JPS63270B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a mobile monitoring device that moves inside a nuclear reactor containment vessel and performs inspection and monitoring of various devices housed therein or performs various operations.

Generally, a nuclear reactor is constructed so that the reactor pressure vessel, recirculation pump, and other equipment are housed within the reactor containment vessel, and even if coolant leaks, it will be safely contained within the reactor containment vessel. ing. By the way, since there is a high concentration of radiation inside the reactor containment vessel, workers are not allowed to enter the reactor containment vessel for inspection or maintenance of the equipment housed inside the reactor containment vessel. Undesirable. In order to improve this, mobile monitoring equipment that moves freely inside the reactor containment vessel and performs light work such as inspecting and monitoring each device, opening and closing valves, tightening bolts, and transporting parts, is used to monitor the nuclear reactor. It is considered that maintenance and inspection of equipment inside the reactor containment vessel will be carried out. However, many devices, pipes, etc. are densely arranged inside the reactor containment vessel, and many floors, etc. are connected by stairs, and it is required to be able to move freely through these. However, there is no conventional travel mechanism suitable for freely traveling through such a complicated part.

The present invention has been made based on the above circumstances, and its purpose is to provide a mobile monitoring device that can move freely within a complex space such as a nuclear reactor containment vessel.

The present invention will be described below with reference to an embodiment shown in the drawings. In the figure, reference numeral 1 denotes a main body, and inside this main body 1, various drive devices, control devices, etc. are built-in. Crawler mechanisms 3 are provided at each of the four corners of the main body 1 to drive the endless track belt 2 to travel. These crawler mechanisms 3 are constructed so that they can be driven independently of each other, and are also constructed so that they can be switched between forward rotation and reverse rotation independently. The two crawler mechanisms 3, 3 on the front side are pivoted such that their rear ends can rotate in a vertical plane with respect to the main body 1, and the two crawler mechanisms 3, 3 on the rear side are 3 is pivoted so that its front end can rotate in a vertical plane relative to the main body 1. These crawler mechanisms 3 are configured to be rotated independently of each other with respect to the main body 1. In addition, the main body 1
A monitoring section 4 is provided above, and various monitoring devices such as an ITV camera, a temperature detector, and a radiation detector are housed within this monitoring section 4. A cable 5 for remote control is connected to the main body 1, and power is supplied via the cable 5, and various signals are transmitted.

One embodiment of the present invention configured as described above is the first embodiment of the present invention.
As shown in the drawings and FIG. 2, each crawler mechanism 3 is held horizontally and is simultaneously driven to run in the same direction to move forward or backward. In addition, in this state, the left and right crawler mechanisms 3...
Steering operations can be performed by changing the traveling speed of the vehicle. Next, when overcoming an obstacle, etc., the front crawler mechanism 3, 3 is
These crawler mechanisms 3, 3 are rotated with respect to the main body 1 so that the tips of the crawler mechanisms 3, 3 face upward, and the front crawler mechanisms 3, 3 ride on the obstacle 6, and each crawler mechanism 3... is driven to travel. to overcome obstacle 6. Further, as shown in FIGS. 4 and 5, the height of the main body 1 can be changed by rotating the tip of each crawler mechanism 3 so that it faces downward or upward. For example, the height of the main body 1 can be changed. Monitoring can be done by getting close enough to the object to be monitored. In addition, the fourth
As shown in the figure and FIG. 5, each crawler mechanism 3 is stopped in an upright state,
If the other crawler mechanisms 3 are driven to travel, the main body 1 can be rotated around the stopped crawler mechanism 3 as shown in FIG. 6, and the direction can be changed in a narrow space. In addition, when going up and down stairs 7 etc., the upper step 7 is used as shown in Fig. 7.
By setting the crawler mechanisms 3, 3 on the upper step (a) horizontally and vertically standing the crawler mechanisms 3, 3 on the lower step 7b, the main body 1 can be moved up and down the stairs 7 while maintaining it in a horizontal state. Therefore, the reliability of the operation of the various monitoring devices installed in the main body 1 can be maintained.
Also, the field of view of the TV camera can be maintained horizontally. In addition, when traveling on a complex floor surface 8 where each part has a different level as shown in FIG. By moving the main body 1, the main body 1 can be maintained horizontally. Therefore, it is possible to move freely within a complex space such as the inside of a nuclear reactor containment vessel.

Note that the present invention is not limited to the above embodiment.

For example, the crawler mechanism does not necessarily have to be pivotally connected to the main body at its ends, and in some cases may be pivotally connected to the main body at its center.

Further, various work equipment may be attached to the main body to enable light work such as opening/closing valves, tightening bolts, and transporting members.

Further, remote control is not limited to wired operation, and may be performed wirelessly.

Furthermore, it goes without saying that the present invention is applicable not only to inspection and monitoring of equipment in a nuclear reactor containment vessel, but also to maintenance and inspection of equipment located in locations that cannot be accessed by workers.

As described above, the present invention includes a main body equipped with various monitoring devices, a main body mounted on the front side of the main body, the rear end of which is pivotally connected to the main body so as to be rotatable in a perpendicular plane, and each of which is attached to the front side of the main body so as to be rotatable in a vertical plane. a pair of front crawler mechanisms that are independently rotationally driven; The invention is characterized by comprising a pair of rear side crawler mechanisms that are rotationally driven independently of each other. Therefore, in addition to running, it is also possible to overcome obstacles, change the height of the main unit, change direction in narrow spaces, etc., and also maintain the main unit horizontally even on stairs and floor surfaces with complex shapes. The effects are great, such as increasing the reliability of the operation of monitoring equipment.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, and FIG. 1 is a perspective view, and FIGS. 2 to 8 are schematic diagrams each illustrating the operation. 1...Main body, 3...Crawler mechanism, 4...Monitoring section, 5
…cable.

Claims (1)

[Claims] 1 A main body equipped with various monitoring equipment, attached to the front side of this main body, the rear end of which is pivotally connected to the main body so as to be rotatable in a vertical plane, and each of which can be rotated independently with respect to the main body. A pair of dynamically driven front crawler mechanisms are attached to the rear side of the main body, the front ends of which are pivotally connected to the main body so as to be rotatable in a vertical plane, and each is independent of the main body. A mobile monitoring device comprising a pair of rear crawler mechanisms that are rotationally driven.