JPS632077B2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention provides an inspection and monitoring vehicle equipped with monitoring equipment such as a TV camera, a thermometer, a hygrometer, a radiation detector, and an acoustic detector along a track laid inside a PCV. This relates to a mobile automatic inspection and monitoring device that inspects and monitors various devices, piping, valves, etc. installed inside the nuclear reactor containment vessel (hereinafter referred to as PCV) for abnormalities by running around. In particular, it relates to a means for transporting monitoring equipment mounted on an inspection monitoring vehicle into and out of the PCV.

Generally, in a nuclear power plant, the primary reactor equipment such as the pressure vessel and recirculation equipment for generating high-temperature, high-pressure steam is housed within the PCV.
Even in the unlikely event that an accident occurs and radioactive materials leak from the reactor primary system equipment, this will be contained within the PCV.
Care has been taken to prevent radioactive materials from leaking outside. However, malfunctions in various equipment, equipment, piping, valves, pumps, etc. within the PCV are extremely serious problems in terms of the safety of nuclear power plants. For example, if a crack occurs in a pipe or a seal in a valve or pump malfunctions, high-temperature, high-pressure steam, reactor coolant, etc. will leak.
If these leaks are discovered within a short period of time after they occur, they will not cause any serious problems, but if discovery is delayed or if operation continues without being discovered, ruptures and defects will spread, and eventually is the reactor coolant etc.
A large amount of this will leak into the PCV, posing a serious problem in the event of a nuclear reactor accident.

One possible means of preventing such accidents from occurring is patrol inspection by security personnel. However, manual inspection has its own limitations, and there is a risk of failures being overlooked.Also, after an accident, there is a high possibility that high concentrations of radiation that are harmful to the human body are present inside the PCV. It is extremely dangerous to enter the area. Also, due to an accident, PCV
If the temperature inside is abnormally high,
It will be impossible for security personnel to enter the PCV.
This means that the accident situation cannot be confirmed.

Therefore, conventionally, a monitoring system has been used in which various monitoring devices are installed at various locations within the PCV to automatically perform inspection and monitoring. However, in the above-mentioned monitoring system, the monitoring equipment is fixed, and since many devices and equipment are intricately connected inside the PCV along with the piping, unless the monitoring equipment is arranged in a high density, sufficient monitoring function cannot be achieved. There is a problem in not being able to fully demonstrate one's potential.

In order to improve this point, recently, mobile monitoring systems have been developed in which inspection and monitoring vehicles equipped with various monitoring equipment are used to patrol the spaces inside the PCV. In that case, it is essential that the monitoring equipment can be easily maintained and inspected, as the various monitoring equipment loaded on the inspection and monitoring vehicle are susceptible to failure or performance deterioration due to the temperature and humidity inside the PCV, as well as exposure to radiation. The conditions are as follows.

Therefore, the present invention enables the inspection and monitoring vehicle to run stably along the track laid inside the PCV, and
If necessary, the above-mentioned inspection and monitoring vehicle can be easily transported out of the PCV through a container equipped with an airlock mechanism connected to the PCV, and maintenance and inspection of monitoring equipment can be performed quickly and accurately. An object of the present invention is to provide a mobile automatic inspection and monitoring device that can always maintain internal monitoring capability above a certain level.

Hereinafter, details of the present invention will be clarified with reference to embodiments shown in the drawings. As shown in FIG. 1, the PCV 1 houses a pressure vessel 2 and reactor primary system equipment such as recirculation equipment, although not shown. As shown by the broken line in this empty space within the PCV 1, a monorail 3 is laid so as to approach the surroundings of the equipment and devices. As shown in FIG. 1, the monorails 3 are appropriately arranged at a plurality of locations in the vertical direction within the PCV 1. A part of the monorail 3 is provided with a lifting device 4 that connects the upper and lower monorails. Note that a monorail 5 for loading and unloading wheels is connected to the monorail 3 at the lowest stage. A container 6 equipped with an air lock mechanism is connected to the peripheral wall of the PCV 1 where the extended end of the monorail 5 is located. An airtight opening/closing door 7 formed of a radiation shielding member is provided in a passage communicating between the container 6 and the PCV 1, which can be opened and closed by remote control or the like. Further, an airtight door 8 is provided at the entrance of the container 6 in the same manner as the airtight door 7. The airtight door 7 can be closed only when the airtight door 8 is closed, and the door 8 is airlocked so that it can be opened only when the door 7 is closed.

