JP2003315486A - Moving apparatus and in-reactor work method - Google Patents
Moving apparatus and in-reactor work methodInfo
- Publication number
- JP2003315486A JP2003315486A JP2002118680A JP2002118680A JP2003315486A JP 2003315486 A JP2003315486 A JP 2003315486A JP 2002118680 A JP2002118680 A JP 2002118680A JP 2002118680 A JP2002118680 A JP 2002118680A JP 2003315486 A JP2003315486 A JP 2003315486A
- Authority
- JP
- Japan
- Prior art keywords
- crawler module
- moving device
- pressure vessel
- row crawler
- reactor pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、例えば沸騰水型原
子炉（以下、ＢＷＲと記す）における原子炉圧力容器内
または炉内構造物の点検、検査または洗浄等の保守作業
を行うのに好適した移動装置及び原子炉内作業方法に関
する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is suitable for performing maintenance work such as inspection, inspection or cleaning of a reactor pressure vessel or a reactor internal in a boiling water reactor (hereinafter referred to as BWR). And a working method in a nuclear reactor.
【０００２】[0002]
【従来の技術】ＢＷＲにおける原子炉圧力容器内に設置
される炉内構造物等の機器は図４に示したように配置さ
れている。図４はその要部を部分的に概略図で示したも
ので、図４中、符号１は下鏡を部分的に示しており、下
鏡１は筒状原子炉圧力容器の下鏡開口部を閉塞するもの
である。下鏡１には多数本のスタブチューブ２が取り付
けられ、これらのスタブチューブ２を貫通して制御棒駆
動機構（以下、ＣＲＤと記す）ハウジング３が溶接され
ている。ＣＲＤハウジング３の先端部に制御棒案内管４
が据え付けられている。ＣＲＤハウジング３内にはＣＲ
Ｄ（図示せず）が設置されている。2. Description of the Related Art Devices such as reactor internals installed in a reactor pressure vessel of a BWR are arranged as shown in FIG. FIG. 4 is a partial schematic view showing a main part thereof. In FIG. 4, reference numeral 1 partially shows a lower mirror, and the lower mirror 1 is a lower mirror opening of a tubular reactor pressure vessel. Is to block. A large number of stub tubes 2 are attached to the lower mirror 1, and a control rod drive mechanism (hereinafter referred to as CRD) housing 3 is welded through the stub tubes 2. The control rod guide tube 4 is provided at the tip of the CRD housing 3.
Has been installed. CR in the CRD housing 3
D (not shown) is installed.
【０００３】制御棒案内管４は炉心支持板５の孔６を貫
通し突出して炉心支持板５に支持されており、制御棒案
内管４の上部開口部に燃料支持金具７が挿脱自在に設け
られている。制御棒案内管４及び燃料支持金具７は炉心
支持板５に設けられた位置決めピン（図示せず）にそれ
ぞれのラグが挿入され固定されている。The control rod guide tube 4 penetrates through the hole 6 of the core support plate 5 and is projected to be supported by the core support plate 5. The fuel support metal fitting 7 can be freely inserted into and removed from the upper opening of the control rod guide tube 4. It is provided. The control rod guide tube 4 and the fuel support fitting 7 are fixed by inserting lugs into positioning pins (not shown) provided on the core support plate 5.
【０００４】制御棒案内管４内部には水平断面十字形の
制御棒８が昇降自在に設けられ、制御棒８の下端はＣＲ
Ｄの上端に連結されており、制御棒案内管４の上端から
燃料集合体９同士の間隙に制御棒８を挿入することがで
きる。A control rod 8 having a cruciform horizontal cross section is vertically movable inside the control rod guide tube 4, and the lower end of the control rod 8 is CR.
The control rod 8 is connected to the upper end of D, and the control rod 8 can be inserted into the gap between the fuel assemblies 9 from the upper end of the control rod guide tube 4.
