JP2008304382A - Fuel replacing machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a fuel replacing machine which can suppress swinging motion of a telescopic tube and enhance the positional precision of a gripper while movement of the fuel replacing machine is being stopped. <P>SOLUTION: The fuel replacing machine has a swing inhibiting device 14 for inhibiting swinging motion of the telescopic tube 6 installed on a traversing truck and a speed feedback device 36. The swing inhibiting device 14 includes four suspensions 27 installed on the traversing truck and connected, in four directions, with a swing inhibiting ring 28 forming an annular space 30 between the ring and the telescopic tube 6. The speed feedback device 36 includes a first magnet unit 17 installed on a first support member provided on the telescopic tube 6, a second magnet unit 18 installed on a second support member 26 provided on the traversing truck, a load cell 19 and a displacement detecting unit 19. Electric current fed to the first magnetic unit 17 is controlled according the swinging speed of the telescopic tube 6 detected by the displacement detecting unit 19, and the swinging motion of the telescopic tube 6 is controlled by the attraction force caused between the magnet units. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a fuel exchanger, and more particularly, to a fuel exchanger suitable for application to a boiling water reactor.

  To shorten the periodic inspection period at a nuclear power plant, shortening the time required for fuel replacement is effective. Until now, various techniques have been devised to shorten the fuel exchange time.

  The fuel exchange in the boiling water reactor is performed using a fuel changer provided with a gripping tool at the tip of the expansion tube. In this fuel exchange, the spent fuel assembly loaded in the reactor core in the reactor pressure vessel is grasped with a gripper and taken out from the reactor pressure vessel, and the fuel placed in the fuel pool through the reactor well This is done by transferring it into a storage rack. A new fuel assembly housed in the fuel storage rack is loaded into the core by the fuel exchanger. In the period of the regular inspection, for example, 1/4 of the fuel assemblies loaded in the core are replaced with new fuel assemblies. In order to shorten the time required for this fuel exchange operation, it was necessary to suppress the shaking of the expansion tube or the fuel assembly at the time of transferring the fuel assembly as soon as possible. In particular, if shaking of the expansion tube and the fuel assembly becomes large when the movement of the refueling machine is stopped, the gripper may miss the fuel assembly in the core or the fuel storage rack, or the fuel assembly may be Inconveniences such as being unable to insert at the position are likely to occur.

  Therefore, before the operation of gripping the fuel assembly by the gripping tool and inserting the fuel assembly into a predetermined position, an operation called waiting for a shake is performed in which the fuel exchanger is stopped until the shaking of the expansion and contraction tube stops, and a predetermined time is waited. Is going. The time required for waiting for the shake is large in the fuel exchange period, and cannot be ignored due to the shortening of the fuel exchange period. Therefore, if the swinging of the expansion tube and the fuel assembly can be suppressed promptly and the time required for shake waiting can be shortened, the fuel replacement period can be significantly shortened.

  As a technique for quickly suppressing the shaking of the fuel assembly held by the expansion / contraction pipe or gripping tool of the fuel exchanger, a damper having a mechanical elastic element and a viscous damping element is brought into contact with the expansion / contraction pipe and the fuel exchanger It is known to be attached to (see Japanese Patent Publication No. 63-16719). There is an example in which a refueling machine is provided with a mechanism for detecting the displacement and speed of the telescopic tube and feeding back the force generated by the motor to the telescopic tube according to these detected values (Japanese Patent Laid-Open No. 2002-304223). See the official gazette).

Japanese Patent Publication No. 63-16719 JP 2002-304223 A

  According to the method described in Japanese Patent Publication No. 63-16719, which uses a mechanical elastic element and a damper utilizing viscous resistance to suppress the vibration of the expansion and contraction tube, in order to effectively exhibit the vibration damping function, the damper spring It is desirable to increase the constant and the damping coefficient. However, when the damping coefficient of the damper is increased due to mechanical factors, it is necessary to increase the size of the damper and to reproduce the positioning of the fuel assembly and the gripper due to the increased Coulomb friction at the sliding portion of the damper. The problem that the sex deteriorates arises. If the spring constant and damping coefficient of the damper are not sufficiently increased, when the swing amplitude of the telescopic tube is small, the resistance of water acting on the telescopic tube or the like is small, so that the reduction of the swing amplitude becomes slow. As described above, the damper using the mechanical elastic element and the viscous resistance has a limit in suppressing the swing of the expansion tube. In addition, since the expansion tube and the damper are always in contact, the influence of variations in the spring constant of the damper is eliminated in order to improve the reproducibility of positioning of the lower end of the expansion tube or the fuel assembly held by the gripping tool. Adjustment work is required.

  In the case of using a mechanism described in JP-A-2002-304223, which detects the displacement and speed of the telescopic tube and feeds back the force generated by the motor to the telescopic tube according to these detected values, The feedback mechanism must accept the resistance and inertial force of water acting on the telescopic tube. For this reason, a high-output motor, a high-strength gear mechanism, and the like are required, resulting in an increase in the size of the apparatus. Furthermore, an increase in the time constant of the mechanism due to the enlargement of the apparatus and an increase in the influence of backlash are likely to occur. In addition, in order to increase the positioning accuracy of the lower end of the telescopic tube and the lower end of the gripped fuel assembly, it is necessary to determine the reference position of the feedback mechanism with high accuracy, which increases the operational effort.

  An object of the present invention is to provide a fuel exchanger capable of suppressing the swing of the telescopic tube and improving the positioning accuracy of the gripper after the fuel exchanger has stopped moving.

  The feature of the present invention that can achieve the above-described object includes a first magnet device attached to an expansion tube on which a gripping tool is installed, and a second magnet device attached to a traversing carriage, and includes a first magnet device and a second magnet device. The present invention is provided with a vibration suppressing device that suppresses the vibration of the telescopic tube by the magnet device.

  The swing of the telescopic tube can be suppressed by the first magnet device and the second magnet device. In addition, since the first magnet device and the second magnet device are used, after the movement of the fuel changer is stopped, specifically, when the expansion / contraction tube stops swaying, the expansion / contraction tube is caused by the action of gravity. It will be in the state of hanging vertically. For this reason, the positioning accuracy of the gripper when the swinging of the telescopic tube stops further improves. In the present invention as described above, the fuel assembly existing in a predetermined position in the core or the fuel pool can be gripped by the gripping tool in a shorter time, and the fuel assembly gripped by the gripping tool can be gripped in the core. Or it can insert in the predetermined position in a fuel pool for a short time.

  The same effect can be obtained even when either the first magnet device or the second magnet device is made of a ferromagnetic material.

  Preferably, it has an annular member that surrounds the expansion tube and forms an annular gap with the expansion tube, is attached to the traverse carriage, and is connected to the annular member to suppress displacement due to shaking of the expansion tube It is desirable to provide a steady rest device. Since the annular gap is formed between the telescopic tube and the annular member, when the swinging of the telescopic tube stops, the restraint force of the steady rest device does not affect the telescopic tube. Thus, it is possible to maintain a state of being vertically suspended from the traversing cart. For this reason, the fuel assembly can be gripped by the gripping tool and the fuel assembly can be inserted into the predetermined position in a shorter time. By installing the above-described steadying device, it is possible to suppress a large inclination of the expansion / contraction tube when the fuel exchanger moves and a large vibration of the expansion / contraction tube when the movement is stopped. For this reason, the shake waiting time after stopping the movement of the fuel changer can be remarkably shortened.

