JP2000206287A - Working robot in reactor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To quickly execute operation in a reactor such as welding even under much radiation dose and to reduce exposure dose by equipping an arm part that can be operated three-dimensionally due to a base part that can travel in the reactor and an articulated interlocking structure and an operation part that is provided at the tip. SOLUTION: A working robot in a reactor basically consists of a traveling robot 11 and a control device 12 for controlling it. The robot 11 is provided with a base part 13 with a traveling wheel and an articulated arm part that is supported by a robot body 15 that is connected via a post 14 (shaft O1) that is vertical to the base part 13. A welding head 21 is detachably mounted to the tip of a rotary arm 19 via a holder 20 that can be rotated around a shaft 15 that orthogonally crosses a shaft O4, and a welding torch 22 can be rotated around a head 21 via a shaft O6 that is concentric with the shaft O5. An encoder is provided at each joint part. Regarding welding to a welded site in a complex shape and a narrow part also, the installation location, procedures of a welding machine, a site, and the design of a connection head and the like are considered for simplifying the execution.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-reactor working robot which is used for performing work such as welding at the time of maintenance and inspection in an existing reactor.

[0002]

2. Description of the Related Art Conventionally, welding and the like performed in a nuclear reactor for repairing a plant under construction and an existing plant have been designed for manual welding by a welder or for welding specific parts. This is done using a semi-automatic welding machine.

[0003] In manual welding by a welder, a welding jig is carried into a nuclear reactor, and the welder himself enters the reactor and holds a welding torch and a welding rod in his / her hands, respectively. Welding is being carried out close to.

In this case, a scaffold or a support of a welder is installed around the welded portion, and when working in an existing plant, a shield wall is installed to further reduce the influence of radiation. Environmental conditions are prepared in advance.

FIGS. 5 and 6 show an example of the configuration of a semi-automatic welding machine designed for welding a specific part. In this semi-automatic welding machine, a rail 2 is provided on a vertical welding machine mounting base 1, and a welding machine body 3 is installed on the rail 2. A welding head 5 is attached to the welding machine body 3 via an arm 4. The arm 4 does not move in particular, and the welding head 5 can move within a certain range on the rail 2. However, the entire welding mount 1 is moved and carried to the welding position. ing.

FIG. 5 shows an example in which a riser brace 8 supporting a riser pipe 7 is welded to a reactor pressure vessel 6 via a pad 8a.
A furnace wall shield 9 is attached to the inner surface of the work.

In welding using this semi-automatic welding machine, a welder or a welding assistant enters the reactor pressure vessel 6 and is a structure for installing a semi-automatic welding machine in the vicinity of a welded portion. Attach mounting base 1, rail 2, etc.
The welding machine main body 3 which is a semi-automatic welding machine is set on the rail 2. Then, operation confirmation and position adjustment of the welding portion, the welding machine, and the welding head 5 are performed. The operation check and the position adjustment are performed while the operator remotely contacts a welder or a welding assistant in the reactor from a welding control panel installed outside the reactor.

The operator visually observes the welding state through an image of a CCD camera or the like attached to the welding head 5 from the welding control panel and controls the operation of the welding machine and the welding. In performing welding, a welding sequence that has been examined and evaluated in advance is established, and the above-described operation check and position adjustment are repeatedly performed in accordance with the established welding sequence, and welding is performed.

Further, in the existing plant, a furnace wall shield 9 is installed in advance as a radiation shield in order to reduce the influence of radiation, and during the welding operation, a simple shielding is required when the adjustment setup of the semi-automatic welding machine is changed. Attach and remove and perform incidental work to protect against radiation.

[0010]

However, in the conventional welding method, a welding tool is carried into the reactor, and the welder enters the reactor, and the welding torch and the welding rod are removed. Each had to be held in hand and approached to the weld, to perform the welding work, and it was necessary to stay at the site during the welding work.

[0011] For this reason, it has been difficult to perform a long-time continuous operation in a radiation environment in a nuclear reactor in order to control the exposure dose of the welder. In particular, at a welding site under a high radiation dose, the welder could not directly approach, and it was difficult even for the welder to perform welding work.

Further, in such a radiation environment, the equipment for the radiation of the welder is heavy and both hands are occupied, and the field of view and the movement are restricted.

[0013] Further, in the case of construction on a part having a complicated shape or a narrow part, delicate and advanced skills are required, special jigs are required, and work time is limited. A skilled welder had to be involved.
In addition, scaffolds and support for welders were installed around the welded parts, and in the existing plant, it was necessary to prepare welding environmental conditions in advance, such as installing shields to further reduce the effects of radiation.

On the other hand, in welding using a semi-automatic welding machine or the like designed to weld a specific part, a welder or a welding assistant enters the reactor and installs the semi-automatic welding machine near a welded portion. (For example, the rail 2 and the gantry 1) need to be attached in advance, and a semi-automatic welding machine is set on the rail 2 to check the operation of the welding portion, the welding machine body 3 and the welding head 5 and adjust the position. Needed. Operation confirmation and position adjustment are remotely performed by the operator from the welding control panel installed outside the reactor, but a welder or welding assistant stays in the relevant part of the reactor and welds while communicating with the operator. It was necessary to monitor the operating state of the machine and make fine adjustments.