【０００５】燃料支持金具７の上部は４体の燃料集合体
９の下部タイプレートを支持し、燃料集合体９の上部は
上部格子板10により支持されている。なお、図４中、符
号11は下鏡１に取り付けられたインコアハウジング、12
はインコア案内管で、インコアハウジング11を挿通して
炉心支持板５までの間に設けられている。The upper portion of the fuel support member 7 supports the lower tie plates of the four fuel assemblies 9, and the upper portion of the fuel assembly 9 is supported by the upper lattice plate 10. In FIG. 4, reference numeral 11 denotes an in-core housing attached to the lower mirror 1, 12
Is an in-core guide tube, which is provided between the core support plate 5 and the in-core housing 11.
【０００６】ところで、原子炉圧力容器の下鏡１を洗
浄、点検、検査等の保守作業を行う場合、前述したよう
に下鏡１には多数本のスタブチューブ２やインコアハウ
ジング11が林立し、下鏡１は傾斜した湾曲面であるた
め、各種の作業装置を搭載した走行台車を使用して作業
するには困難を伴う。By the way, when performing maintenance work such as cleaning, inspection, and inspection of the lower mirror 1 of the reactor pressure vessel, a large number of stub tubes 2 and in-core housings 11 stand on the lower mirror 1 as described above. Since the lower mirror 1 has an inclined curved surface, it is difficult to work using a traveling carriage equipped with various working devices.
【０００７】そこで、従来、上記保守作業を行う場合に
は各種の作業装置を長尺のポール先端部に取り付け、作
業員がポールを原子炉圧力容器の上方から吊り下ろし、
上部格子板10、炉心支持板５の穴６を通過させて操りな
がら作業員が手作業により行っている。Therefore, conventionally, when performing the above-mentioned maintenance work, various working devices are attached to the tip of a long pole, and a worker hangs the pole from above the reactor pressure vessel.
It is manually performed by an operator while manipulating the upper lattice plate 10 and the holes 6 of the core support plate 5 while passing through.
【０００８】また、炉心支持板５の穴６が通過可能な長
尺の筐体内に、各種の作業装置の移送、位置決めを行う
マニピュレータや、送り込み機構を組み込み、この装置
を炉心支持板５上やＣＲＤハウジング３上に設置して各
種の作業を行っている。Further, a manipulator for transferring and positioning various working devices and a feeding mechanism are installed in a long casing through which the hole 6 of the core supporting plate 5 can pass, and this device is installed on the core supporting plate 5 and It is installed on the CRD housing 3 to perform various operations.
【０００９】[0009]
【発明が解決しようとする課題】しかしながら、原子炉
圧力容器内の各種の作業を作業員の手作業により行う場
合は、水中下約25ｍ程度の位置で、長尺のポールを操ら
なければならないので、非常に作業性が劣り、時間と労
力を要する課題がある。However, when various kinds of work inside the reactor pressure vessel are carried out manually by workers, it is necessary to operate a long pole at a position of about 25 m under water. However, there is a problem that workability is very poor and time and labor are required.
【００１０】また、炉心支持板５の穴６が通過可能な長
尺の作業装置を炉底部に設置して作業を行う場合は一つ
の設置位置から作業可能な範囲は限られており、設置位
置を変更するには長尺で大型の装置を炉心支持板５の穴
６、上部格子板10を通過させて上部格子板10の上に装置
全体を吊上げてから次の設置位置に移動しなければなら
ないので、これも時間と労力を要する課題がある。本発
明は上記課題を解決するためになされたもので、保守作
業を効率的に行うことができる移動装置及び原子炉内作
業方法を提供することにある。When a long working device through which the hole 6 of the core support plate 5 can pass is installed at the bottom of the furnace for work, the workable range is limited from one installation position. In order to change, the long and large device must be moved through the hole 6 of the core support plate 5 and the upper lattice plate 10 to hang the entire device on the upper lattice plate 10 and then move to the next installation position. This is also a problem that requires time and labor. The present invention has been made to solve the above problems, and it is an object of the present invention to provide a moving device and a method for working in a nuclear reactor that can efficiently perform maintenance work.