  According to the present invention, it is possible to suppress shaking of the telescopic tube and to further improve the positioning accuracy of the gripper after the movement of the fuel exchanger is stopped.

  Examples of the present invention will be described below.

  A fuel changer which is a preferred embodiment of the present invention will be described with reference to FIGS. The fuel changer 1 according to the present embodiment includes a traveling carriage 2, a traversing carriage 3, a telescopic tube 6, a steadying device 14, and a speed feedback device (swing suppression device) 36. The traveling carriage 2 is arranged on a pair of rails 4 arranged in parallel on the operation floor 40 facing each other across the reactor well 41. These rails 4 pass by a fuel pool 45 (see FIG. 7) connected to the reactor well 41. When the wheel 11 rotatably attached to the traveling carriage 2 rotates on the rail 4, the traveling carriage 2 moves along the rail 4 just above the reactor well 41 and the fuel pool 45. The direction in which the traveling carriage 2 moves is referred to as the X direction (see FIG. 7). The traversing carriage 3 is movably disposed on a pair of rails 48 (see FIG. 7) installed on the traveling carriage 2. The traverse carriage 3 moves along the rail 48 on the traveling carriage 2 by the rotation of the wheels 12 provided on the traverse carriage 3 and disposed on the rail 48. The traversing cart 3 moves in a direction orthogonal to the moving direction of the traveling cart 2, that is, in the Y direction (see FIG. 7).

  The telescopic tube 6 is installed in the traversing cart 3 via the universal joint 13. The telescopic tube 6 can swing around in the left-right direction and the depth direction in FIG. The telescopic tube 6 has a plurality of columnar masts 7, for example, masts 7a, 7b, 7c. These masts 7a, 7b, and 7c are connected to each other and can be telescopically expanded and contracted. Although not shown, in order to expand and contract the telescopic masts 7a, 7b, 7c, wire ropes are respectively attached to the inner sides of the masts. A hoisting machine (not shown) for winding these wire ropes is attached to the traversing carriage 3.

  A gripping tool 8 is attached to the lower end of the lowermost mast 7c in a state where the telescopic tube 6 is extended. The gripping tool 8 has a structure capable of gripping and releasing the handle 10 at the top of the fuel assembly 9.

  Although not shown, a turning mechanism capable of turning the universal joint 13 around the vertical axis is installed in the traversing cart 3. The entire telescopic tube 6 can be turned by turning the turning mechanism.

  With the configuration described above, it is possible to position the gripping tool 8 in the horizontal and vertical directions and to determine the orientation of the gripping tool 8 around the vertical axis. Therefore, it becomes possible to insert the fuel assembly 9 into and remove the fuel assembly 9 from the core and the fuel storage rack. However, since the expansion tube 6 is supported at the upper end by the universal joint 13, when the traveling carriage 2 or the traversing carriage 3 is moved, the expansion tube 6 and the fuel assembly 9 are shaken. When the generated vibration is large, the gripper 8 grips the fuel assembly 9 in the core and the fuel storage rack (hereinafter referred to as fuel gripping operation) and inserts the fuel assembly 9 in the core and the fuel storage rack. There is a high possibility of failure (hereinafter referred to as fuel insertion operation). Therefore, before moving to the fuel gripping operation (or fuel insertion operation), the fuel assembly 9 that grips the grip 8 (or the fuel assembly 9 gripped by the grip 8) (or just above the fuel assembly 9). It will wait until the shaking converges (just above the insertion position). The operation of waiting until the shaking converges is called waiting for shaking. The refueling machine 1 is provided with the steadying device 14 and the speed feedback device 36 in order to shorten the time required for waiting for the shaking.

  The steady rest device 14 will be specifically described with reference to FIGS. 2 and 3. The steadying device 14 includes a suspension (cylinder device) 27, a steadying ring (annular member) 28, a steadying flange 29, a centering spring element 31, and a steadying support member 32. The steady rest support member 32 is fixed to the traversing carriage 2.

  A disc-shaped steady-state flange 29 is attached to the mast 7a at a height position facing the steady-state device 14. The steady rest flange 29 is a part of the mast 7a. An anti-rest ring 28 is disposed surrounding the anti-static flange 29. An annular gap 30 is formed between the steady ring 28 and the mast 7 a, specifically, between the steady ring 28 and the steady flange 29. Four support rods 33 extending in all directions are connected to the steady ring 28 by pins 35, respectively. The support rod 33 can rotate around the pin 35.

  The suspension 27 has, for example, a buffer coil spring (spring member), a piston rod (support rod) cylinder, a piston, and a compressed air intake / exhaust mechanism shown in FIG. 6 of Japanese Patent Publication No. 63-16719. Among these, an air damper, which is a damping member, is configured by a cylinder, a piston, and a compressed air intake / exhaust mechanism. The support rod 33 is a part of the suspension 27 and protrudes outward from the suspension body 27A that is a cylinder. The support rod 33 can change the length protruding from the suspension body 27A in the axial direction of the suspension body 27A. In addition to the support rod 33, the suspension 27 includes a spring member (not shown) that projects the support rod 33 outward, and an air damper (not shown) that is a damping member that applies resistance according to the moving speed of the support rod 33. ) In the suspension body 27A. A suspension holding member 42 provided for each suspension 27 is attached to the steadying support member 32. The suspension 27 is rotatably attached to the suspension holding member 42 and is installed on a rotating shaft 34 that extends in the vertical direction, and can rotate in the horizontal direction.

  One end of two centering spring elements 31 aligned with each other is attached to the end of each suspension 27. The other end of each centering spring element 31 is rotatably attached to a vertical shaft provided on the steadying support member 32. The centering spring 31 element has a structure in which the tension can be adjusted, and the position of the steady ring 28 can be adjusted by this structure.

  In a state where the traveling carriage 2 and the transverse carriage 3 are stopped and the telescopic tube 6 is suspended by gravity without shaking, a gap 30 of about several millimeters is provided between the entire circumferential surface of the outer surface of the mast 7a and the steady ring 28. Has occurred. The width of the gap 30 is adjusted by adjusting the pressing force of the support rod 33 by the spring member in each suspension 27 and the strength of each centering spring element 31.

  The speed feedback device 36 will be described with reference to FIGS. The speed feedback device 36 is disposed below the steady rest device 14. The speed feedback device 36 includes an annular first support member 25 fixed to the mast 7 a and a second support member 26 fixed to the traversing carriage 3. The second support member 26 surrounds the first support member 25 so as to form an annular gap 56 between the second support member 26 and the first support member 25. As shown in FIG. 4, the speed feedback device 36 includes a first magnet device 17 provided on the first support member 25, a load cell 19 and a displacement detection device 15, and a second magnet device 18 provided on the second support member 26. I have. The first magnet device 17, the load cell 19, the displacement detection device 15, and the second magnet device 18 are used as a set.