Further, in the existing plant, shields are installed in advance to reduce the influence of radiation, and during the welding work, when the adjustment setup of the semi-automatic welding machine is changed, a simple shield is attached and removed to remove the radiation. Ancillary work to defend had to be implemented.

[0016] In the construction method using a conventional semi-automatic welding machine,
It is necessary to design a special welding machine for each welding part with various shapes and environmental conditions, and to have a complicated structure and function in order to be able to work on very complicated places and narrow parts without problems It was necessary to design a welding machine having

The development of a semi-automatic welding machine eliminates the need for a welder to enter the reactor and stay at the welding part during welding work. Must be monitored and fine adjustments must be made for each welding pass in the welding sequence.
The welder or welding assistant needed to fine-tune the welder directly at the weld site. For this reason, there is a problem that the shorter the construction time of one pass, the more frequently the part must be approached to the welded part, and the dose of exposure increases.

Further, it is necessary to attach a special structure (for example, a rail 2 on which the welding machine operates, a welding machine mounting base 1, etc.) for installing the semi-automatic welding machine at the welding portion.
A welder or welding assistant could enter the reactor and be exposed.

Further, when installing a semi-automatic welding machine for performing a welding portion under a high radiation dose, the risk of radiation exposure increases, and the more complicated the shape of the welding portion is, the more difficult the welding process is. Because it takes a lot of time to install the equipment and peripheral equipment, one or the same group of workers could not work continuously in terms of radiation dose management.

As a result, there is a problem that a large number of workers need to be engaged, and the working time and the total exposure dose increase. The same applies to the removal and clearing of the welding machine and peripheral devices after the completion of welding.

The present invention has been made in view of such circumstances, and an object of the present invention is to enable work in a furnace such as welding even under a high radiation dose, thereby greatly reducing the time required for an operator to enter the reactor. To reduce the radiation exposure dose. Another object of the present invention is to make it possible for a remote operator to easily control and monitor welding during a welding operation, so that a welder or a welding assistant does not need to stay in the section.

That is, according to the present invention, a work function such as a welding machine itself is provided with a control function for recognizing a welding work site, and a proper operation such as welding is automatically performed by teaching basic operations in advance. It is intended to provide an in-reactor working robot capable of performing the following.

Another object of the present invention is to provide a welding head, a welding procedure, and the design of a welding head portion to be engaged with a welding portion, for work such as welding to a welding portion having a complicated shape or a narrow portion. It is an object of the present invention to provide a robot that can be easily constructed simply by considering the above.

Another object of the present invention is to provide a robot which is small, lightweight, requires little time for carrying and moving, can be easily installed at a work position such as a welded portion, and can be freely installed without being limited by the space of the working place. Is to provide.

Still another object of the present invention is to prepare a welding head suitable for the shape and environmental conditions of the welding portion to be mounted on the tip of the robot body, not for a special welding machine for a specific welding portion, but for any conditions. It is an object of the present invention to provide a general-purpose device that can be installed even at a welded part.

Still another object of the present invention is to provide a highly versatile robot which can efficiently and reliably perform welding work and the like even when used in a construction plant which is not in a radiation environment. is there.

[0027]

In order to achieve the above object, according to the first aspect of the present invention, a work in a nuclear reactor which is introduced into a nuclear reactor of a nuclear power plant and works in the furnace space by remote control. A robot, a base part movable in the furnace, an arm part protruding from the base part and capable of three-dimensional operation by a multi-joint connection structure, and a working part provided at a tip of the arm part. A work robot in a nuclear reactor characterized by comprising:

According to a second aspect of the present invention, in the working robot in a nuclear reactor according to the first aspect, the drive unit and the control unit for performing the operation of the arm unit can be used in a radiation environment, and can control radiation. Provided is an in-reactor working robot characterized by having a durable configuration.

According to a third aspect of the present invention, in the in-reactor working robot according to the first aspect, the distal end side of the arm portion is configured to enable an operation required for construction in a narrow space in the reactor. A working robot in a nuclear reactor is provided.

According to a fourth aspect of the present invention, there is provided the in-reactor working robot according to the first aspect, further comprising a function of operating the arm portion and the working portion by remote operation outside the reactor. Provide a robot.

According to a fifth aspect of the present invention, there is provided the multi-joint working robot according to the first aspect, which has a function of teaching an operation in advance and reproducing the operation.

According to a sixth aspect of the present invention, in the working robot in a nuclear reactor according to the first aspect, the entire configuration including the base, the arm, and the working unit is small, lightweight, and easy to move and install. A working robot in a nuclear reactor is provided.

According to a seventh aspect of the present invention, in the working robot in the nuclear reactor according to the first aspect, a touch sensor is provided on at least one of the base portion and the arm portion to automatically recognize the working portion. Provided is a working robot in a nuclear reactor, which is capable of being automatically moved to a different place on a rail installed in the nuclear reactor.

[0034]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a working robot in a nuclear reactor according to the present invention will be described below with reference to FIGS. The working robot in the nuclear reactor of the present embodiment is applied as a welding robot.

FIG. 1 is a schematic diagram showing the overall configuration of the working robot in a nuclear reactor according to the present embodiment, and FIGS. 2 and 3 are perspective views showing a use state.

