JP2003040194A - Moving system for underwater narrow part - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for moving underwater to carry a reactor-inside moving device, and to provide a moving device moving inside a device filled with water and having a three-dimensional moving function and a wall surface moving function for moving in any direction on the wall surface, sucking a reactor-inside structure, and possible to be finely controlled for movement and positioning. SOLUTION: This moving system for an underwater narrow part is provided with a narrow-part-inside moving device 10 loaded with a camera 175 for monitoring the inside of the device filled with water and working equipment and capable of moving inside the described device with a propelling mechanism or wheels, and a support device 9 having an opening part for get-in/out of the narrow-part-inside moving device and an inner space having a holding means 26 for holding the narrow-part-inside moving device to house the narrow-part- inside moving device freely to get in/out to support the action of the narrow- part-inside moving device and having underwater moving means 16 and 17 to move inside the reactor with these underwater moving means. When necessary, holding by the holding means in the support device is released to make the narrow-part-inside moving device depart through the opening part.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for inspecting, inspecting, preventive maintenance, and repairing a device filled with water, and particularly to a device for various devices and jigs to narrow places inside and outside the device. The present invention relates to a device for carrying, positioning, holding and moving.

[0002]

2. Description of the Related Art For example, the internal structure of a nuclear reactor, in particular, a boiling water reactor, is made of a material having sufficient durability under high temperature and high pressure environment and strength at high temperature, such as austenitic stainless steel or nickel base alloy. It is configured.

Among the internal structures of the reactor, those that are difficult to replace are exposed to a harsh environment due to long-term plant operation, and are also affected by neutron irradiation. Is concerned. In particular, in the vicinity of the welded portion of the in-core structure, there is a risk of potential stress corrosion cracking due to the sensitization of the material by the heat input of the welding and the effect of tensile residual stress.

Shroud supports, which are core support structures, have similar concerns, especially shroud supports at the bottom of the reactor.
It is necessary to inspect, repair, and maintain the area under the baffle plate in the support (shroud support leg) and the vicinity of the jet pump adapter in the annulus section.

Conventionally, in order to inspect, inspect, and repair each part of the reactor pressure vessel and the internal structure of the reactor, various devices and jigs have been installed to move by swimming or move while adsorbing on the wall surface. Being developed. That is, these devices convey various devices and jigs, determine the position to the target,
The position is maintained and a minute position movement is performed.

In order to perform inspection, inspection, repair, etc. in a narrow space such as the shroud support leg in the lower part of the furnace and the vicinity of the jet pump adapter in the annulus part, various devices and jigs are mounted in terms of configuration. It is necessary to make the moving device thin and small, and it is necessary to perform swimming movement and wall surface movement that moves while contacting the target wall surface in terms of functionality.

[0007]

Since the swimming movement is a three-dimensional movement, a minimum of three thrusters is required, and since the wall movement is a two-dimensional movement, a minimum of two driving sources is required. However, if the number of drive sources is large, it will hinder the thinning and downsizing of the moving device, and if the cable has multiple cores or multiple cables, the load at the time of moving will increase and the moving performance will decrease.
Problems such as a decrease in the reliability of the device occur.

Even if the moving device is thin and small, in order to inspect, inspect, and repair the bottom of the furnace, the control rod guide tube must be removed from the core side and the annulus part side must be accessed in advance from the core side. Access requires a work such as removal of the jet pump inlet mixer, which requires a lot of time.

The present invention has been made in view of the above points, and an object thereof is to provide an underwater narrow space moving system having a narrow space moving device having a moving function of moving to an arbitrary position on a wall surface. To do.

[0010]

To achieve the above object, the present invention provides each of the inventions described in claims 1 to 9.

According to a first aspect of the present invention, there is provided a working device, which is capable of moving in a narrow space filled with water, a narrow space moving device, an opening through which the narrow space moving device comes in and out, and the narrow space moving device. And a supporting device capable of moving while performing a supporting operation for the narrow part moving device, releasing the holding by the holding means in the supporting device when necessary, and through the opening. There is provided an underwater narrow space moving system, characterized in that the narrow space moving device is made to enter and leave.

According to a second aspect of the present invention, the narrow space moving device in the underwater narrow space moving system according to the first aspect comprises:
An underwater narrow space moving system provided with a propulsion mechanism having a swimming function.