  The load cell 19 and the displacement detection device 15 are attached to a support column 24 installed on the first support member 25. The 1st magnet apparatus 17 is installed in the load cell 19, and is comprised by winding the coil | winding 20 around the coil core member (for example, iron core member) 22 comprised with the ferromagnetic material. The second magnet device 18 has windings 21 </ b> A and 21 </ b> B in the same direction at opposite ends of a coil core member (for example, iron core member) 23 made of a ferromagnetic material having a C-shaped longitudinal section. It is structured by wrapping. A target member 16 facing the displacement detection device 15 is installed on the upper surface of the coil core member 23. The first magnet device 17 is disposed in the gap 43 formed between the windings 21 </ b> A and 21 </ b> B of the second magnet device 18, that is, between both ends of the coil core member 23. In a state where the first magnet device 17 is disposed in the gap 43, there are also gaps between both ends of the coil core member 23 and both ends of the coil core member 22 facing the both ends. In the present embodiment, the first magnet device 17 and the second magnet device 18 are both electromagnet devices.

  The speed feedback device 36 includes eight second magnet devices 18, that is, second magnet devices 18a to 18h. As shown in FIG. 5, the second magnet devices 18 a to 18 h are arranged around the mast 7 a every 45 ° in the circumferential direction of the mast 7 a of the telescopic tube 6. The respective gaps 43 of the second magnet devices 18a to 18h face the mast 7a. Furthermore, the speed feedback device 36 includes four first magnet devices 17, that is, first magnet devices 17 a to 17 d, four load cells 19, that is, load cells 19 a to 19 d, and two displacement detection devices 15, that is, Displacement detectors 15a and 15b and four columns 24, that is, columns 24a to 24d are provided. The support columns 24a to 24d are arranged around the mast 7a every 90 ° in the circumferential direction of the mast 7a. The first magnet device 17a, the load cell 19a, and the displacement detection device 15a are provided on the column 24a as shown in FIG. Similarly, the first magnet device 17b, the load cell 19b, and the displacement detection device 15b are provided on the support column 24b. The 1st magnet apparatus 17c and the load cell 19c are similarly provided in the support | pillar 24c. Similarly, the first magnet device 17d and the load cell 19d are provided on the support column 24d. The displacement detection device 15 is not provided on the columns 24c and 24d. The support columns 24a and 24b provided with the displacement detection device 15 are adjacent to each other in the circumferential direction. The first magnet device 17a is disposed in the gap 43 of the second magnet device 18a, and the first magnet device 17b is disposed in the gap 43 of the second magnet device 18c. The first magnet device 17c is disposed in the gap 43 of the second magnet device 18e, and the first magnet device 17d is disposed in the gap 43 of the second magnet device 18g. The second magnet devices 18b, 18d, 18f, and 18h disposed between the second magnet devices 18a, 18c, 18e, and 18g in the circumferential direction of the mast 7a do not face the first magnet device 17.

  The winding 20 of the first magnet device 17a and the winding 20 of the first magnet device 17c facing each other across the mast 7a are connected in series with opposite winding directions. The windings 20 of the first magnet devices 17a and 17c connected in series are connected to a power feeding circuit (power supply device) 37 (see FIG. 4). The winding 20 of the first magnet device 17b and the winding 20 of the first magnet device 17d facing each other with the mast 7a interposed therebetween are connected in series with opposite winding directions, and are connected to another power supply circuit 37. The winding directions of the windings 21A and 21B of the second magnet devices 18a to 18h are the same, and the directions of the currents flowing through the windings 21A and 21B are also the same. The respective windings 21A and 21B of the second magnet devices 18a to 18h are connected to a power feeding circuit 38 (see FIG. 4).

  When the current supplied from the power supply circuit 37 flows through the windings 20 of the first magnet devices 17a and 17c, a magnetic field is generated around each winding 20. The direction and strength of the generated magnetic field is proportional to the direction and strength of the current flowing through the windings 20 of the first magnet devices 17a and 17c. Since the winding direction of the winding 20 of the first magnet device 17a is opposite to that of the winding 20 of the first magnet device 17c, the polarities generated in the first magnet devices 17a and 17c are opposite. For example, when a current is supplied to the winding 20 of the first magnet device 17a so that the upper end of the coil core member 22 of the first magnet device 17a has an N pole and the lower end thereof has an S pole, the coil of the first magnet device 17c The upper end of the core member 22 is the south pole, and the lower end is the north pole. The polarities generated at both ends of the coil core members 22 of the first magnet devices 17b and 17d are the same as the polarities generated at both ends of the coil core members 22 of the first magnet devices 17a and 17c.

  The load cells 19a to 19d detect tensile or compressive forces generated on the members between the coil core members 22 and the columns 24a to 24d of the first magnet devices 17a to 17d, that is, axial forces. This axial force is generated by the magnetic force acting between the first magnet device 17 and the second magnet device 18. The displacement detection device sensors 15a and 15b measure the distances to the respective target members 16 facing each other using optical means, and obtain displacements Δy and Δx that are differences between the measured distances and the reference distances. For the sake of convenience, the reference distance is a distance to each target member 16 measured by the displacement detection devices 15a and 15b when the telescopic tube 6 is suspended in the vertical direction by the action of gravity. A line connecting the support column 24a and the support column 24c faces the moving direction of the traversing carriage 3, that is, the Y direction. Therefore, the displacement detection device 15a obtains the displacement Δy resulting from the swing of the telescopic tube 6 in the Y direction at the position where the first support member 25 is attached to the mast 7a. A line connecting the support column 24b and the support column 24d faces the moving direction of the traveling carriage 2, that is, the X direction. For this reason, the displacement detection device 15b obtains the displacement Δx caused by the swing of the telescopic tube 6 in the X direction at the position where the first support member 25 is attached to the mast 7a.

  When the current supplied from the power supply circuit 38 flows through the windings 21A and 21B of the second magnet devices 18a, 18c, 18e and 18h, the gaps 43 are provided at both ends of the coil core member 23 of each second magnet device. A magnetic field having magnetic field lines oriented in the vertical direction is formed. Since the directions of the currents flowing through the windings 21A, 21B of the second magnet devices 18a, 18c, 18e and 18h are the same, the directions of the magnetic lines of magnetic fields generated in the second magnet devices 18a, 18c, 18e and 18h are the same. . For convenience, it is assumed that the lines of magnetic force generated between both ends of the coil core members 23 of the second magnet devices 18a, 18c, 18e and 18h are directed upward. That is, the upper end face of each coil core member 23 of the second magnet devices 18a, 18c, 18e and 18h is the S pole, and the lower end face of each coil core member 23 is the N pole. With the configuration of the speed feedback device 36 described above, the force acting between the first magnet device 17a and the second magnet device 18a from the relationship between the winding direction of the winding 20 and the windings 21A and 21B and the direction in which the current flows. And the direction of the force acting between the first magnet device 17c and the second magnet device 18c are the same. A specific example will be described. When a current is passed through the winding 20 of the first magnet device 17a so that the upper end of the coil core member 22 of the first magnet device 17a is the N pole and the lower end is the S pole, the first magnet device 17a and the first magnet device 17a An attractive force acts between the two magnet devices 18a. At this time, since the upper end of the coil core member 22 of the first magnet device 17c is the S pole and the lower end thereof is the N pole, a repulsive force is generated between the first magnet device 17c and the second magnet device 18e. As a result, the force acting on the telescopic tube 6, specifically, the mast 7 a by the speed feedback device 36 becomes a force toward the second magnet device 18 a based on the central axis of the mast 7 a. Therefore, the telescopic tube 6 is moved in the direction of the second magnet device 18a with the universal joint 13 as a base point.