As shown in FIG. 1, the in-reactor working robot according to the present embodiment basically includes a moving robot 11 and a control device 12 for controlling the same.

The robot 11 has a base portion 13 having moving wheels, a robot main body 15 connected to a base column 14 (first axis O1) perpendicular to the base portion 13, and a multi-indirect structure supported by the robot body 15. Arm part.

The arm unit is connected to the robot body 15 via first and second horizontal axes O21 and O22.
Arms 16 and 17 that can operate independently of each other, and an axis O3 parallel to axes O21 and O22 at the ends of the arms 16 and 17 respectively.
1, a cylindrical head arm 1 connected via O32
8 and coaxially connected to the head arm 18,
And a rotating arm 19 rotatably connected around the rotation arm 4.

A welding head 21 is detachably attached to the tip of the rotating arm 19 via a holder 20 rotatable around an axis O5 orthogonal to the axis O4. Welding head 2
1, a welding torch 22 is rotatably mounted on a shaft O6 concentric with the shaft O5.

On the other hand, the control device 12 includes a control power supply 13, a monitor 14, a welding power supply 15, and a teaching pendant 16 for giving an operation instruction.

In such a configuration, the head arm 18 and the rotating arm 1 of the multi-joint (six joints) arm portion are used.
9 is configured as an elongated manipulator. Each joint is provided with an encoder. The manipulator has a wide range of motion, about 2 in the direction of rotation around the axis O1.
Can be rotated 70 degrees and the first and second elevating arms 1 in the vertical direction
Due to the operations 6 and 17 (mutually independent operations), it is possible to move in a range of about 300 degrees around the first axis O1.

An encoder attached to a motor unit (not shown) of the articulated manipulator (for example, provided at each joint unit) can improve durability in a radiation environment by using a magnetic encoder.

Further, the welding head 21 attached to the tip of the manipulator can swing and twist 360 degrees around the axis O5. For this reason, the welding posture at the time of welding can be stabilized, and a narrow portion or a welded portion having a complicated shape can be constructed by reducing the size of the welding head.

The welding torch 22 attached to the welding head 21 can be replaced according to the conditions of the welded portion, so that it can be applied to various parts.

The robot is operated by a control power supply 13, a welding power supply 15, a monitor 14 for monitoring a welding state, and a teaching pendant 1 for instructing a robot operation.
6 can be placed outside the reactor and all can be performed remotely.

FIGS. 2 and 3 are a construction state diagram and an enlarged view of a welded portion of the in-reactor working robot of the present embodiment.

As shown in FIGS. 2 and 3, in this embodiment, for example, the riser brace 8 of the jet pump and the riser brace mounting pad 8a of the reactor pressure vessel 6 are provided.
This shows the welding with.

The welded portion has a very high radiation dose equivalent rate, the shape of the welded portion is complicated, and the upper and lower portions of the riser brace 8
The gap between the sheets is small and very difficult to apply with a manual or semi-automatic welding machine.

However, by using the in-reactor working robot of the present embodiment in such a portion, the functions and capabilities of the working robot can be maximized and a great effect can be obtained.

First, since the radiation dose equivalent rate is very high, the worker cannot easily approach the worker, and if the worker approaches, a heavy shielding is required, and the working space is narrowed accordingly. However, the installation place of the welding machine is restricted. Further, even if a person approaches, it is difficult to work for a long time, and a plurality of workers need to be involved.

However, the working robot in a nuclear reactor is small and lightweight, can be easily moved and installed, and can be welded by remote control. Therefore, the number of human systems can be reduced, and the exposure dose can be greatly reduced.

Second, a shielding shield 8a is provided around the welded portion.
And the riser pipe 7 are installed, the welded part is narrow, and the space between the upper and lower plates of the riser brace 8 is very narrow. Even in such a part, it is possible to carry out the construction while maintaining a stable welding posture by utilizing the multi-joint and multi-axial structure.

Therefore, not only is it possible to use the in-reactor working robot of the present invention in a portion where welding is conventionally considered to be difficult, but also the welding reliability is improved and the quality is improved.

FIG. 4 shows another example of use, in which a rail 23 is laid on a work scaffold of a welding portion to perform fully automatic welding, and a base portion 13 of the robot 11 is installed on a track of the rail 23 to automatically perform the welding. An example of an in-reactor working robot that can be moved is shown below.

As a result, it is possible to reduce welding incidental work such as movement and installation of the work robot by the operator,
Since there is no need for the operator to enter the reactor, unnecessary exposure can be avoided.

Further, also in the construction plant, the work efficiency is improved. Furthermore, the same type of welding can match the relative positional relationship between the work robot and the welded part even at different locations, eliminating the need to adjust the delicate positional relationship in the human system for each welding location, and achieving uniform welding. Since the construction result is obtained, the soundness and reliability of welding are improved.

According to the above embodiment, in a nuclear reactor of a nuclear power plant, an efficient operation can be performed by using an articulated robot in the nuclear reactor for repairing a construction plant and an existing plant.

By attaching and detaching the welding head 21 to and from the holder 20, work as another work equipment, for example, a cutting device can be performed.

Further, by applying a magnetic encoder, it is possible to provide a drive unit and a control unit that are more resistant to radiation than semiconductor type encoders. Therefore, it is possible to provide a welding head and an articulated manipulator that can perform welding in a radiation environment and can perform welding in a stable shape in a narrow shape such as a complicated shape or a riser brace of a jet pump.