By the way, 9 is an inspection and monitoring vehicle, which can run on the monorail 3. As shown in FIG. 2, this inspection and monitoring vehicle 9 has a first
vehicle 9a, and a second vehicle 9 which is a surveillance monitor vehicle.
b are connected by a connecting mechanism 11. The first vehicle 9a is connected to a chain 10, which is a cable, stretched in parallel with the monorail 3, via a driving force transmission mechanism 12 made of gears or the like. Thus, the first vehicle 9a is connected to the chain 10.
The monorail 3 is moved by the wheels 13 in synchronization with the movement of the monorail 3.
It is designed to run and stop on top of the vehicle. Also the first
The vehicle 9a has a cable 1 for power transmission and signal transmission.
4 is connected. Thus, the first vehicle 9a
It functions as a relay vehicle, supplying power from outside the PCV and transmitting and receiving information inside and outside the PCV.
As mentioned above, the second vehicle 9b is the same as the first vehicle 9a.
Since the first vehicle 9a is connected by the connecting mechanism 11, when the first vehicle 9a moves on the monorail 3, it performs the same operation as the first vehicle 9a. The connecting mechanism 11 has a built-in cable 15 connected to the cable 14, and the connecting mechanism 1
1 is in the connected state, the first vehicle 9a
Data can be transmitted and received between the second vehicle 9b and the second vehicle 9b, and power can be supplied to the storage battery 21 in the second vehicle 9b. In addition to the storage battery 21, the second vehicle 9b is loaded with various detection devices and monitoring devices such as an ITV, so that the inside of the PCV 1 can be inspected and monitored. As shown in an enlarged view in FIG. 3, this second vehicle 9b is provided with a drive mechanism that includes a drive motor 22 connected to a storage battery 21, a rotation transmission mechanism 23 made of gears, etc. . Thus this second vehicle 9
When b is connected to the first vehicle 9a, the chain 10 is connected via this first vehicle 9a.
The vehicle simply runs on the monorail 3 using the wheels 24, but when separated from the first vehicle 9a, the wheels 24 are rotated by the drive mechanism loaded in the second vehicle 9b. It is designed so that it can run on monorails 3 and 5 on its own.
Note that an antenna 25 is attached to the second vehicle 9b. Therefore, if necessary, this antenna 25
Information can be transmitted wirelessly using antennas (not shown) installed parallel to the monorails 3 and 5.

On the other hand, a transfer monorail mechanism 30 is installed in the container 6 having an airlock mechanism. As shown in FIGS. 4 and 5, this mechanism 30 is configured so that a monorail 31 can be transferred in the direction of arrow B1 or B2 along a transfer rail 33 laid on the ceiling of the container 6 by transfer devices 32a and 32b. That's what I achieved. In this embodiment, the monorail 31 is also transferred relative to the transfer machines 32a and 32b. Thus, when the second vehicle 9b is transferred from the container 6 into the PCV 1, the airtight opening/closing door 7 is opened in the direction of arrow A by the drive device 34 consisting of an airlock mechanism, and the monorail 31 is transferred to the transfer machines 32a and 32b from which the monorail 31 is suspended. Arrow B1
When the monorail 31 is moved in the direction shown in FIG. 5, one end of the monorail 31 is automatically connected to the monorail 5 in the PCV 1. Then, by causing the second vehicle 9b to travel under its own power in the direction of arrow C, the second vehicle 9b is carried into the PCV1. When storing in the container 6, the above operation may be performed in reverse. Also the second
When performing maintenance on the vehicle 9b, maintenance can be performed in the same manner through the airtight door 8, which is opened by the drive device 35 having the same structure as the drive device 35 after the door 7 is in the closed state. In this case, the monorail 31 in the transition monorail mechanism 30
is transferred in the direction of arrow B2, automatically connected to a monorail 36 provided on the building side around the container 6, and transported outside.