  An outline of fuel exchange using the fuel exchanger 1 will be described with reference to FIG. 7 for a boiling water reactor. The refueling is performed when the operation of the reactor is stopped within the period of the periodic inspection of the boiling water reactor. When the fuel is changed, the upper cover (not shown) of the reactor pressure vessel 49 is opened, and the region in the reactor pressure vessel 49 is in communication with the reactor well 41 located above the reactor pressure vessel 49. A fuel pool 45 in which a plurality of fuel storage racks 46 are installed is connected to the reactor well 41 with a gate (not shown) removed. The reactor well 41 and the fuel pool 45 are filled with cooling water. The steam separator and the steam dryer taken out from the reactor pressure vessel 49 are transported into the temporary pool 47 by an overhead crane. The temporary pool 47 is also connected to the reactor well 41 with the gate (not shown) removed and filled with cooling water. Within the reactor pressure vessel 49, there is a core 52 surrounded by a core shroud 50. A plurality of fuel assemblies 9 are loaded in the core 52.

  In the fuel exchange, mainly, the fuel assembly (spent fuel assembly) 9 that has reached the end of its life in the core 52 is transported to a predetermined position in the fuel storage rack 46 placed in the fuel pool 45, and the fuel The new fuel assembly 9 in the storage rack 46 is transported to a predetermined position in the core 52. The fuel exchanger 1 is used to transport the spent fuel assembly and the new fuel assembly. These fuel assemblies 9 gripped by the gripping tool 8 are taken out from a predetermined position in the core 52 (or the fuel storage rack 46) by the expansion and contraction of the expansion / contraction tube 6, and further, the fuel storage rack 46 (or the core 52). ) In a predetermined position. The fuel assembly 9 is transported to a predetermined position in the core 52 (or the fuel storage rack 46) by moving the traveling carriage 2 and the transverse carriage 3 while the fuel assembly 9 is gripped by the gripping tool 8. be able to.

  The operation of the speed feedback device 36 when the fuel assembly 9 is transported will be described with reference to FIG. The control system of the speed feedback device 36 includes two independent control systems: a first control system for the first magnet devices 17a and 17c and a second control system for the first magnet devices 17b and 17d. It is out. Since the first control system and the second control system have the same configuration, the first control system will be described as a representative.

  The first control system includes a speed detection device 54 and a control device 44. The speed detection device 54 includes a displacement detection device 15a and a differentiator 55 connected to the displacement detection device 15a. The control device 44 includes a load detection circuit (load detection device) 39, an amplification device 51, and a subtractor 53. The subtractor 53 is connected to the amplification device 51, the load detection circuit 39 and the power feeding circuit 37. The amplifying device 51 is connected to a differentiator 55. The load detection circuit 39 is connected to the load cells 19a and 19c.

Now, it is assumed that the traversing carriage 3 has moved above the reactor well 41, and the traversing carriage 3 has stopped moving while the gripping tool 8 is located directly above the fuel assembly 9 to be gripped in the reactor core 52. To do. As the traversing carriage 3 stops moving, the telescopic tube 6 swings in the Y direction. The displacement detection device 15a measures the distance between the target member 16 facing the telescopic tube 6 in a state where the telescopic tube 6 is swaying in the Y direction, obtains the displacement Δy using the reference distance, and outputs this. The differentiator 55 time-differentiates the displacement Δy, and obtains the relative speed v with respect to the traversing carriage 3 at the position where the first support member 25 is attached to the mast 7a. The amplifying device 51 outputs a feedback force target value (hereinafter simply referred to as a target value) f ₀ obtained by multiplying the input relative speed v by a predetermined gain G. The load detection circuit 39 receives the axial forces detected by the load cells 19a and 19c, and detects the sum of these axial forces, that is, the feedback force f. The feedback force detection value and f _S. The axial force detected by the load cell 19a is generated by the first magnet device 17a and the second magnet device 18a that generate magnetic lines of force. The axial force detected by the load cell 19c is generated by the first magnet device 17c and the second magnet device 18e that generate magnetic lines of force. The subtractor 53 obtains a feedback command value (hereinafter simply referred to as a command value) C ₀ that is a value obtained by subtracting the feedback force detection value f _S from the target value f ₀ . Feeding circuit 37 supplies a current proportional to the command value C ₀ which is input to the winding 20 of the first winding 20 and the first magnet unit 17c of the magnet arrangement 17a. In other words, the control device 44 obtains the command value C ₀ based on the relative speed v obtained by the speed detection device 54 and each axial force detected by each of the load cells 19a and 19c, and this command value C _The power supply circuit 37 is controlled based on ₀ to adjust the current supplied to the winding 20 of the first magnet device 17a and the winding 20 of the first magnet device 17c.

Feed circuit 37, the value of current multiplied by a predetermined gain to the command value C ₀ which is input when exceeding the capacity of the power supply circuit 37 outputs a predetermined current within a saturated allowed to capacity. If properly Sadamere the gain of the power supply circuit 37, the sum of the axial force actually applied load cell 19a, in 19c, i.e. feedback force f, as long as the power supply circuit 37 is not saturated, substantially follows the target value f _0.

By current supplied to the winding 20 of the first winding 20 and the first magnet unit 17c of the magnet arrangement 17a on the basis of the command value C ₀ is adjusted, as described above, the first magnet unit 17a and the second An attractive force (or repulsive force) acts between the magnet devices 18a, and a repulsive force (or attractive force) acts between the first magnet device 17c and the second magnet device 18e. By the action of this attractive force (or repulsive force) and repulsive force (or attractive force), the swing of the telescopic tube 6 is quickly suppressed.

  The direction of the current flowing through each winding 20 is determined so that the direction of the feedback force f is opposite to the direction of relative movement of the telescopic tube 6 with respect to the traversing carriage 3, that is, the mast 7a. For example, in FIG. 5, it is assumed that the mast 7a moves toward the second magnet device 18e. In this case, the direction of the current may be determined so as to form a magnetic field by the first magnet devices 17a and 17c so that the feedback force f toward the second magnet device 18a acts on the mast 7a. Specifically, the sign of the gain G of the amplifying device 51 is determined in consideration of the direction of the magnetic field generated by the second magnet devices 18a and 18e and the winding direction of the winding 20 of the first magnet devices 17a and 17c. .