The articulated working robot having six axes according to the present embodiment has a function that can be remotely operated by an operator, and has a function that can reproduce the operation if the operation is taught in advance. I have. Therefore, the work of the human system can be shortened, and the exposure dose can be significantly reduced.

The multi-joint working robot can be easily moved and installed because of its small size and light weight, so that the work can be speeded up. Further, it is not limited to the installation space and can be anywhere within the operating range of the working robot. Work such as welding can be performed.

Further, the robot having the multi-joint structure according to the present embodiment recognizes a welding portion by mounting various sensors, corrects the motion by adding information of the recognized position to the pre-stored basic motion, and corrects the predetermined motion. Can be welded in position.
In addition, by installing the welding machine body on a work stand or a rail or guide laid near the welded part, it can be automatically moved to the welded part at a different location, and welding can be performed by fully automatic control just by monitoring remotely. As a result, the number of people involved in the work can be significantly reduced, and the radiation dose can be significantly reduced.

Therefore, by employing the welding method described in the present embodiment, the use of the articulated robot in the welding operation in the nuclear reactor and the like makes it possible to perform automatic welding remotely by computer control, thereby realizing human-based operations. Work is reduced, overall welding time is reduced, and radiation exposure is greatly reduced.In addition, the welding machine body can be installed at a position away from the welded part, and the manipulator of the multi-axis joint of the robot can be freely set from there Because it is possible to access the welded part, it is possible to easily perform the welding even in a part where the welding is difficult due to its complicated shape.

In this embodiment, various sensors such as a touch sensor, an encoder, and a CCD camera are mounted in a range where the multi-axis joint manipulator can operate. Therefore, by setting the origin and recognizing it,
By performing a calculation process, a true welding position is calculated, and the calculated correction operation is added to the basic operation stored in advance to perform welding at a predetermined position. In addition, it becomes possible to correct welding conditions in accordance with fluctuations due to thermal deformation of the construction site.

Further, the welding machine body can be automatically moved to a welding portion in a different place by previously laying a rail or a guide near a work table or a welding portion, and can be automatically monitored only by remote monitoring. Can be used for welding work.
This eliminates the need for delicate position adjustment between the welded part and the welder, which was conventionally performed by a human system, and saves the time and labor required to move and install the welder, greatly reducing the overall welding time. can do. Further, it is not necessary for a welder or a welding assistant to enter the reactor, so that the radiation exposure can be greatly reduced.

[0066]

As described above, according to the in-reactor working robot according to the present invention, even in the case of welding to a welding portion having a complicated shape or a narrow portion, the installation location of the welding machine, the welding procedure, and the welding portion are not required. It can be easily constructed simply by considering the design of the welding head and the like to be engaged.

Further, according to the working robot in a nuclear reactor according to the present invention, since it is small and light and has no trouble in carrying and moving, it can be easily installed in a working position such as a welding portion.
It can be installed freely without being limited by the work space.

Furthermore, according to the working robot in a nuclear reactor of the present invention, not a dedicated machine at a specific working position, but a welding machine adapted to the shape of the working unit attached to the tip of the articulated robot body and environmental conditions. Just prepare the head,
Work can be performed easily even at welded parts under any conditions.

Further, according to the robot in a nuclear reactor according to the present invention, efficient and highly reliable work can be performed even when used in a construction plant which is not in a radiation environment, and versatility is high. The excellent effect is achieved.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing an overall configuration of a working robot in a nuclear reactor according to an embodiment of the present invention.

FIG. 2 is a perspective view of the in-reactor working robot according to the embodiment in use.

FIG. 3 shows a working robot in a nuclear reactor 2 according to the embodiment.
The perspective view which shows the example of use at the time of using a stand.

FIG. 4 is a perspective view showing a working state in the working robot in the nuclear reactor according to the embodiment.

FIG. 5 is a plan view showing a conventional semi-automatic welding machine for a nuclear reactor.

FIG. 6 is a side view of FIG. 5;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Robot 12 Control device 13 Base part 14 Prop 15 Robot main body 16, 17 Elevation arm 18 Head arm 19 Rotating arm 20 Holder 21 Welding head 22 Welding torch 23 Rail

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[Procedure amendment]

[Submission date] February 1, 1999 (1999.2.1)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction contents]

[Document Name] Statement

[Title of the Invention] In-reactor working robot

[Claims]

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-reactor working robot which is used for performing work such as welding at the time of maintenance and inspection in an existing reactor.

[0002]

2. Description of the Related Art Conventionally, welding and the like performed in a nuclear reactor for repairing a plant under construction and an existing plant have been designed for manual welding by a welder or for welding specific parts. This is done using a semi-automatic welding machine.

[0003] In manual welding by a welder, a welding jig is carried into a nuclear reactor, and the welder himself enters the reactor and holds a welding torch and a welding rod in his / her hands, respectively. Welding is being carried out close to.

In this case, a scaffold or a support of a welder is installed around the welded portion, and when working in an existing plant, a shield wall is installed to further reduce the influence of radiation. Environmental conditions are prepared in advance.