According to a third aspect of the present invention, the support device in the underwater narrow space moving system according to the first aspect comprises a monitoring camera for monitoring the narrow space moving device, and a lighting device for illuminating a field of view of the monitoring camera. An underwater narrow space movement system, which is equipped with

According to a fourth aspect of the present invention, the support device in the underwater narrow space moving system according to the first aspect has a cable winder for paying out and winding up a cable connected to the narrow space moving device. Provide an underwater narrow space moving system.

According to a fifth aspect of the present invention, the support device in the underwater narrow space moving system according to the first aspect has an underwater cable winding machine for feeding and winding a cable for putting in and taking out the surveillance camera. Provide a narrow space movement system.

According to a sixth aspect of the present invention, there is provided an underwater narrow space moving system in which the support device in the underwater narrow space moving system according to the first aspect has a float for balancing in water.

According to a seventh aspect of the present invention, in the underwater narrow space moving system according to the first aspect, the narrow space moving device comprises:
A thruster for moving up and down or left and right, a thruster for moving horizontally, a moving wheel for moving while contacting a structure, changing means for changing and adjusting the moving direction by the moving wheel, and a float having buoyancy. An underwater narrow space moving system for transporting and positioning various devices and jigs for inspection, inspection and repair.

According to an eighth aspect of the present invention, in an underwater narrow space moving system which moves in a device filled with water by swimming or in contact with an in-core structure, a vertical drive driven by a first drive source. Thrusters and wheels for movement,
A thruster and moving wheels for horizontal movement that are rotationally driven by a second drive source, and a float with buoyancy are provided for inspection.
Provided is an underwater narrow space moving system which conveys and positions various devices and jigs for inspection and repair.

According to a ninth aspect of the present invention, the moving wheel for vertical movement and horizontal movement in the underwater narrow space moving system according to the eighth aspect has a brush embedded in a spiral shape on the surface of a cylindrical member. The pair of wheels with different spiral directions of the brush are rotated in opposite directions to generate a driving force in parallel with the rotation axis of the moving wheel. System.

[0020]

DETAILED DESCRIPTION OF THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

First, referring to FIGS. 1 and 2, a work target portion of the underwater narrow space moving system according to the present invention and a structure in the vicinity thereof will be described. FIG. 1 shows a cross section of the lower part of a boiling water reactor, which has a doughnut-shaped reactor pressure vessel 1 and a shroud shell 3. Inside the shroud cylinder 3, a core support plate 2 for supporting internal reactor internals is installed. A baffle plate 4 is welded between the reactor pressure vessel 1 and the shroud cylinder 3, and a plurality of diffusers 6b of a jet pump (FIG. 2) are installed on the baffle plate 4 in the circumferential direction. Further, the baffle plate 4 is provided with access holes 5a and 5b at two locations on the diametrical direction of the reactor pressure vessel 1.

FIG. 2 shows a vertical cross-sectional view of the core of a boiling water reactor, and as shown in FIG.
The jet pump 6 is installed between the shroud cylinder 2 and the shroud cylinder 2 as illustrated. The jet pump 6 is roughly divided into an inlet mixer 6a and a diffuser 6b. In addition, in the lower part of the reactor pressure vessel 1,
A shroud support leg 8 for supporting the shroud support 7 is welded.

As shown in FIG. 2, the narrow space moving device 1
The support device 9 mounted with 00 passes along the inlet mixer 6a and the diffuser 6b of the jet pump 6 while swimming along the power supply cable 10 and the signal cable 11 while moving from above the reactor pressure vessel 1 to the baffle plate. 4 can be seated in any of the access holes 5a and 5b. After that, the narrow space moving device 100 can be sent out from the lower part of the support device 9 to the furnace bottom. That is, the support device 9 is the narrow space moving device 10
No. 0 transport device.

FIG. 3 shows an example of the overall configuration of the underwater narrow space moving system of the present invention. As shown in the figure,
Narrow space moving device 100, and this narrow space moving device 10
The main component is an assisting device 9 that stores and moves 0 inside. The support device 9 is a cable 10,
It is connected to the control integrated system 12 by 11.

Narrow space moving device 100 and supporting device 9
Can be remotely operated by a worker while looking at the monitor 15 by the control device 13 and the operation box 14 of the control system 12. Support device 9 is 4
It is formed in the shape of a rectangular box and has vertical thrusters 16a, 1
6b and the thrusters 17a and 17b for horizontal movement,
You can swim and move in the water.