In the first control system of this embodiment, speed detection is realized by the displacement detector 15a and the differentiator 55 connected to the displacement detector 15a. Therefore, for convenience, the reference distance is the distance to the target member 16 measured by the displacement detection device 15a when the telescopic tube 6 is suspended in the vertical direction by the action of gravity. Is the detection speed. Since the detection speed is a time derivative of the detection distance, no matter how the reference distance is determined, there is no influence. That is, the reference distance is arbitrary, and it is not necessary to set or measure the positional relationship between the displacement detection device 15a and the target member 16 strictly in advance.
In the second control system that controls the current supplied to the windings 20 of the first magnet devices 17b and 17d, the displacement detection device 15a is replaced with the displacement detection device 15b in the configuration of the first control system described above, and the power feeding circuit 37 is replaced. The load detection circuit 39 is connected to each of the windings 20 of the first magnet devices 17b and 17d and the load detection circuit 39 is connected to the load cells 19b and 19d. According to such a second control system, the control device 44 of the second control system uses the relative velocity v in the X direction calculated based on the displacement Δx and each axis in the X direction detected by the load cells 19b and 19d. Based on the force, the current supplied to each winding 20 of the first magnet devices 17b and 17d is adjusted. Thereby, the swing of the expansion-contraction tube 6 in the moving direction of the traveling carriage 2 can be quickly suppressed.

  Further, when the fuel exchanger 1 grips the fuel assembly 9 in the core 52 or the like or inserts the fuel assembly 9 in a predetermined position such as the core 52, there is a case in which the gripping tool 8 needs to be turned around the vertical axis. is there. Although not shown in FIG. 1, a mechanism for turning the telescopic tube 6 around the vertical axis together with the universal joint 13 is provided at the upper end of the traversing carriage 3. As shown in FIG. 8, the refueling machine 1 is configured to be able to turn around a vertical axis in units of 45 degrees. FIG. 8 shows a state in which the telescopic tube 6 is turned 45 ° clockwise from the state shown in FIG. When the telescopic tube 6 is turned 45 °, the combination of the first magnet device 17 and the second magnet device 18 is shifted by 45 ° so that the first magnet device 17a faces the second magnet device 18b. It has become. More specifically, the first magnet device 17a is disposed in the gap 43 of the second magnet device 18b, and the first magnet device 17b is disposed in the gap 43 of the second magnet device 18d. Further, the first magnet device 17c is arranged in the gap 43 of the second magnet device 18f, and the first magnet device 17d is arranged in the gap 43 of the second magnet device 18h. For this reason, suppression of the swing of the expansion-contraction pipe | tube 6 using the above-mentioned 1st control system and 2nd control system is attained also in the state of FIG. Here, the reason that the telescopic tube 6 can turn is that the coil core member 23 of the second magnet device 18 is C-shaped to form the gap 43.

  By the speed feedback device 36 described above, a resistance proportional to the swing speed acts on the swinging expansion / contraction tube 6. That is, the action of this resistance is the same property as viscous damping. For this reason, when the fuel exchanger 1 moves and stops moving, the behavior of the telescopic tube 6 and the fuel assembly 9 is increased in stability by the action of the speed feedback device 36 and does not become unstable.

Theoretically, the behavior of the expansion tube 6 and the fuel assembly 9 is stable if the direction of the velocity vector by the oscillating motion is the same at the detection position of the oscillating speed (relative speed v described above) and the position where the feedback force f is applied. It becomes. For this reason, the position where the swing speed of the telescopic tube 6 is detected and the position where the feedback force f acts are required to be the same height. Assuming that the mast 7a is rigid, no matter which height on the mast 7a the detection position of the swing speed and the position where the feedback force f is applied are set, the speed due to the swing motion at these two positions. Since the vector directions are the same, a stable system can be realized. Actually, since the mast 7a is an elastic body, it is desirable to make the height of the oscillation speed detection position as close as possible to the position of the application position of the feedback force f as much as possible in order to avoid high-order mode oscillation. In the present embodiment, the first support member 25 and the second support member 26 are disposed at the same position in the axial direction of the telescopic tube 6. The position where the feedback force f acts is the position of the telescopic tube 6 in the axial direction where the first magnet device 17 provided on the first support member 25 and the second magnet device 18 provided on the second support member 26 are disposed. It is. The detection position of the swing speed is the position of the displacement detector 19 in the axial direction of the telescopic tube 6. In this example,
The position of the displacement detector 19 is very close to the positions of the first magnet device 17 and the second magnet device 18. That is, the position of the displacement detection device 19 is substantially the same as the positions of the first magnet device 17 and the second magnet device 18. Therefore, in this embodiment, as described above, the behavior of the telescopic tube 6 and the fuel assembly 9 is increased in stability by the action of the speed feedback device 36 and does not become unstable.

  The fuel changer 1 in the present embodiment can obtain various effects shown below.

  By the action of the magnetic field generated in each of the first magnet device 17 and the second magnet device 18 provided in pairs, the swing of the telescopic tube 6 can be suppressed. Since the first magnet device 17 and the second magnet device 18 that are paired are not in contact with each other, when the swing of the telescopic tube 6 is stopped, the telescopic tube 6 is vertically suspended from the traversing carriage 3 by the action of gravity. It becomes a state. For this reason, the positioning accuracy of the gripping tool 8 when the swinging of the telescopic tube 6 stops further improves. In this embodiment, the fuel assembly 9 existing at a predetermined position in the core 52 (or the fuel storage rack 46 installed in the fuel pool 45) can be gripped by the gripper 8 in a shorter time. . Furthermore, the fuel assembly 9 gripped by the gripping tool 8 can be inserted into a predetermined position in the core 52 (or the fuel storage rack 46) in a short time. Therefore, by using the fuel exchanger 1 having the speed feedback device 36, the period required for fuel replacement can be shortened.

  A plurality of, for example, four sets of first magnet devices 17 and second magnet devices 18 used in pairs are arranged around the telescopic tube 6 (see FIG. 5). That is, a set of the first magnet device 17a and the second magnet device 18a and a set of the first magnet device 17c and the second magnet device 18e are arranged in the moving direction of the traversing carriage 3 with the mast 7a interposed therebetween. . The set of these magnet devices can suppress the swinging of the telescopic tube 6 in the Y direction. The set of the first magnet device 17b and the second magnet device 18c and the set of the first magnet device 17d and the second magnet device 18g are arranged in the moving direction of the traveling carriage 2 with the mast 7a interposed therebetween. The set of these magnet devices can suppress the swing of the telescopic tube 6 in the X direction.

  In particular, since the winding direction of the winding 20 of the first magnet device 17c around the coil core member 22 is opposite to that of the winding 20 of the first magnet device 17a, the first magnet device 17c and the second magnet When an attractive force (or repulsive force) acts between the devices 18e, a repulsive force (or attractive force) acts between the first magnet device 17a and the second magnet device 18a. For this reason, the suppression effect of the fluctuation | variation of the expansion-contraction tube 6 in a Y direction increases. Since the winding direction of the winding 20 of the first magnet device 17d around the coil core member 22 is opposite to that of the winding 20 of the first magnet device 17b, for the same reason, the expansion tube 6 in the X direction The suppression effect of shaking increases.