FIGS. 5 and 6 show an example of the configuration of a semi-automatic welding machine designed for welding a specific part. In this semi-automatic welding machine, a rail 2 is provided on a vertical welding machine mounting base 1, and a welding machine body 3 is installed on the rail 2. A welding head 5 is attached to the welding machine body 3 via an arm 4. The arm 4 does not move in particular, and the welding head 5 can move within a certain range on the rail 2. However, the entire welding mount 1 is moved and carried to the welding position. ing.

FIG. 5 shows an example in which a riser brace 8 supporting a riser pipe 7 is welded to a reactor pressure vessel 6 via a pad 8a.
A furnace wall shield 9 is attached to the inner surface of the work.

In welding using this semi-automatic welding machine, a welder or a welding assistant enters the reactor pressure vessel 6 and is a structure for installing a semi-automatic welding machine in the vicinity of a welded portion. Attach mounting base 1, rail 2, etc.
The welding machine main body 3 which is a semi-automatic welding machine is set on the rail 2. Then, operation confirmation and position adjustment of the welding portion, the welding machine, and the welding head 5 are performed. The operation check and the position adjustment are performed while the operator remotely contacts a welder or a welding assistant in the reactor from a welding control panel installed outside the reactor.

The operator visually observes the welding state through an image of a CCD camera or the like attached to the welding head 5 from the welding control panel and controls the operation of the welding machine and the welding. In performing welding, a welding sequence that has been examined and evaluated in advance is established, and the above-described operation check and position adjustment are repeatedly performed in accordance with the established welding sequence, and welding is performed.

Further, in the existing plant, a furnace wall shield 9 is installed in advance as a radiation shield in order to reduce the influence of radiation, and during the welding operation, a simple shielding is required when the adjustment setup of the semi-automatic welding machine is changed. Attach / remove and carry out incidental work to protect against radiation.

[0010]

However, in the conventional welding method, a welding tool is carried into the reactor, and the welder enters the reactor, and the welding torch and the welding rod are removed. Each had to be held in hand and approached to the weld, to perform the welding work, and it was necessary to stay at the site during the welding work.

[0011] For this reason, it has been difficult to perform a long-time continuous operation in a radiation environment in a nuclear reactor in order to control the exposure dose of the welder. In particular, at a welding site under a high radiation dose, the welder could not directly approach, and it was difficult even for the welder to perform welding work.

Further, in such a radiation environment, the equipment for the radiation of the welder is heavy and both hands are occupied, and the field of view and the movement are restricted.

[0013] Further, in the case of construction on a part having a complicated shape or a narrow part, delicate and advanced skills are required, special jigs are required, and work time is limited. A skilled welder had to be involved.
In addition, scaffolds and support for welders were installed around the welded parts, and in the existing plant, it was necessary to prepare welding environmental conditions in advance, such as installing shields to further reduce the effects of radiation.

On the other hand, in welding using a semi-automatic welding machine or the like designed to weld a specific part, a welder or a welding assistant enters the reactor and installs the semi-automatic welding machine near a welded portion. Structure (for example, rail 2 or gantry 1)
) Must be mounted in advance, and it is necessary to set the semi-automatic welding machine on the rail 2 and to confirm the operation of the welding part, the welding machine body 3 and the welding head 5 and adjust the position. Operation confirmation and position adjustment are remotely performed by the operator from the welding control panel installed outside the reactor, but a welder or welding assistant stays in the relevant part of the reactor and welds while communicating with the operator. It was necessary to monitor the operating state of the machine and make fine adjustments.

Further, in the existing plant, a shield is installed in advance to reduce the influence of radiation, and during welding, when the adjustment setup of the semi-automatic welding machine is changed, the simple shield is attached and removed to remove the radiation. Ancillary work to defend had to be implemented.

[0016] In the construction method using a conventional semi-automatic welding machine,
It is necessary to design a special welding machine for each welding part with various shapes and environmental conditions, and to have a complicated structure and function in order to be able to work on very complicated places and narrow parts without problems It was necessary to design a welding machine having

The development of a semi-automatic welding machine eliminates the need for a welder to enter the reactor and stay at the welding part during welding work. Must be monitored and fine adjustments must be made for each welding pass in the welding sequence.
The welder or welding assistant needed to fine-tune the welder directly at the weld site. For this reason, there is a problem that the shorter the construction time of one pass, the more frequently the part must be approached to the welded part, and the dose of exposure increases.

Further, it is necessary to attach a special structure (for example, a rail 2 on which the welding machine operates, a welding machine mounting base 1, etc.) for installing the semi-automatic welding machine at the welding portion.
A welder or welding assistant could enter the reactor and be exposed.

Further, when installing a semi-automatic welding machine for performing a welding portion under a high radiation dose, the risk of radiation exposure increases, and the more complicated the shape of the welding portion is, the more difficult the welding process is. Because it takes a lot of time to install the equipment and peripheral equipment, one or the same group of workers could not work continuously in terms of radiation dose management.

As a result, there is a problem that a large number of workers need to be engaged, and the working time and the total exposure dose increase. The same applies to the removal and clearing of the welding machine and peripheral devices after the completion of welding.

The present invention has been made in view of such circumstances, and an object of the present invention is to enable work in a furnace such as welding even under a high radiation dose, thereby greatly reducing the time required for an operator to enter the reactor. To reduce the radiation exposure dose. Another object of the present invention is to make it possible for a remote operator to easily control and monitor welding during a welding operation, so that a welder or a welding assistant does not need to stay in the section.