【００１１】[0011]
【課題を解決するための手段】請求項１に係る発明は、
第１の単列クローラモジュールと、第２の単列クローラ
モジュールと、前記第１の単列クローラモジュールと前
記第２の単列クローラモジュールとをそれぞれの長手方
向に連結する回転自在な関節機構と、前記第１の単列ク
ローラモジュールと前記第２の単列クローラモジュール
を前記関節機構を介して相対的に平面上で回転させる回
転駆動機構とを具備したことを特徴とする。The invention according to claim 1 is
A first single-row crawler module, a second single-row crawler module, and a rotatable joint mechanism that connects the first single-row crawler module and the second single-row crawler module in their respective longitudinal directions. The first single-row crawler module and the second single-row crawler module are provided with a rotary drive mechanism for relatively rotating the second single-row crawler module on a plane through the joint mechanism.
【００１２】請求項２に係る発明は、前記回転自在な関
節機構は、直交する３軸まわりに回転することを特徴と
する。請求項３に係る発明は、内部を気体で満たしたフ
ロートを具備してなることを特徴とする。The invention according to claim 2 is characterized in that the rotatable joint mechanism rotates about three orthogonal axes. The invention according to claim 3 is characterized by comprising a float whose inside is filled with gas.
【００１３】請求項４に係る発明は、外圧により縮小
し、内圧により膨張するフロートを具備してなることを
特徴とする。請求項５に係る発明は、画像センサと、こ
の画像センサをパン方向及びチルト方向に回転自在な雲
台とを具備したことを特徴とする。The invention according to claim 4 is characterized by comprising a float which is contracted by an external pressure and expanded by an internal pressure. The invention according to claim 5 is characterized by comprising an image sensor, and a pan / tilt head that is rotatable in the pan direction and the tilt direction.
【００１４】請求項６に係る発明は、ブラシ及び吸引ノ
ズルを有する吸引洗浄装置を具備したことを特徴とす
る。請求項７に係る発明は、検査対象部位に倣わせるた
めの超音波探触子を具備したことを特徴とする。The invention according to claim 6 is characterized by comprising a suction cleaning device having a brush and a suction nozzle. The invention according to claim 7 is characterized in that it is provided with an ultrasonic probe for imitating a region to be inspected.
【００１５】請求項８に係る発明は、請求項１ないし７
記載の移動装置を、原子炉圧力容器内水中において燃料
集合体、燃料支持金具、制御棒、制御棒案内管を撤去し
た後、炉心支持板の穴から吊り下ろして、前記原子炉圧
力容器の下鏡上に設置し、前記第１の単列クローラモジ
ュールと前記第２の単列クローラモジュールの相対的な
角度を能動的に変えるとともに、前記各々のクローラモ
ジュールの駆動力によって前記下鏡上を移動し、前記作
業装置により前記原子炉圧力容器内での作業を行うこと
を特徴とする。The invention according to claim 8 relates to claims 1 to 7.
The moving device described above, after removing the fuel assembly, fuel support fittings, control rods, control rod guide tubes in the water in the reactor pressure vessel, hang down from the hole in the core support plate, under the reactor pressure vessel It is installed on a mirror and actively changes the relative angle between the first single-row crawler module and the second single-row crawler module and moves on the lower mirror by the driving force of each crawler module. However, the working device is used to perform work in the reactor pressure vessel.
【００１６】[0016]
【発明の実施の形態】図１により本発明に係る移動装置
の第１の実施の形態を説明する。図１は本実施の形態に
係る移動装置の正面図で、図１中、符号13は第１の単列
クローラモジュール、14は第２の単列クローラモジュー
ルである。BEST MODE FOR CARRYING OUT THE INVENTION A first embodiment of a moving device according to the present invention will be described with reference to FIG. FIG. 1 is a front view of the moving device according to the present embodiment. In FIG. 1, reference numeral 13 is a first single-row crawler module, and 14 is a second single-row crawler module.