FIG. 4 is a front sectional view showing the structure of the assisting device 9 in the first embodiment of the present invention. As shown in FIG. 4, the assisting device 9 performs the swimming movement in water,
Drive motor 18 for driving the upper and lower thrusters 16a, 16b
a, 18b and horizontal thrusters 17a (not shown), 17
and a drive motor 19b for driving b.

The vertical movement is performed by the vertical thruster 16
Vertical drive motors 18a and 18b directly connected to a and 16b
By rotating. Further, the horizontal movement is performed by the gear 2 connected to the horizontal drive motors 19a (not shown) and 19b.
0a, 20b, pulley 21a, timing belt 22 to rotate the pulley 21b, horizontal thrust 17a,
This is done by driving 17b. With the above four thrusters, it is possible to freely swim in the furnace.

At the bottom of the support device 9, the narrow space moving device 1
There is an internal space for housing 00, and a cable winding device 23 for paying out and winding the cable coupled to the narrow space moving device 100 is disposed on the internal space. The drive means of the cable winding device 23 is composed of a drive motor 24 and a grooved pulley 25 fixed to the drive shaft of the drive motor 24.

The grooved pulley 25 is paired with another grooved pulley (not shown), and the cable is fed out and wound while being lightly pressed by these grooved pulleys.
Further, even if the drive motor 24 should fail, the cable can be pulled up from the upper portion of the reactor pressure vessel 1 and the narrow space moving device 100 can be recovered in the support device 9.

The support device 9 is provided with hinged doors 26a and 26b as a means for holding the narrow space moving device 100 collected in the internal space through the opening.
The hinged doors 26a, 26b are provided with air cylinders 27a,
It is opened and closed by driving 27b. The air cylinders 27a and 27b are driven by an air hose (not shown).
It can be performed by supplying air from the control device 13 through.

Further, the support device 9 is provided with a camera drive device 28, a surveillance camera 29 and an underwater light 30 so that the state of the narrow space moving device 100 can be confirmed on the monitor 15 of the control system 12. .

Further, in order to maintain the underwater balance of the support device 9, the float 31a,
31b is provided. Then, the support device 9 is provided outside the support device 9 in the access hole 5 of the baffle plate 4.
Positioning guides 32a and 32b are respectively provided as positioning means for positioning to a and 5b.

FIG. 5 is a side view showing the structure of the monitoring device in the support device 9. The monitoring device includes a camera driving device 28 and a monitoring camera 29. The camera drive device 28 includes a drive motor 33 and a grooved pulley 3 fixed to a drive shaft of the drive motor 33 as drive means.
The grooved pulley 34 is paired with another grooved pulley (not shown), and the cable is fed out and wound while being gently pressed by these grooved pulleys.

This camera driving device 28 extends the surveillance camera 29 from the support device 9 to the bottom of the furnace when the narrow space moving device 100 is extended from the support device 9 to the bottom of the furnace, and the state of the narrow space moving device 100. Is configured to monitor.

FIG. 6 shows the internal structure of the float in the support device 9 of the present invention. This FIG. 6 shows the float 3
In the longitudinal sectional view of 1a, an underwater connector 35 for attaching the cable 11 of the control device 13 in the operation box 14 and underwater connectors 36a, 36 for attaching the respective motor cables inside the support device 9 are shown on the float 31a.
b, 36c, 36d are provided. Float 31
Underwater connector 35 and underwater connector 3 are provided inside a.
Cable 3 connected to 6a, 36b, 36c, 36d
8a, 38b and a relay terminal plate 37 are provided.

In this embodiment, the relay terminal board 37 is mounted in the float 31a, so that the control system 12
The number of cables 10 and 11 from the control device 13 can be reduced. Therefore, the support device 9 using the cables 10 and 11
It is possible to reduce the load given to the person when moving.

As described above, according to the first embodiment, since the assisting device 9 is equipped with the narrow space moving device and can freely swim and move in water, it is necessary to remove the inlet mixer of the jet pump, which is a preliminary preparation. Work can be performed efficiently without

Next, a second embodiment of the present invention will be described with reference to FIG.