That is, according to the present invention, a work function such as a welding machine itself is provided with a control function for recognizing a welding work site, and a proper operation such as welding is automatically performed by teaching basic operations in advance. It is intended to provide an in-reactor working robot capable of performing the following.

Another object of the present invention is to provide a welding head, a welding procedure, and the design of a welding head portion to be engaged with a welding portion, for work such as welding to a welding portion having a complicated shape or a narrow portion. It is an object of the present invention to provide a robot that can be easily constructed simply by considering the above.

Another object of the present invention is to provide a robot which is small, lightweight, requires little time for carrying and moving, can be easily installed at a work position such as a welded portion, and can be freely installed without being limited by the space of the working place. Is to provide.

Still another object of the present invention is to prepare a welding head suitable for the shape and environmental conditions of the welding portion to be mounted on the tip of the robot body, not for a special welding machine for a specific welding portion, but for any conditions. It is an object of the present invention to provide a general-purpose device that can be installed even at a welded part.

Still another object of the present invention is to provide a highly versatile robot which can efficiently and reliably perform welding work and the like even when used in a construction plant which is not in a radiation environment. is there.

[0027]

In order to achieve the above object, according to the first aspect of the present invention, a work in a nuclear reactor which is introduced into a nuclear reactor of a nuclear power plant and works in the furnace space by remote control. A robot, a base part movable in the furnace, an arm part protruding from the base part and capable of three-dimensional operation by a multi-joint connection structure, and a working part provided at a tip of the arm part. A work robot in a nuclear reactor characterized by comprising:

According to a second aspect of the present invention, in the working robot in a nuclear reactor according to the first aspect, the drive unit and the control unit for performing the operation of the arm unit can be used in a radiation environment, and can control radiation. Provided is an in-reactor working robot characterized by having a durable configuration.

According to a third aspect of the present invention, in the in-reactor working robot according to the first aspect, the distal end side of the arm portion is configured to enable an operation required for construction in a narrow space in the reactor. A working robot in a nuclear reactor is provided.

According to a fourth aspect of the present invention, there is provided the in-reactor working robot according to the first aspect, further comprising a function of operating the arm and the working unit by remote control outside the reactor. I will provide a.

According to a fifth aspect of the present invention, there is provided the multi-joint working robot according to the first aspect, which has a function of teaching an operation in advance and reproducing the operation.

According to a sixth aspect of the present invention, in the working robot in a nuclear reactor according to the first aspect, the entire configuration including the base, the arm, and the working unit is small in size, light in weight, and easy to move and install. A working robot in a nuclear reactor is provided.

According to a seventh aspect of the present invention, in the working robot in the nuclear reactor according to the first aspect, a touch sensor is provided on at least one of the base portion and the arm portion to automatically recognize the working portion. Provided is a working robot in a nuclear reactor, which is capable of being automatically moved to a different place on a rail installed in the nuclear reactor.

[0034]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a working robot in a nuclear reactor according to the present invention will be described below with reference to FIGS. The working robot in the nuclear reactor of the present embodiment is applied as a welding robot.

FIG. 1 is a schematic diagram showing the overall configuration of the working robot in a nuclear reactor according to the present embodiment, and FIGS. 2 and 3 are perspective views showing a use state.

As shown in FIG. 1, the in-reactor working robot according to the present embodiment basically includes a moving robot 11 and a control device 12 for controlling the same.

The robot 11 has a base portion 13 having moving wheels, a robot main body 15 connected to a base column 14 (first axis O1) perpendicular to the base portion 13, and a multi-indirect structure supported by the robot body 15. Arm part.

The arm unit is connected to the robot body 15 via first and second horizontal axes O21 and O22.
Arms 16 and 17 that can operate independently of each other, and an axis O3 parallel to axes O21 and O22 at the ends of the arms 16 and 17 respectively.
1, a cylindrical head arm 1 connected via O32
8 and coaxially connected to the head arm 18,
And a rotating arm 19 rotatably connected around the rotation arm 4.

A welding head 21 is detachably attached to the tip of the rotating arm 19 via a holder 20 rotatable around an axis O5 orthogonal to the axis O4. Welding head 2
1, a welding torch 22 is rotatably mounted on a shaft O6 concentric with the shaft O5.

On the other hand, the control device 12 includes a control power supply 23, a monitor 24, a welding power supply 25, and a teaching pendant 26 for giving an operation instruction.

In such a configuration, the head arm 18 and the rotating arm 1 of the multi-joint (six joints) arm portion are used.
9 is configured as an elongated manipulator. Each joint is provided with an encoder. The manipulator has a wide range of motion, about 2 in the direction of rotation around the axis O1.
Can be rotated 70 degrees and the first and second elevating arms 1 in the vertical direction
Due to the operations 6 and 17 (mutually independent operations), it is possible to move in a range of about 300 degrees around the first axis O1.

An encoder attached to a motor unit (not shown) of the articulated manipulator (for example, provided at each joint unit) can improve durability in a radiation environment by using a magnetic encoder.

Further, the welding head 21 attached to the tip of the manipulator can swing and twist 360 degrees around the axis O5. For this reason, the welding posture at the time of welding can be stabilized, and a narrow portion or a welded portion having a complicated shape can be constructed by reducing the size of the welding head.