【００１７】第１の単列クローラモジュール13と第２の
単列クローラモジュール14とは回転自在な関節機構15に
よりそれぞれの長手方向に連結されている。回転自在な
関節機構15は旋回軸回転関節16と、水平軸回転関節17及
び垂直軸回転関節18とからなり、直交する３軸まわりに
回転する。そして、垂直軸回転関節18に回転駆動機構を
取り付ける。これにより第１の単列クローラモジュール
13と第２の単列クローラモジュール14を相対的に水平面
上で回転させて全体の姿勢を変えることができる。The first single-row crawler module 13 and the second single-row crawler module 14 are connected in the longitudinal direction by a rotatable joint mechanism 15. The rotatable joint mechanism 15 is composed of a rotary axis rotary joint 16, a horizontal axis rotary joint 17 and a vertical axis rotary joint 18, and rotates about three orthogonal axes. Then, a rotary drive mechanism is attached to the vertical axis rotary joint 18. This makes the first single row crawler module
The entire posture can be changed by relatively rotating 13 and the second single-row crawler module 14 on a horizontal plane.
【００１８】すなわち、垂直軸回転関節18には回転駆動
機構としての大径歯車19と、大径歯車19に噛合する小径
歯車20及び回転モータ21が取り付けられる。小径歯車20
は回転モータ21の回転軸に取り付けられている。回転モ
ータ21は第２の単列クローラモジュール14の上板22に取
付部材23を介して搭載されている。That is, a large-diameter gear 19 as a rotary drive mechanism, a small-diameter gear 20 meshing with the large-diameter gear 19, and a rotary motor 21 are attached to the vertical axis rotary joint 18. Small diameter gear 20
Is attached to the rotary shaft of the rotary motor 21. The rotary motor 21 is mounted on the upper plate 22 of the second single-row crawler module 14 via a mounting member 23.
【００１９】第１の単列クローラモジュール13の上板24
には雲台25が搭載され、雲台25に照明付きＣＣＤカメラ
（画像センサ）26が回転自在に取り付けられている。雲
台25は目視点検用の照明付きＣＣＤカメラ26をパン（左
右）方向とチルト（上下）方向に向きを変えるためのも
のである。Upper plate 24 of the first single row crawler module 13
A platform 25 is mounted on the platform 25, and an illuminated CCD camera (image sensor) 26 is rotatably attached to the platform 25. The platform 25 is for turning the illuminated CCD camera 26 for visual inspection between the pan (left and right) direction and the tilt (up and down) direction.
【００２０】本実施の形態によれば、二つの単列クロー
ラモジュール13，14を直交する３軸まわりに回転自在な
関節機構15によりそれぞれの長手方向に連結し、各クロ
ーラモジュール13，14を関節機構15を介して平面上で回
転させて全体の姿勢を変えることによって自在に移動す
ることができる。また、各々の単列クローラモジュール
13，14は単列であり、幅を取らないので、細長く構成す
ることができ、狭隘部を通過する場合には、くの字型に
変形させることができ、有利な形状となっている。According to the present embodiment, the two single-row crawler modules 13 and 14 are connected in the longitudinal direction by the joint mechanism 15 which is rotatable about three orthogonal axes, and the crawler modules 13 and 14 are jointed. It can be moved freely by rotating it on a plane through the mechanism 15 to change the overall posture. Also, each single row crawler module
Since 13 and 14 are single rows and do not take a width, they can be formed to be elongated and can be deformed into a dogleg shape when passing through a narrow space, which is an advantageous shape.