First, a specific structure of the narrow space moving device 100 will be described. 7A and 7B are front views showing the configuration and shape of a narrow space moving device 100 (hereinafter, simply referred to as moving device 100) according to the second embodiment of the present application,
FIG. In FIG. 7, the moving device 100 is configured to be thin, and each component is arranged in the housing 125. Motors 101a and 101b for vertical thrusters are provided on the upper part of the main body of the moving device 100, respectively.
Vertical movement thrusters 102a, 102 driven by
b is arranged. Further, horizontal thruster motors 103a and 103b are arranged below the main body of the moving device 100, and drive the horizontal moving thrusters 105a and 105b via bevel gears and timing belts 104a and 104b.

At the center of the main body of the moving device 100, the wheel drive motors 106a and 106b and the motors 1
Moving wheels 108a and 108b, which are rotationally driven by 06a and 106b via spur gears 107a and 107b, are provided on the rotating disks 109a and 109b. The turntables 109a and 109b are rotatably arranged with respect to the housing 125, and the turntables 109a and 109b are rotated by the steering motor 110 so that the intermediate gears 111a and 11b can be rotated.
It is rotationally driven in the same direction via 1b. The rotation angle is measured by a potentiometer 112 which is rotated by meshing with the same gear as the output shaft of the steering motor 110.

A striker 1 is provided on the periphery of the turntable 109b.
13 is fixed, and the passage of the striker 113 due to the rotation of the turntable 109b is detected by the limit switch 114 fixed to the housing 125 side. By setting the installation position of the limit switch 114 so as to detect the striker 113 at a certain reference rotation position of the turntable 109b, it is possible to determine the reference orientation of the moving wheels 108a and 108b. Since the float 120 is arranged on the upper part of the device body, the center of buoyancy of the device body in water can be set higher than the center of gravity, and stable swimming movement can be performed while always maintaining the posture of the device constant.

Further, four ball casters 130a to 130d are provided to keep the distance from the wall surface constant when the main body of the moving device 100 is pressed against the wall surface by the horizontal moving thrusters 105a and 105b.

An underwater camera 175 for performing inspection work is provided at the lower part of the main body of the moving apparatus 100, and a reflection mirror 176 allows visual confirmation of the side and the bottom. The viewing direction is changed by rotating the reflection mirror 176 by the mirror rotation motor 177,
Can be adjusted.

Next, a method of operating the device will be described by taking as an example a case where a welding line inspection around the shroud support leg is performed by the narrow space moving device according to the present invention.

First, the four thrusters arranged on the main body of the moving device 100 swim toward the shroud support leg 8. As a method of movement, there is a case where it passes through the upper lattice plate and the core support plate from the upper part of the reactor to reach the location, but in order to quickly move on the way, access while being stored in the support device 9 In some cases, it is transferred to the vicinity of the hole and then swims toward the shroud support leg 8 from there. Vertical movement thruster 102a,
It is possible to levitate and dive by 102b, and forward, backward, left and right turning, and on-the-spot turning by horizontal moving thrusters 105a and 105b. By combining these two movements, three-dimensional swimming movement can be performed.

After that, the horizontal movement thrusters 105a and 105b are placed at the inspection target portion of the shroud support leg 8.
The device body is adsorbed by. This thruster force acts as a pressing force against the wall surface of the shroud support leg 8 and becomes a traveling driving force when the wheels rotate. After contacting the wall surface, the moving wheels 108a, 108b are moved to the wheel drive motor 106a,
It is rotationally driven by 106b and moves on the wall surface.

As for the moving direction, the rotating wheels 109a and 109b are rotated by the steering motor 110 to move the moving wheels 1.
It is changed by changing the directions of 08a and 108b.
Thus, two-dimensional movement on the wall surface becomes possible by rotationally driving the wheels and changing the direction of the wheels. Not only horizontal and vertical, but also the drive direction can be set arbitrarily. If there is only one moving wheel, after contacting the wall,
The entire device rotates due to cable reaction force and the position of various devices and jigs and tools mounted on it shifts. However, by using two wheels, it is possible to withstand a certain amount of cable reaction force and the posture of the device. Can be held.

As described above, according to the second embodiment, by operating the thruster for vertical movement and the thruster for horizontal movement in combination, three-dimensional swimming movement in water is possible. Further, after contacting the in-core structure, the two wheels that are independently driven to rotate can change their directions in the same direction at the same time, so that precise movement and positioning can be easily realized. As a result, various operations such as inspection, inspection, preventive maintenance, and repair of welds can be efficiently performed by entering and moving to the shroud support leg in the lower part of the furnace and the narrow part near the jet pump adapter in the annulus part. It will be possible.