The welding torch 22 attached to the welding head 21 can be replaced according to the conditions of the welded portion, so that it can be applied to various parts.

The operation of the robot includes a control power supply 23, a welding power supply 25, a monitor 24 for monitoring a welding state, and a teaching pendant 2 for giving a robot operation instruction.
6 can be placed outside the reactor and all can be performed remotely.

FIGS. 2 and 3 are a construction state diagram and an enlarged view of a welded portion of the in-reactor working robot of the present embodiment.

As shown in FIGS. 2 and 3, in this embodiment, for example, the riser brace 8 of the jet pump and the riser brace mounting pad 8a of the reactor pressure vessel 6 are provided.
This shows the welding with.

The welded portion has a very high radiation dose equivalent rate, the shape of the welded portion is complicated, and the upper and lower portions of the riser brace 8
The gap between the sheets is small and very difficult to apply with a manual or semi-automatic welding machine.

However, by using the in-reactor working robot of the present embodiment in such a portion, the functions and capabilities of the working robot can be maximized and a great effect can be obtained.

First, since the radiation dose equivalent rate is very high, the worker cannot easily approach the worker, and if the worker approaches, a heavy shielding is required, and the working space is narrowed accordingly. However, the installation place of the welding machine is restricted. Further, even if a person approaches, it is difficult to work for a long time, and a plurality of workers need to be involved.

However, the working robot in a nuclear reactor is small and lightweight, can be easily moved and installed, and can be welded by remote control. Therefore, the number of human systems can be reduced, and the exposure dose can be greatly reduced.

Second, a shielding shield 8a is provided around the welded portion.
And the riser pipe 7 are installed, the welded part is narrow, and the space between the upper and lower plates of the riser brace 8 is very narrow. Even in such a part, it is possible to carry out the construction while maintaining a stable welding posture by utilizing the multi-joint and multi-axial structure.

Therefore, not only is it possible to use the in-reactor working robot of the present invention in a portion where welding is conventionally considered to be difficult, but also the welding reliability is improved and the quality is improved.

As another example of use, FIG. 4 shows a case where a rail 27 is laid on a work platform of a welded portion in order to perform fully automatic welding, and a base portion 13 of the robot 11 is set on a track of the rail 27 to automatically perform welding. An example of an in-reactor working robot that can be moved is shown below.

As a result, it is possible to reduce welding incidental work such as movement and installation of the work robot by the operator,
Since there is no need for the operator to enter the reactor, unnecessary exposure can be avoided.

Further, also in the construction plant, the work efficiency is improved. Furthermore, the same type of welding can match the relative positional relationship between the work robot and the welded part even at different locations, eliminating the need to adjust the delicate positional relationship in the human system for each welding location, and achieving uniform welding. Since the construction result is obtained, the soundness and reliability of welding are improved.

According to the above embodiment, in a nuclear reactor of a nuclear power plant, an efficient operation can be performed by using an articulated robot in the nuclear reactor for repairing a construction plant and an existing plant.

By attaching and detaching the welding head 21 to and from the holder 20, work as another work equipment, for example, a cutting device can be performed.

Further, by applying a magnetic encoder, it is possible to provide a drive unit and a control unit that are more resistant to radiation than semiconductor type encoders. Therefore, it is possible to provide a welding head and an articulated manipulator that can perform welding in a radiation environment and can perform welding in a stable shape in a narrow shape such as a complicated shape or a riser brace of a jet pump.

The articulated working robot having six axes according to the present embodiment has a function that can be remotely operated by an operator, and has a function that can reproduce the operation if the operation is taught in advance. I have. Therefore, the work of the human system can be shortened, and the exposure dose can be significantly reduced.

The multi-joint working robot can be easily moved and installed because of its small size and light weight, so that the work can be speeded up. Further, it is not limited to the installation space and can be anywhere within the operating range of the working robot. Work such as welding can be performed.

Further, the robot having the multi-joint structure according to the present embodiment recognizes a welding portion by mounting various sensors, corrects the motion by adding information of the recognized position to the pre-stored basic motion, and corrects the predetermined motion. Can be welded in position.
In addition, by installing the welding machine body on a work stand or a rail or guide laid near the welded part, it can be automatically moved to the welded part at a different location, and welding can be performed by fully automatic control just by monitoring remotely. As a result, the number of people involved in the work can be significantly reduced, and the radiation dose can be significantly reduced.

Therefore, by employing the welding method described in the present embodiment, the use of the articulated robot in the welding operation in the nuclear reactor and the like makes it possible to perform automatic welding remotely by computer control, thereby realizing human-based operations. The work is reduced, so that the entire welding work time is reduced and the exposure is significantly reduced. Furthermore, since the welding machine body can be installed at a position away from the welding part, and the manipulator of the robot's multi-axis joint can freely access any welding part from there, it is easy to weld even complicated parts with complicated shapes. Can be constructed.

In this embodiment, various sensors such as a touch sensor, an encoder, and a CCD camera are mounted in a range where the multi-axis joint manipulator can operate. Therefore, by setting the origin and recognizing it,
By performing a calculation process, a true welding position is calculated, and the calculated correction operation is added to the basic operation stored in advance to perform welding at a predetermined position. In addition, it becomes possible to correct welding conditions in accordance with fluctuations due to thermal deformation of the construction site.