  Since the annular gap 30 is formed between the mast 7a, that is, the anti-static flange 29 and the anti-static ring 28, the anti-static flange 29 comes into contact with the anti-static ring 28 when the swinging of the telescopic tube 6 stops. Disappear. In this state, the influence of the restraining force of each suspension 27 does not reach the telescopic tube 6, so that the state in which the telescopic tube 6 is vertically suspended from the traversing carriage 3 by the action of gravity can be maintained. For this reason, the fuel assembly 9 can be gripped by the gripping tool 8 and the fuel assembly 9 can be inserted into the predetermined position in a shorter time. A large inclination of the expansion / contraction tube 6 when the refueling machine 1 moves and a large vibration of the expansion / contraction tube 6 when the movement is stopped are provided in the suspension body 27 </ b> A of the suspension 27, because the steady-state flange 29 contacts the steady-state ring 28. The reaction force of the spring member thus transmitted is transmitted to the expansion / contraction tube 6 via the support rod 33 and the steady ring 28, so that the expansion / contraction tube 6 can be prevented from greatly shaking and tilting. For example, when the traversing carriage 3 moves in the direction of arrow A shown in FIG. 1, the resistance of the cooling water and the inertial force of the gripping tool 8 and the telescopic tube 6 (the gripping tool 8 grips the fuel assembly 9. In some cases, including the inertial force of the fuel assembly 9), the telescopic tube 6 is inclined in the direction opposite to the moving direction of the traversing carriage 3. However, since the steady rest flange 29 comes into contact with the steady rest ring 28 and the steady rest device 14 functions, the inclination of the telescopic tube 6 is suppressed. For this reason, even when the traversing carriage 3 stops, the magnitude of the potential energy of the telescopic tube 6 and the fuel assembly 9 at the time of movement is suppressed, so that the stabilization of the swing of the telescopic tube 6 is accelerated. . For this reason, the shake waiting time after stopping the movement of the fuel changer can be remarkably shortened.

  Further, when the amplitude of shaking of the telescopic tube 6 is large, the steadying flange 29 repeatedly contacts the steadying ring 28, and the suspension 27 is expanded and contracted each time. At this time, the vibration energy of the telescopic tube 6 is absorbed by the damping member present in the suspension 27, and the swinging period of the telescopic tube 6 is shortened by the spring member in the suspension 27. The shaking can be quickly suppressed. This also contributes to shortening the run time.

  In the steady rest device 14, a pair of suspensions 27 arranged in a straight line with the mast 7a interposed therebetween are arranged in the moving direction of the traversing carriage 3, and another pair arranged in a straight line with the mast 7a in between. The suspension 27 is disposed in the traveling direction of the traveling carriage 2. With the former pair of suspensions, it is possible to suppress the tilting and shaking of the telescopic tube 6 in the moving direction of the traversing carriage 3, that is, in the Y direction. By the latter pair of suspensions, it is possible to suppress tilting and shaking of the telescopic tube 6 in the moving direction of the traveling carriage 2, that is, in the X direction.

  By installing the speed feedback device 36, the following effects can be obtained.

  Since the speed feedback device 36 uses an electromagnet device for the first magnet devices 17a to 17d for adjusting the strength of the magnetic field, the magnetic field strength can be easily adjusted by adjusting the current supplied to the winding 20. it can. Therefore, since the magnetic field intensity generated based on the amplitude of the swing of the telescopic tube 6 can be easily controlled, the swing amplitude of the telescopic tube 6 can be quickly reduced.

The speed feedback device 36 is a control device based on the swing speed of the telescopic tube 6 measured by the speed detection device 54 and the command value C ₀ obtained using the axial forces detected by the load cells 19a and 19c. Since the power feeding circuit 37 is controlled by 44, the current supplied to the windings 20 of the first magnet devices 17a and 17c can be adjusted.
Also, the load cell 19a, and detects the feedback force detection value f _S by 19c, the feedback force f is to approach the target value f _0. For this reason, as long as the power feeding circuit 37 is not saturated, the feedback force f has the same property as viscous friction in that it is proportional to the rocking speed of the mast 7a. For this reason, not only is the stability of the control system guaranteed, but the relationship between the rocking speed and the feedback force is clear. In particular, it is easy to set the parameters of the control system in consideration of the behavior in the region where the amplitude of the shaking where the power feeding circuit 37 is not saturated is small, and there is an advantage that the damping performance is easily exhibited. Thus, since the feedback force f according to the detected swing speed can be applied to the telescopic tube 6 by the first magnet device 17 and the second magnet device 18, the swing of the telescopic tube 6 has a small amplitude. Even in this case, a large attenuation can be obtained.

  An arrangement position in the axial direction of the telescopic tube 6 of the displacement detectors 15a and 15b for detecting a displacement (for example, displacement Δy) used for calculating the swing speed, and a first magnet device 17 (or a second magnet device 17 for generating a feedback force f). Since the arrangement position of the magnet device 18) in the axial direction is substantially the same, the stability of the control can be increased. Since the speed feedback device 36 uses a magnet device to apply the feedback force f, the number of mechanically worn portions is small and maintenance is easy. By using a coil core member having a C-shaped longitudinal section as the coil core member of one of the first magnet device 17 and the second magnet device 18, the expansion tube 6 can be easily turned.

By using the speed feedback device 36, when the mechanical properties such as mass and moment of inertia of the expansion tube 6 and the fuel assembly 9 are not known, or the mechanical properties of the expansion tube 6 and the fuel assembly 9 assumed in advance and the actual properties. Stable vibration suppression control is possible even when there is a difference in mechanical properties. Stable vibration damping control is possible even if the mechanical properties change depending on the change in the length of the telescopic tube 6 due to expansion and contraction and whether or not the fuel assembly 9 is gripped by the gripping tool 8. The target value f ₀ is determined by the oscillation speed of the mast 7a, weight displacement by swing of the mast 7a is not required for damping control. For this reason, since it is not necessary to previously measure or set the zero point or reference value of the distance output by the displacement detection devices 15a and 15b, the operation becomes easy. As shown in JP-A-2002-304223, the speed feedback device 36 does not use a speed reduction mechanism such as a gear that transmits the rotational force of the motor, and therefore has no mechanical backlash, backlash, etc., and has good responsiveness.

  In this embodiment, when the swinging of the telescopic tube 6 is stopped, the steadying device 14 and the speed feedback device 36 that make the telescopic tube 6 hang vertically from the traversing carriage 3 by the action of gravity are used. The following effects can be further obtained.

  When the swinging vibration of the telescopic tube 6 is large, such as when the traveling cart 2 and the traversing cart 3 are accelerated, decelerated, and immediately after them, the steadying flange 29 comes into contact with the steady ring 28. The vibration is attenuated mainly by the reaction force of the steady rest device 14 and the resistance of the cooling water acting on the telescopic tube 6 and the fuel assembly 9. When the amplitude of the swing is small and the attenuation due to the resistance of the water acting on the telescopic tube 6 and the fuel assembly 9 is small, the swing of the stretch 6 is mainly attenuated by the speed feedback device 36. The combined use of the steady rest device 14 and the speed feedback device 36 can provide an effective damping effect for large to small amplitude swings.