FIGS. 8 and 9A and 9B show the third embodiment of the present invention.

First, a specific structure of the narrow space moving device will be described. FIG. 8 is a front view and a partial side cross-sectional view showing the configuration and shape of the narrow space moving device according to the third embodiment. In FIG. 8, the narrow space moving device is configured to be thin, and each component is arranged in the housing 170. The vertical movement motor 150 rotationally drives the vertical movement wheel 152 and the vertical movement wheel 153 via the intermediate gear 151, and simultaneously drives the vertical movement thruster 154 via the gear.

A horizontal movement motor 155 is arranged at the lower part of the main body of the moving device 100, and the horizontal movement wheels 157 are rotationally driven via the timing belt 156, and the horizontal movement wheels 158 are moved via the intermediate gear 159. Rotate in the opposite direction. The horizontally moving wheels 157 and 158 are the same as the vertically moving wheels 152 and 153. The horizontal thruster motor 16 is provided on both sides of the lower part of the moving device 100.
0a, 160b are arranged, and the thruster 1 for horizontal movement is provided via bevel gears and timing belts 161a, 161b.
62a and 162b are rotationally driven.

The floats 164a and 164b are arranged on both sides of the upper part of the main body of the moving device 100, and the center of buoyancy of the device main body in water can be set higher than the center of gravity, so that the posture of the device is always kept constant. However, it is possible to have a stable swimming movement.

Further, four ball casters 163a to 163d are attached in order to keep a constant distance from the wall surface when the main body of the moving device 100 is pressed against the wall surface by the horizontal moving thrusters 162a and 162b.

Since an underwater camera 175 for performing inspection work is provided at the bottom of the main body of the moving device 100,
The reflection mirror 176 allows visual confirmation of the side and the bottom. The viewing direction is changed by rotating the reflection mirror 176 by the mirror rotation motor 177,
Adjustments can be made.

Next, a method of operating the moving device will be described by taking as an example a case where the welding line inspection around the shroud support leg is performed by the narrow space moving device according to the present invention.

First, the shroud support leg is swim-moved by the three thrusters arranged in the main body of the moving device 100. In some cases, it may pass through the upper lattice plate and core support plate from the upper part of the reactor to reach the location, but in order to quickly move along the route, it is installed in the support device near the access hole, and from there, In some cases, they may swim to the shroud support leg.

The vertical movement thruster 154 levitates and submerges, and the horizontal movement thrusters 162a and 162b allow forward movement, reverse movement, left and right turning, and in-situ turning.
Dimensional swimming movement can be performed. After that, the main body of the apparatus is adsorbed to the inspection target portion of the shroud support leg by the horizontal movement thrusters 162a and 162b. This thruster force acts as a pressing force against the wall surface of the shroud support leg, and becomes a running driving force when the wheels rotate. After contacting the wall surface, the vertical movement wheels 152 and 153 are rotated to move in the vertical direction, and the horizontal movement wheels 157 and 158 are rotated to move in the horizontal direction. These two-way movement functions enable two-dimensional movement on the wall surface.

Next, the principle of generation of the driving force by the moving wheels shown in FIG. 8 will be described with reference to FIGS. 9 (a) and 9 (b).

FIG. 9A shows a thruster 15 for vertical movement.
9 is a schematic diagram showing an outline of a drive system configuration of the wheel 4 for vertical movement, the wheel 152 for vertical movement, and the wheel 153 for vertical movement, and FIG. . In FIGS. 9A and 9B, the vertical movement wheels 152 and 153 have a configuration in which the brush 164 is helically embedded in the surface of a columnar member. Further, the vertical movement wheels 152 and the vertical movement wheels 153 have opposite spiral directions, and the intermediate gear 151 reverses the rotation direction to transmit the driving force.

FIG. 9B is an explanatory view of the vertical moving wheel 153 alone. When the wheel 153 is pressed against the wall surface and rotated 180 ° to the right, the tip of the brush 164 rubs the wall surface in the vertical direction and the horizontal direction with respect to the wheel rotation axis, whereby the resultant wall force 181 is generated. Occur. The reaction force 182 acts on the vertically moving wheels 153 side, that is, the apparatus body side as a traveling driving force.