【００２１】さらに、クローラモジュールを駆動するモ
ータは回転するクローラベルト27内に配置することがで
きるので、クローラモジュールの重心を低くでき、原子
炉圧力容器下面の傾斜した湾曲面を有する下鏡１上でも
転倒することなく、十分な駆動力を確保することができ
る。Further, since the motor for driving the crawler module can be arranged in the rotating crawler belt 27, the center of gravity of the crawler module can be lowered, and the lower surface of the reactor pressure vessel on the lower mirror 1 having an inclined curved surface. However, it is possible to secure a sufficient driving force without falling.
【００２２】つぎに、図２、図３及び図４を参照して本
発明に係る原子炉内作業方法の第１の実施の形態を説明
する。本実施の形態は図１で説明した移動装置により原
子炉圧力容器内の下鏡１上を移動して原子炉圧力容器内
底部の保守作業を行う例である。Next, a first embodiment of the method for working in a nuclear reactor according to the present invention will be described with reference to FIGS. 2, 3 and 4. The present embodiment is an example in which the moving device described in FIG. 1 is used to move on the lower mirror 1 in the reactor pressure vessel to perform maintenance work on the bottom of the reactor pressure vessel.
【００２３】図２及び図３は図１に示した構成の原子炉
内移動装置が原子炉圧力容器内下鏡上１のスタブチュー
ブ２やインコアハウジング11まわりの狭隘部を移動、つ
まり走行して作業する状態を模式的に示したもので、図
２及び図３は図４中Ａ−Ａ矢視方向から見た概略的上面
図である。FIGS. 2 and 3 show that the moving device in the reactor having the structure shown in FIG. 1 moves, that is, runs in the narrow space around the stub tube 2 on the lower mirror 1 of the reactor pressure vessel and the in-core housing 11. FIG. 2 and FIG. 3 are schematic top views as seen from the direction of arrows AA in FIG. 4, which schematically show a working state.
【００２４】本実施の形態ではまず、図４において、燃
料集合体９、燃料支持金具７、制御棒８、制御棒案内管
４を撤去した後に原子炉圧力容器内上方から原子炉内移
動装置を上部格子板10、炉心支持板５を通過させ下鏡１
上に設置する。この場合、前進、後進のみの移動であれ
ば第１及び第２の単列クローラモジュール13，14が相対
的に直列のままで各クローラモジュールを駆動して移動
することができる。In the present embodiment, first, in FIG. 4, after removing the fuel assembly 9, the fuel support fitting 7, the control rod 8 and the control rod guide pipe 4, the moving device in the reactor is installed from above the inside of the reactor pressure vessel. Lower mirror 1 that passes through upper lattice plate 10 and core support plate 5
Install on top. In this case, if only the forward movement and the backward movement are performed, the first and second single-row crawler modules 13 and 14 can be driven by moving the respective crawler modules while remaining relatively in series.
【００２５】しかし、図２に示すように下鏡１上でスタ
ブチューブ２に回り込む場合には、回転モータ21を回転
し単列クローラモジュール13，14の相対的な向きを変え
て移動装置全体がくの字に変形するように制御する。こ
の状態で各クローラモジュール13，14を駆動すれば移動
装置は図２の矢印の方向に進みスタブチューブ２に回り
込むことができる。また、図３に示すようにインコアモ
ニタハウジング11をかわしながら回り込む場合には上記
と同様にして移動装置全体が回転自在な関節機構15を中
心軸としてくの字に変形するように制御すれば、移動が
容易となる。However, as shown in FIG. 2, when wrapping around the stub tube 2 on the lower mirror 1, the rotary motor 21 is rotated to change the relative orientations of the single-row crawler modules 13 and 14 to move the entire moving device. It is controlled so that it transforms into a letter. If the crawler modules 13 and 14 are driven in this state, the moving device can move in the direction of the arrow in FIG. Further, as shown in FIG. 3, when the in-core monitor housing 11 is turned around while avoiding it, if the whole moving device is controlled so as to be deformed into a dogleg with the rotatable joint mechanism 15 as the central axis, in the same manner as described above. Easy to move.