Since this device is constructed as described above, normally the first vehicle 9a runs on the monorail 3 by the chain 10, and the second vehicle 9a connected to the first vehicle 9a normally runs on the monorail 3 through the chain 10. The vehicle 9b also runs on the monorail 3. Therefore, running is performed stably and reliably. In this way, the inspection and monitoring inside PCV1 is
This can be effectively carried out using monitoring equipment mounted on the vehicle 9b. On the other hand, if the monitoring equipment malfunctions, the first and second vehicles 9a and 9b are lowered to the lowest monorail 3 by the vertical lifting mechanism 4, and then the first vehicle 9 is lowered to the branch monorail 5.
Move by a. And here the connection mechanism 1
1 and separates the second vehicle 9b from the first vehicle 9a. Thereafter, the second vehicle 9b is driven by the drive mechanism to run on the monorail 5 under its own power, and the container 6 is
reach it. Then, by opening the airtight door 7 and operating the transition monorail mechanism 30, the monorail 31 is connected to the monorail 5. The second vehicle 9b is thus completely accommodated within the container 6 having the airlock mechanism. Thereafter, by closing the airtight door 7, opening the airtight door 8, and operating the transfer monorail mechanism 30 in the opposite direction, the second vehicle 9b is carried out of the container 6. Become.

Note that the present invention is not limited to the embodiments described above. For example, in the embodiment described above, the first and second vehicles are each composed of a single vehicle, but if necessary, each of the first and second vehicles may be composed of two or more vehicles. In short, it is only necessary that the second vehicle loaded with the monitoring equipment be configured so that it can be separated from the first vehicle in a timely manner and run under its own power. Further, in the above embodiments, the self-propelled means includes a storage battery, a drive motor, etc., but other drive sources may be used. It goes without saying that various other modifications can be made without departing from the gist of the present invention.

As explained above, according to the present invention, the inspection and monitoring vehicle stably patrols the predetermined areas inside the PCV, so it is not possible to access places that humans cannot access, places that are at high risk of radiation, or areas that cannot be accessed due to the occurrence of an accident. Able to accurately monitor and inspect locations, etc. Moreover, if necessary, only the second vehicle equipped with monitoring equipment can be connected to the first vehicle, which is connected to cables, chains, etc.
By detaching it from the vehicle and driving it under its own power, it can be easily transported outside the PCV via a container equipped with an airlock mechanism, allowing for quick and accurate maintenance and inspection of monitoring equipment. In addition, since detection elements and the like, which conventionally have had problems with radiation resistance and heat resistance, can be replaced with some degree of freedom, it is possible to maintain the performance of the vehicle as an inspection/monitoring vehicle above a certain level at all times. Thus, it is possible to provide a mobile automatic inspection and monitoring device that is extremely useful for safe operation of nuclear power plants.

[Brief explanation of the drawing]

1 to 5 are views showing one embodiment of the present invention, and FIG. 1 is a sectional view showing a monorail installed in a container having a PCV and an air mechanism connected to the PCV, and FIGS. Figure 3 is a side view showing the structure of the inspection monitoring vehicle, Figures 4 and 5 are
FIG. 2 is a sectional view showing the internal structure of a container having an airlock mechanism connected to a PCV. 1... Reactor containment vessel (PCV), 2... Reactor pressure vessel, 3... Monorail, 4... Lifting device,
5, 31, 36... Monorail, 6... Container with airlock mechanism, 7, 8... Airtight door, 9a...
...First vehicle, 9b...Second vehicle, 10...Chain, 11...Connection mechanism, 12...Drive transmission device, 13, 24...Wheel, 14...Cable, 2
1... Storage battery, 22... Motor, 23... Transmission mechanism, 30... Transition monorail mechanism, 34, 35...
...Driving device for opening and closing the door.

Claims (1)

[Scope of Claims] 1. A track laid within the reactor containment vessel, a first vehicle that is driven to run along this track by a towing operation by a cable, and a vehicle connected to the first vehicle that is connected to the track. a second vehicle that travels above the vehicle; and a monitoring device loaded on the second vehicle, and a means for the second vehicle to travel on its own after being separated from the first vehicle. A mobile automatic inspection and monitoring device characterized by: 2. The mobile automatic inspection and monitoring device according to claim 1, wherein the self-propelled means of the second vehicle rotates the wheels by a drive mechanism comprising a storage battery and a drive motor.