The direction of the reaction force 182 depends on the pitch of the spiral of the brush 164. If the pitch is made small and the length of the contact point between the tip of the brush 164 and the wall surface per one rotation of the wheel moves in the direction parallel to the rotation axis is made slightly smaller than the implantation length of the brush 164. As for the velocity of the tip of the brush 164 at the contact point on the wall surface at a unit rotational velocity, the component in the rotational axis direction can be made considerably smaller than the component in the direction perpendicular to the rotational axis. That is,
By reducing the pitch at which the brush is planted, it becomes possible to generate a small driving speed in the direction parallel to the rotation axis even if the wheel is rotated at high speed.

Generally, it is necessary to rotate the thruster at a high speed in order to generate the thruster force, but when contacting the wall surface to move the wheels, a low speed rotation is required.
Therefore, when the thruster and the wheels are driven by the same drive source, a speed reducer with a high ratio must be incorporated between the drive source and the wheel rotating shaft, which complicates the drive system structure and reduces the operating efficiency. And invite.

Instead of this, according to the configuration shown in FIG. 9A, it is possible to perform low-speed movement by the wheels at the time of contact with the wall surface and swimming movement by high-speed rotation of the thruster 154 without using a speed reducer. . In FIG. 9A, the brush 1
A pair of up and down moving wheels 1 in which the direction of the spiral of 64 is reversed
When a laterally symmetrical reaction force 186 is generated by rotationally driving the wheel 52 and the vertically moving wheel 153 in opposite directions, the driving force in the direction perpendicular to the wheel rotation axis is canceled out, and the resultant driving force 187. Occurs on the axis of symmetry of the wheel and parallel to the axis of rotation of the wheel.

As described above, the driving speed in the direction parallel to the rotation axis of the wheel can be reduced by reducing the implantation pitch of the brush 164, so that the resultant driving force 187, that is, the thruster force 188. A small driving speed is given in the same direction as
The body of can be moved at low speed. That is, with one vertical movement motor 150, without using a speed reducer,
It is possible to realize both low speed movement by the wheel when the wall surface comes into contact and swimming movement by rotating the thruster at high speed.

As described above, according to the third embodiment, the swimming movement by the thruster and the traveling movement by the wheels can be performed with one driving source and a simple driving structure, so that the number of driving sources mounted on the apparatus can be reduced. Therefore, it becomes easy to make the device thin and small. As a result, it is suitable for efficiently performing various operations such as inspecting, inspecting, preventive maintenance and repair of welds by entering and moving to the narrow part near the shroud support leg in the lower part of the furnace and the jet pump adapter in the annulus part. It is possible to provide a simple furnace moving device.

At the same time, since the number of cable cores or the number of cables can be reduced, the load at the time of moving the device can be reduced and the movement performance can be prevented from lowering, and the reliability of the device can be improved.

In the above-mentioned embodiments, the description has been given for the application to the nuclear reactor. However, it is also applied to a device which requires monitoring and repair of a narrow space filled with water in a thermal power plant or the like, and also around a propulsion mechanism of a ship. The present invention can be applied.

[0068]

As described above, according to the present invention, movement control and positioning can be performed quickly and accurately, and various works can be efficiently performed in each part of the apparatus filled with water.

[Brief description of drawings]

FIG. 1 is a cross-sectional view showing a lower part of a reactor among structures and structures inside a pressure vessel of a nuclear reactor.

FIG. 2 is a vertical cross-sectional view showing a structure related to the present invention among structures and structures inside a pressure vessel of a nuclear reactor.

3 is a diagram showing an in-reactor moving system according to the present invention, FIG. 3 (a) is a perspective view showing the configurations of an assisting device 9 and a moving device 100, and FIG. 3 (b) is a control device 13 and related equipment. Explanatory drawing of.

FIG. 4 is a front view showing in detail the configuration of the support device according to the first embodiment of the present invention.

FIG. 5 is a plan view showing the configuration of a monitoring device installed inside the support device in the embodiment.

FIG. 6 is a vertical cross-sectional view showing the configuration of a float attached inside the support device in the embodiment.

FIG. 7 (a) is a front view showing the configuration and shape of a narrow space moving device according to a second embodiment of the present invention, and FIG. 7 (b) is a partial side sectional view thereof.