【００２６】また、本実施の形態では目視用の照明付き
ＣＣＤカメラ26を搭載することにより、下鏡１上の状況
や原子炉圧力容器とスタブチューブ２との溶接部や原子
炉圧力容器とインコアハウジング11の溶接部の目視検査
作業を行うことができる。また、ブラシや吸引ノズルを
有する吸引洗浄装置（図示せず）を搭載した場合には、
下鏡１上を吸引洗浄作業を行うことができる。また、超
音波探触子を搭載し、この超音波探触子を原子炉圧力容
器とスタブチューブ２との溶接部や原子炉圧力容器とイ
ンコアハウジング11などの検査対象部位に倣わせながら
溶接部の超音波探傷検査作業を行うことができる。Further, in the present embodiment, by mounting the CCD camera 26 with illumination for visual observation, the condition on the lower mirror 1, the welded portion between the reactor pressure vessel and the stub tube 2, the reactor pressure vessel and the incore. The visual inspection work of the welded part of the housing 11 can be performed. When a suction cleaning device (not shown) having a brush and a suction nozzle is mounted,
Suction cleaning work can be performed on the lower mirror 1. Further, an ultrasonic probe is mounted, and the ultrasonic probe is welded to the welded portion between the reactor pressure vessel and the stub tube 2 or the inspection target portion such as the reactor pressure vessel and the in-core housing 11 while welding the welded portion. Ultrasonic flaw detection inspection work can be performed.
【００２７】本実施の形態によれば、移動装置が小型で
自走移動可能なので原子炉圧力容器内下鏡上においてス
タブチューブ間やスタブチューブとインコアハウジング
間の狭隘部を通過することができる。また、重心が低く
構成されているので、傾斜した湾曲面や凹凸面上でも転
倒することなく、安定した移動性能を確保することがで
きる。従って、移動装置を下鏡１上の一箇所へ設置して
広範囲の洗浄、点検、検査等の保守作業が可能であると
共に、短時間で設置位置の変更が可能であり、洗浄、点
検、検査といった原子炉圧力容器内底部の保守作業を効
率的に行うことができる。According to this embodiment, since the moving device is small and can move by itself, it can pass between the stub tubes or between the stub tubes and the in-core housing on the lower mirror inside the reactor pressure vessel. Further, since the center of gravity is configured to be low, it is possible to secure stable movement performance without falling even on an inclined curved surface or uneven surface. Therefore, the moving device can be installed at one place on the lower mirror 1 to perform maintenance work such as cleaning, inspection, and inspection over a wide area, and the installation position can be changed in a short time. It is possible to efficiently perform maintenance work on the inner bottom of the reactor pressure vessel.
【００２８】次に本発明に係る移動装置及び原子炉内作
業方法の第２の実施の形態について説明する。本実施の
形態が第１の実施の形態と異なる点は第１及び第２のク
ローラモジュール13，14にフロート（図示せず）を搭載
したことにある。フロートとは、内部に空気などの気体
を満たした一種の「浮き」であり、移動装置全体に浮力
を供給するものである。このフロートにより、原子炉内
移動装置の重心位置が高くなった場合、下鏡１の傾斜面
や凹凸面上の走行時の転倒を防止することができる。従
って、傾斜面や凹凸面上でも安定した駆動力を確保する
ことができる。Next, a second embodiment of the moving apparatus and the working method in a nuclear reactor according to the present invention will be described. This embodiment is different from the first embodiment in that a float (not shown) is mounted on the first and second crawler modules 13 and 14. The float is a kind of "float" in which a gas such as air is filled, and supplies buoyancy to the entire moving device. With this float, when the position of the center of gravity of the moving device in the nuclear reactor becomes high, it is possible to prevent the lower mirror 1 from falling when traveling on the inclined surface or the uneven surface. Therefore, a stable driving force can be secured even on an inclined surface or an uneven surface.
