Development of a robot for decontamination of reactor well and maintenance pit wall surfaces

A robot has been developed at Hamaoka BWR Power Plant of Chubu Electric Power Company, Inc., which performs the decontamination of the wall surfaces of reactor wells and maintenance pits. The robot is controlled with a control box through a micro-computer. The mechanical structure and working principle of this robot is explained. One of the special features of this robot is that it perceives the steps on a wall, and washes the vertical and horizontal surfaces with two different types of brushes. As the material for the bristles of the brushes, nylon with alumina as abrasive (TAINEX-A made by Dupont Ltd.) was selected after some experience. The design specifications of the brushes were determined, based on the results of intensive performance test, which are shown in this report. The efficiency of this robot was proved by applying it to the decontamination of the reactor wells in the periodic inspection and maintenance of Unit 1 and Unit 2 in the Hamaoka BWR Power Plant. As the result of this decontamination, the contamination level was reduced from about 10-3 μCi/cm2 to about 10-5 μCi/cm2. The measured results of contamination after the first and third decontamination works are listed for various parts of the well surfaces. (Aoki, K.)