FIG. 8 (a) is a front view showing the configuration and shape of the in-reactor narrow space part moving device according to the third embodiment of the present invention, FIG.
FIG. 8B is a partial side sectional view taken along the line AA of FIG.

9 (a) is a schematic view showing an outline of a drive system configuration of a thruster for vertical movement, a vehicle for vertical movement, and wheels for vertical movement in a third embodiment of the present invention, FIG. 9 (b). FIG. 8A) is a schematic view for explaining the principle of generation of a driving force by the moving wheels alone in the embodiment.

[Explanation of symbols]

1 Reactor pressure vessel 9 Support device 10 power cable 11 signal cable 12 Control system 13 Control device 14 Operation box 16 Vertical movement thruster 17 Thruster for horizontal movement 18 Vertical thruster drive motor 19 Horizontal thruster drive motor 23 Cable winding device 28 Camera cable drive 29 surveillance cameras 30 underwater lights 31 float 33 Camera cable drive motor 37 Relay terminal board 38 cable 100 Narrow space moving device 101 Vertical thruster motor 102 Thruster for vertical movement 103 Horizontal thruster motor 105 Horizontal movement thruster 106 wheel drive motor 108 moving wheels 110 steering motor 120 floats 150 vertical movement motor 152 Wheels for vertical movement 153 Vertical movement wheel 154 Vertical thruster 155 Horizontal movement motor 157 Horizontal movement wheels 158 Wheels for horizontal movement 160 Horizontal thruster motor 162 Horizontal movement thruster 164 brush 175 underwater camera

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Kimura Motohiko             8th Shinsugita Town, Isogo Ward, Yokohama City, Kanagawa Prefecture             Ceremony company Toshiba Yokohama office (72) Inventor Kenji Kurihara             8th Shinsugita Town, Isogo Ward, Yokohama City, Kanagawa Prefecture             Ceremony company Toshiba Yokohama office F term (reference) 2G075 CA08 CA50 DA15 FA12 FA13                       FA20 FC03 FC17 GA02

Claims (9)

[Claims] 1. A narrow space moving device that is equipped with a working device and can move in a narrow space filled with water, an opening for allowing the narrow space moving device to move in and out, and a holding means that holds the narrow space moving device. Having a support device capable of moving while performing a support operation for the narrow space moving device, releasing the holding by the holding means in the support device when necessary, and moving the narrow space moving device through the opening. An underwater narrow space movement system characterized by being able to move in and out. 2. The underwater narrow space moving system according to claim 1, wherein the narrow space moving device includes a propulsion mechanism having a swimming function. 3. The underwater narrow space moving system according to claim 1, wherein the support device includes a surveillance camera for monitoring the narrow space moving device, and a lighting device for illuminating a field of view of the surveillance camera. Underwater narrow space movement system featuring. 4. The underwater narrow space moving system according to claim 1, wherein the support device has a cable winder for paying out and winding up a cable coupled to the narrow space moving device. Underwater space movement system. 5. The underwater narrow space moving system according to claim 1, wherein the support device has a cable winder for feeding and winding a cable for moving the surveillance camera in and out. Narrow space movement system. 6. The underwater narrow space moving system according to claim 1, wherein the support device has a float for balancing underwater. 7. The underwater narrow space moving system according to claim 1, wherein the narrow space moving device includes a thruster for vertical movement or a horizontal movement, a thruster for horizontal movement, and a movement for contacting a structure. An underwater narrow space moving system comprising: moving wheels; changing means for changing and adjusting a moving direction of the moving wheels; and a float having buoyancy. 8. The underwater narrow space moving system according to claim 7, wherein the narrow space moving device comprises vertical thrusters and moving wheels that are rotationally driven by the same drive source, horizontal thrusters, and horizontal thrusters. An underwater narrow space moving system characterized by having moving wheels for moving and a float having buoyancy. 9. The underwater narrow space moving system according to claim 8, wherein the moving wheels for vertical movement and horizontal movement are cylindrical members in which brushes are spirally arranged on the surface, and A set of columnar members having mutually different spiral directions are arranged so as to be respectively arranged on a pair of rotating shafts that are arranged in parallel and opposite to each other and rotate in opposite directions. The underwater narrow space moving system is characterized in that the traveling driving force is generated in parallel with the rotation axis by rotating the two in opposite directions.