【００２９】また、第１及び第２のクローラモジュール
13，14に搭載するフロートを、水中での水圧（外圧）に
より縮小し空気圧（内圧）を印加することで膨張可能に
構成する。例えば膨張した時の形状を保つガイドを備え
た水密のジャバラにより構成することもできる。そし
て、図示しないポンプ等によりフロート内に適量の空気
圧が加わるよう制御する。Further, the first and second crawler modules
The floats mounted on 13 and 14 are configured to be expandable by reducing the water pressure (external pressure) in water and applying air pressure (internal pressure). For example, it may be configured by a watertight bellows provided with a guide that maintains the shape when expanded. Then, a pump (not shown) is controlled so that an appropriate amount of air pressure is applied to the inside of the float.
【００３０】下鏡１上は水面下約25ｍ程度の位置にあ
り、通常は水圧によりフロートは縮小している。そして
移動装置が傾斜面で転倒した時だけ空気圧を印加してフ
ロートを膨張させ、浮力により移動装置を復帰させクロ
ーラの駆動面を下鏡１上へ接触させる。従って、通常時
はフロートの浮力による水中重量を減少させないで済む
のでクローラモジュールの駆動力を最大限に確保するこ
とができる。The upper part of the lower mirror 1 is located about 25 m below the water surface, and the float is usually contracted by water pressure. Then, only when the moving device falls down on the inclined surface, the air pressure is applied to expand the float, and the moving device is returned by the buoyancy to bring the drive surface of the crawler into contact with the lower mirror 1. Therefore, under normal circumstances, it is not necessary to reduce the underwater weight due to the buoyancy of the float, so that the driving force of the crawler module can be maximized.
【００３１】[0031]
【発明の効果】本発明によれば、狭隘部での保守作業を
効率的に行うことができる。According to the present invention, maintenance work in a narrow space can be efficiently performed.
【図１】本発明に係る移動装置の第１の実施の形態を説
明するための正面図。FIG. 1 is a front view for explaining a first embodiment of a moving device according to the present invention.
【図２】本発明に係る移動装置の走行状態の第１の例を
説明するための図４中Ａ−Ａ矢視方向から見た上面図。FIG. 2 is a top view for explaining the first example of the traveling state of the moving device according to the present invention, as seen from the direction of arrows AA in FIG.
【図３】図２と同じく第２の例を説明するための図４中
Ａ−Ａ矢視方向とは異なった方向から見た上面図。FIG. 3 is a top view for explaining the second example similar to FIG. 2, viewed from a direction different from the direction of arrows AA in FIG. 4.
【図４】ＢＷＲの原子炉圧力容器内構造物の配置を示す
斜視図。FIG. 4 is a perspective view showing the arrangement of internal structures of a BWR reactor pressure vessel.
１…下鏡、２…スタブチューブ、３…ＣＲＤハウジン
グ、４…制御棒案内管、５…炉心支持板、６穴、７…燃
料支持金具、８…制御棒、９…燃料集合体、10…上部格
子板、11…インコアハウジング、12…インコア案内管、
13…第１の単列クローラモジュール、14…第２の単列ク
ローラモジュール、15…関節機構、16…旋回軸回転関
節、17…水平軸回転関節、18…垂直軸回転関節、19…大
径歯車、20…小径歯車、21…回転モータ、22…上板、23
…取付部材、24…上板、25…雲台、26…照明付きＣＣＤ
カメラ（画像センサ）。DESCRIPTION OF SYMBOLS 1 ... Lower mirror, 2 ... Stub tube, 3 ... CRD housing, 4 ... Control rod guide tube, 5 ... Core support plate, 6 holes, 7 ... Fuel support metal fittings, 8 ... Control rod, 9 ... Fuel assembly, 10 ... Upper lattice plate, 11 ... in-core housing, 12 ... in-core guide tube,
13 ... First single-row crawler module, 14 ... Second single-row crawler module, 15 ... Joint mechanism, 16 ... Swivel axis rotary joint, 17 ... Horizontal axis rotary joint, 18 ... Vertical axis rotary joint, 19 ... Large diameter Gears, 20 ... Small-diameter gears, 21 ... Rotary motors, 22 ... Upper plates, 23
… Mounting member, 24… Top plate, 25… Pan head, 26… CCD with illumination
Camera (image sensor).