  When the amplitude of the swing of the expansion tube 6 is large, the resistance of the cooling water in the steady rest device 14, the reactor well 41 and the fuel pool 45 absorbs the energy of the swing, so that the speed feedback device 36 is controlled at a small amplitude. It is only necessary to ensure vibration performance. Since the force that must be generated by the speed feedback device 36 is small, the speed feedback device 36 can be miniaturized and can quickly attenuate the shaking.

  As described above, the steady rest device 14 and the speed feedback device 36 can make the telescopic tube 6 hang vertically from the traversing carriage 3 by the action of gravity. Therefore, as in the case of using the damper described in Japanese Patent Publication No. 63-16719, positioning of the lower end of the telescopic tube 6 or the lower end of the gripped fuel assembly 9 is caused by the friction of the damper and the variation of the spring constant. It is possible to prevent the accuracy from decreasing. Unlike the mechanism shown in Japanese Patent Laid-Open No. 2002-304223, there is no mechanical backlash or backlash. For this reason, adjustment of the steady rest device 14 and the speed feedback device 36 can be performed easily. Since the steady rest device 14 and the speed feedback device 36 are disposed in the air above the water surface of the cooling water, maintenance is easy.

  In the above-described embodiment, the feedback force f generated by the first magnet device 17 and the second magnet device 18 is adjusted by adjusting the magnetic field strength of the first magnet device 17 by the control device 44 and changing the direction of the magnetic field. is doing. The feedback force f can be adjusted by controlling the current supplied to the second magnet device 18 instead of the first magnet device 17 with the control device 44. The control device 44 controls the power feeding circuit 38 instead of the power feeding circuit 37. In this case, in a pair of second magnet devices 18 (for example, the second magnet devices 18a and 18e) disposed so as to sandwich the telescopic tube 6 therebetween, winding of the winding wound around the coil core member 23 is performed. The direction is reversed. The magnetic field strength and the magnetic field direction of both the first magnet device 17 and the second magnet device 18 may be changed. However, in the example shown in FIG. 5, since eight second magnet devices 18 are provided, four power feeding circuits 38 are required, and separate power feeding circuits 38 for the four pairs of second magnet devices 18. Must be connected. In this regard, the adjustment of the magnetic field strength and the like in the second magnetic field device 18 makes the device configuration more complicated than the case of adjusting the magnetic field strength and the like of the first magnet device 17.

  In Example 1, the same effect can be obtained even if one of the first magnet device 17 and the second magnet device 18 is replaced with a permanent magnet or a ferromagnetic material. For example, the first magnet device 17 is installed on the first support member 25, and the second magnet device 18 installed on the second support member 26 is replaced with a permanent magnet or a ferromagnetic material. In this case, the first magnet device 17 needs to use an electromagnet device capable of adjusting the magnetic field strength. Further, the coil core member 23 may be formed in a rod shape, and the coil core member 22 may be configured so that the longitudinal section thereof is C-shaped. The displacement detection device 15a may be installed on the upper surface of the coil core member 23 instead of the support column 24a. Since the target member 16 can be used also by the support 24a, it is not necessary to install it again.

  Various alternative means are also conceivable for measuring the rocking speed of the mast 7a (expandable tube 6). For example, a method for detecting the angular velocity of the mast 7a with a gyro, a method for detecting the rocking velocity of the mast 7a based on the difference between images obtained by taking images of the mast 7a at regular time intervals, and inclination to the mast 7a. A method of obtaining the swinging speed by differentiating the inclination with the sensor attached and output, a method of obtaining the swinging speed by integrating the output of the acceleration sensor attached to the mast 7a, or a contact type or capacitance type displacement detection. It is also possible to apply a method of time differentiation of the output using an apparatus.

  A fuel changer according to embodiment 2, which is another embodiment of the present invention, will be described below. The fuel changer of the present embodiment has a configuration in which the control device 44 used in the first embodiment is replaced with a control device 44A shown in FIG. 9, and no load cells 19a to 19d are installed. To do. The fuel exchanger according to the present embodiment has the same configuration as the fuel exchanger 1 according to the first embodiment except that the control device 44A is used and the load cells 19a to 19d are not installed.

The control device 44A will be described in detail. The control device 44A does not have the load detection circuit 39 for inputting the outputs of the load cells 19a and 19c and the subtractor 53. The control device 44 </ b> A has an amplifying device 51 connected to the differentiator 55 and the power feeding circuit 37. In this embodiment, the feedback target value f ₀ output from the amplifying device 51 becomes the command value C ₀ . However, the feedback force f is a function of the command value C ₀ and the displacement Δy of the mast 7a, and a proportional relationship is not always established between the feedback force f and the command value C ₀ . However, there is a corresponding relationship between the direction in which the feedback force f works and the sign of the command value C ₀ , and the direction of the force acting between the first magnet device 17 and the second magnet device 18 is always the direction of the rocking speed of the mast 7a. If the direction is reversed, stable vibration suppression control is possible as in the first embodiment. For this purpose, the arrangement of the first magnet device 17 and the second magnet device 18 and the sign of the gain of the amplifying device 51 may be determined appropriately. If the current supplied to the first magnet devices 17a and 17c is adjusted by controlling the power supply circuit 37 by the control device 44A in this way, the feedback force f generated between the first magnet device 17 and the second magnet device 18 is adjusted. Therefore, the swinging of the telescopic tube 6 can be suppressed.

  In the present embodiment, each effect produced in the first embodiment can be obtained. The configuration of the control device 44A can be simplified, and it is not necessary to provide the load cell 19. Therefore, the configuration can be simplified as compared with the fuel exchanger 1 of the first embodiment.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram of the fuel exchanger of Example 1 which is one preferable Example of this invention. It is a perspective view of the steady rest apparatus and speed feedback apparatus shown in FIG. FIG. 3 is a plan view of the steady rest device shown in FIG. 2. FIG. 3 is a partially enlarged side view of the speed feedback device shown in FIG. 2. It is a top view of the speed feedback apparatus shown in FIG. It is a block diagram of the control system of the speed feedback apparatus shown in FIG. It is explanatory drawing which shows the other usage example of a steadying apparatus. It is a block diagram of the speed feedback control of Example 2. It is a block diagram of the other Example of the control system of a speed feedback apparatus.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Fuel changer, 2 ... Traveling trolley, 3 ... Traversing trolley, 6 ... Telescopic tube, 7a, 7b, 7c ... Mast, 8 ... Grip, 9 ... Fuel assembly, 13 ... Universal joint, 14 ... Stabilizer, 15, 15a, 15b ... displacement detection device, 16 ... target member, 17, 17a, 17b, 17c, 17d ... first magnet device, 18, 18a-18h ... second magnet device, 19, 19a, 19b, 19c, 19d ... load cell, 20, 21A, 21B ... winding, 22, 23 ... coil core member, 24, 24a-24d ... strut, 25 ... first support member, 26 ... second support member, 27 ... suspension, 28 ... steady rest Ring, 29 ... Stabilization flange, 31 ... Centering spring element, 32 ... Stabilization support member, 33 ... Support rod, 36 ... Speed feedback device, 37, 38 ... Feed circuit, 39 ... Load detection circuit 44... Control device 45. Fuel pool 46 46 Fuel storage rack 49 Reactor pressure vessel 52 Reactor core 54 Speed detector

