The development of remote controlled linear guide and mast vertical guide of repair robot for RV head CRDM nozzle region in NPP

Reactor vessel which is core instrument in NPP must maintains integrity in the high temperature, high pressure and high radiation environment. Therefore RV must be inspected periodically. If there is defect, the RV must be repaired. A remote controlled linear guide and a vertical guide were developed for a welding repair robot of the RV head CRDM nozzle region. During inspection/maintenance, the RV head is placed RV head storage which is a double circled concrete structure. A linear guide was developed to provide a linear motion to the repair robot, which locates the robot under the RV head. The linear guide also provides a strong support to the robot not to overturn when the robot repairs the RV head. The robot needs lifting about 2m to reach the CRDM nozzle, therefore a vertical guide was developed. For easy traveling, the linear guide is designed 4 parts and the vertical guide is designed 3 parts. A control system was developed to remotely control the guide system which is composed of a connecter box, cables, control box, a computer and a control program. A monitoring system was developed to monitor operation of the guide system