Claims (8)
の単列クローラモジュールと、前記第１の単列クローラ
モジュールと前記第２の単列クローラモジュールとをそ
れぞれの長手方向に連結する回転自在な関節機構と、前
記第１の単列クローラモジュールと前記第２の単列クロ
ーラモジュールを前記関節機構を介して相対的に平面上
で回転させる回転駆動機構とを具備したことを特徴とす
る移動装置。1. A first single row crawler module and a second single row crawler module.
A single row crawler module, a rotatable joint mechanism connecting the first single row crawler module and the second single row crawler module in their respective longitudinal directions, the first single row crawler module and the A moving device comprising a second single-row crawler module and a rotation driving mechanism for relatively rotating the second single-row crawler module on a plane through the joint mechanism.
軸まわりに回転することを特徴とする請求項１記載の移
動装置。2. The rotatable joint mechanism is orthogonal to each other.
The moving device according to claim 1, wherein the moving device rotates about an axis.
てなることを特徴とする請求項１記載の移動装置。3. The moving device according to claim 1, further comprising a float whose inside is filled with gas.
フロートを具備してなることを特徴とする請求項１記載
の移動装置。4. The moving device according to claim 1, further comprising a float that is contracted by external pressure and expanded by internal pressure.
向及びチルト方向に回転自在な雲台とを具備したことを
特徴とする請求項１記載の移動装置。5. The moving device according to claim 1, further comprising an image sensor and a platform that is rotatable in the pan direction and the tilt direction.
装置を具備したことを特徴とする請求項１記載の移動装
置。6. The moving device according to claim 1, further comprising a suction cleaning device having a brush and a suction nozzle.
触子を具備したことを特徴とする請求項１記載の移動装
置。7. The moving device according to claim 1, further comprising an ultrasonic probe for scanning the site to be inspected.
子炉圧力容器内水中において燃料集合体、燃料支持金
具、制御棒、制御棒案内管を撤去した後、炉心支持板の
穴から吊り下ろして、前記原子炉圧力容器の下鏡上に設
置し、前記第１の単列クローラモジュールと前記第２の
単列クローラモジュールの相対的な角度を能動的に変え
るとともに、前記各々のクローラモジュールの駆動力に
よって前記下鏡上を移動し、前記作業装置により前記原
子炉圧力容器内での作業を行うことを特徴とする原子炉
内作業方法。8. The moving device according to claim 1, wherein the fuel assembly, the fuel support fittings, the control rods, and the control rod guide tubes are removed from the reactor pressure vessel water, and then the moving device is hung from the hole of the core support plate. The crawler module is installed on the lower mirror of the reactor pressure vessel, and the relative angle between the first single-row crawler module and the second single-row crawler module is actively changed, and each crawler module is moved. Is moved on the lower mirror by the driving force of and the work is performed in the reactor pressure vessel by the working device.
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|---|---|---|---|
| JP2002118680A JP4112891B2 (en) | 2002-04-22 | 2002-04-22 | In-reactor transfer device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002118680A JP4112891B2 (en) | 2002-04-22 | 2002-04-22 | In-reactor transfer device |
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| Publication Number | Publication Date |
|---|---|
| JP2003315486A true JP2003315486A (en) | 2003-11-06 |
| JP4112891B2 JP4112891B2 (en) | 2008-07-02 |
Family
ID=29535447
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2002118680A Expired - Fee Related JP4112891B2 (en) | 2002-04-22 | 2002-04-22 | In-reactor transfer device |
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