Claims (19)

A traveling carriage, a traversing carriage that is provided on the traveling carriage and moves on the traveling carriage, and an extension that is attached to the traversing carriage and has a plurality of tubular members, and the tubular members are mutually extendable In a fuel changer comprising a pipe and a gripping tool attached to the lower end of the telescopic pipe and gripping the fuel assembly,
A sway suppressor including a first magnet device attached to the telescopic tube and a second magnet device attached to the traversing carriage, wherein the sway of the telescopic tube is suppressed by the first magnet device and the second magnet device. A fuel changer characterized by comprising: A plurality of sets of the first magnet device and the second magnet device used in pairs facing the first magnet device, arranged around the telescopic tube;
The plurality of sets of the first magnet device and the second magnet device are positioned so as to sandwich the telescopic tube with respect to a set of the first magnet device and the second magnet device. The fuel changer according to claim 1, comprising a set of the first magnet device and the second magnet device.   The fuel changer according to claim 1 or 2, wherein at least one of the first magnet device and the second magnet device is a magnet device capable of adjusting a strength of a generated magnetic field.   At least one of the first magnet device and the second magnet device is a magnet device capable of adjusting the strength of a generated magnetic field, and the plurality of sets of the first magnet device and the second magnet device are a set. The first magnet device and the second magnet device of the second magnet device, and includes another set of the first magnet device and the second magnet device positioned so as to sandwich the telescopic tube therebetween, The winding wound around the core member of the first electromagnet device capable of adjusting the strength of the magnetic field in the certain group and the other group positioned so as to sandwich the telescopic tube, The refueling machine according to claim 2, wherein the winding is wound in the opposite direction to the winding wound around the other core member of the first electromagnet device capable of adjusting the strength of the magnetic field with the other set.   At least one of the first magnet device and the second magnet device is a magnet device capable of adjusting the strength of a generated magnetic field, and the plurality of sets of the first magnet device and the second magnet device are a set. The first magnet device and the second magnet device of the other include the first magnet device and the second magnet device of another set positioned so as to sandwich the telescopic tube therebetween, and the telescopic The winding wound around the core member of the second electromagnet device capable of adjusting the strength of the magnetic field in the certain group and the other group positioned so as to sandwich the tube therebetween, The refueling machine according to claim 2, wherein the winding is wound in the opposite direction to the winding wound around the other core member of the second electromagnet device capable of adjusting the strength of the magnetic field by the set.   The shaking suppression device adjusts the current supplied to the magnet device that can adjust the strength of the magnetic field based on the speed detection device that detects the shaking speed of the telescopic tube and the detected shaking speed. 6. The fuel changer according to claim 3, further comprising a control device.   The speed detection device is provided in one of the telescopic tube and the traversing carriage and detects a displacement of the swing of the telescopic tube, and a speed for obtaining the speed of the swing based on the detected displacement The refueling machine according to claim 6 including a calculating device. A load cell for detecting a force acting between the first magnet device and the second magnet device used in a pair with the first magnet device;
The refueling machine according to claim 6 or 7, wherein the control device adjusts the current based on the strength of the force detected by the load cell and the speed of the shaking.   The vibration suppression device is provided in one of the telescopic tube and the traversing carriage and detects a displacement of the vibration of the telescopic tube, and based on the detected displacement, the strength of the magnetic field is determined. The fuel changer according to any one of claims 3 to 5, further comprising a control device that adjusts a current supplied to the adjustable magnet device.   6. The device according to claim 3, wherein one of the first magnet device and the second magnet device that is not the magnet device capable of adjusting the strength of the magnetic field includes a permanent magnet. Refueling machine.   One of the first magnet device and the second magnet device has a ferromagnetic core member having a C-shaped longitudinal section, and the other of the first magnet device and the second magnet device is the C The refueling machine according to any one of claims 1 to 10, wherein the refueling machine is disposed between both ends of the letter-shaped core member.   The fuel changer according to any one of claims 1 to 10, wherein the telescopic tube is attached to the traverse carriage so as to be turnable about a vertical axis.   The arrangement position of the displacement detecting device in the axial direction of the telescopic tube and the arrangement position of the first magnet device in the axial direction of the telescopic tube are substantially the same. The refueling machine as described. A traveling carriage, a traversing carriage that is provided on the traveling carriage and moves on the traveling carriage, and an extension that is attached to the traversing carriage and has a plurality of tubular members, and the tubular members are mutually extendable In a fuel changer comprising a pipe and a gripping tool attached to the lower end of the telescopic pipe and gripping the fuel assembly,
An electromagnet device attached to one of the first support member provided on the telescopic tube and a second support member provided on the traversing carriage, and the electromagnet of the first and second support members. Including a ferromagnetic member attached to the other support member on which the device is not installed, and the electromagnet device and a vibration suppressing device that suppresses vibration of the telescopic tube by the ferromagnetic member. Refueling machine. A plurality of sets of the electromagnet device and the ferromagnetic members used in pairs facing the electromagnet device are arranged around the telescopic tube,
The plurality of sets of the electromagnet device and the ferromagnetic member are in another set of the electromagnets positioned so as to sandwich the telescopic tube between the electromagnet device and the ferromagnetic member. The refueling machine according to claim 14, comprising an apparatus and the ferromagnetic member.   The shake control device includes a speed detection device that detects a swing speed of the telescopic tube, and a control device that adjusts a current supplied to the electromagnet device based on the detected swing speed. Or the fuel change machine of Claim 15.   Displacement caused by shaking of the expansion and contraction tube having an annular member that surrounds the expansion and contraction tube and is disposed so as to form an annular gap between the expansion and contraction tube, and is attached to the traverse carriage and connected to the annular member 15. A fuel changer according to claim 1 or 14, further comprising a steady rest device for restraining the vibration.   The steady rest device includes a rod member that is connected to the annular member and is movable in the axial direction, and is disposed around the telescopic tube so as to be rotatable in a plane perpendicular to the axis of the telescopic tube. A plurality of suspension devices that are attached to a traverse carriage and suppress the displacement, and a pair of springs that are attached to the end portions of the suspension devices and extend in opposite directions from the end portions, and are attached to the traverse carriage The refueling machine according to claim 17, further comprising a member. A traveling carriage, a traversing carriage that is provided on the traveling carriage and moves on the traveling carriage, and an extension that is attached to the traversing carriage and has a plurality of tubular members, and the tubular members are mutually extendable In a fuel changer comprising a pipe and a gripping tool attached to the lower end of the telescopic pipe and gripping the fuel assembly,
Displacement caused by shaking of the expansion and contraction tube having an annular member that surrounds the expansion and contraction tube and is disposed so as to form an annular gap between the expansion and contraction tube, and is attached to the traverse carriage and connected to the annular member A fuel changer comprising an anti-sway device that suppresses vibration.

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