the Phenix double-wall tank

For the ultrasonic non destructive inspection of the vessel shell ring welds in the Phenix reactor, the insert of the NDT instrument needs to drill the double-wall tank, to install and weld nozzles. This last operation is realized by the way of an orbital welding installation. Considering severe environment restraints (irradiation, temperature, space,...), the welding control is made at distance (50 m). To supervise this operation, the welder requires an high quality image of the welding scene. Five nozzles of about 400 mm diameter are distributed on a 12 m-diameter tank. The junction between the nozzle and the tank present a shape of horse saddle and the passes trajectories against the tank wall show a lateral deviation of several millimeters. To take care of this deviation and of eventual geometrical defects, the welder adjust the torch position during welding. For that he needs an adapted information. The ''Laboratoire Moderne de Soudage'' inside CEA/CEREM has designed, validated and provided a new Computer-Assisted Welding for real-time remote-controlled orbital welding. Video cameras and a laser diode module were installed on the orbital installation for the watching of the welding scene. An image processing unit of new generation gives the real-time measurement of the distance between the torch and the wall tank. The control of the torch position is particularly significant to guarantee the good welding pass sequence. With this system, the position precision can reach 0,1 mm. (author)