Further, the welding machine body can be automatically moved to a welding portion in a different place by previously laying a rail or a guide near a work table or a welding portion, and can be automatically monitored only by remote monitoring. Can be used for welding work.
This eliminates the need for delicate position adjustment between the welded part and the welder, which was conventionally performed by a human system, and saves the time and labor required to move and install the welder, greatly reducing the overall welding time. can do. Further, it is not necessary for a welder or a welding assistant to enter the reactor, so that the radiation exposure can be greatly reduced.

[0066]

As described above, according to the in-reactor working robot according to the present invention, even in the case of welding to a welding portion having a complicated shape or a narrow portion, the installation location of the welding machine, the welding procedure, and the welding portion are not required. It can be easily constructed simply by considering the design of the welding head and the like to be engaged.

Further, according to the working robot in a nuclear reactor according to the present invention, since it is small and light and has no trouble in carrying and moving, it can be easily installed in a working position such as a welding portion.
It can be installed freely without being limited by the work space.

Furthermore, according to the working robot in a nuclear reactor of the present invention, not a dedicated machine at a specific working position, but a welding machine adapted to the shape of the working unit attached to the tip of the articulated robot body and environmental conditions. Just prepare the head,
Work can be performed easily even at welded parts under any conditions.

Further, according to the robot in a nuclear reactor according to the present invention, efficient and highly reliable work can be performed even when used in a construction plant which is not in a radiation environment, and versatility is high. The excellent effect is achieved.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing an overall configuration of a working robot in a nuclear reactor according to an embodiment of the present invention.

FIG. 2 is a perspective view of the in-reactor working robot according to the embodiment in use.

FIG. 3 shows a working robot in a nuclear reactor 2 according to the embodiment.
The perspective view which shows the example of use at the time of using a stand.

FIG. 4 is a perspective view showing a working state in the working robot in the nuclear reactor according to the embodiment.

FIG. 5 is a plan view showing a conventional semi-automatic welding machine for a nuclear reactor.

FIG. 6 is a side view of FIG. 5;

DESCRIPTION OF SYMBOLS 11 Robot 12 Control device 13 Base part 14 Support 15 Robot main body 16, 17 Elevation arm 18 Head arm 19 Rotating arm 20 Holder 21 Welding head 22 Welding torch 23 Control power supply 24 Monitor 25 Welding power supply 26 Teaching pendant 27 rail

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 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Toshihiro Yasuda 2-4, Suehirocho, Tsurumi-ku, Yokohama-shi, Kanagawa Prefecture Inside the Toshiba Keihin Plant (72) Inventor Yuichi Tonmiya 2-chome, Suehirocho, Tsurumi-ku, Yokohama-shi, Kanagawa No. 4 Toshiba Keihin Works Co., Ltd. (72) Inventor Sumi Ishikawa 2-chome, Suehirocho, Tsurumi-ku, Yokohama, Kanagawa Prefecture No. 4 Masato Kobayashi Masahiro Kobayashi 2-chome, Suehirocho, Tsurumi-ku, Yokohama, Kanagawa Prefecture No. 4 Toshiba Keihin Works, Inc. 4 Toshiba Keihin Works Co., Ltd. (72) Inventor Kazuo Aoyama 2 Suehirocho, Tsurumi-ku, Yokohama, Kanagawa No. 4 Toshiba Keihin Works Co., Ltd. (72) Inventor Hiroyuki Takebayashi 2--24-1, Harumi-cho, Fuchu-shi, Tokyo Toshiba FA System Engineering Co., Ltd. F-term (reference) 2G075 AA03 BA18 CA07 CA14 DA20 FA13 FB02 FC03 FC04 FC14 FD01 GA02 GA09 GA16 GA37

Claims (7)

[Claims] An in-reactor working robot introduced into a nuclear reactor of a nuclear power plant and operated in a reactor space by remote control, comprising: a base portion movable in the furnace; A working robot in a nuclear reactor, comprising: an arm part capable of three-dimensional operation by a multi-joint connection structure; and a working part provided at a tip of the arm part. 2. A working robot in a nuclear reactor according to claim 1, wherein the driving unit and the control unit for operating the arm unit can be used in a radiation environment and have a durability against radiation. An in-reactor working robot having a certain configuration. 3. The working robot in a nuclear reactor according to claim 1, wherein the distal end side of the arm portion is configured to be capable of performing an operation required for construction in a narrow space in the nuclear reactor. Robot inside the reactor. 4. The in-reactor working robot according to claim 1, further comprising a function of operating the arm unit and the working unit by remote operation outside the reactor. 5. The multi-joint working robot according to claim 1,
An in-reactor working robot having a function of teaching an operation in advance and reproducing the operation. 6. The working robot in a nuclear reactor according to claim 1, wherein an entire configuration including a base, an arm, and a working unit is small, lightweight, and easy to move and install. Robot inside the reactor. 7. The working robot in a nuclear reactor according to claim 1, further comprising a touch sensor on at least one of the base and the arm, capable of automatically recognizing the working part, and An in-reactor working robot characterized in that it can be automatically moved to a different location on a rail installed in the reactor.