JP2009098105A - Device for inspecting and repairing inside of nuclear reactor, and control method therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To eliminate the monitoring of and operation of a cable, by accurately and circumferentially moving the inspection and checking of the outer surface of a core shroud, and to perform the inspection and check, in a short time. <P>SOLUTION: This device for inspecting and repairing the inside of a nuclear reactor comprises a moving means that mounts a camera for visually observing the inside of the nuclear reactor filled with water and a working apparatus for performing inspection, repair, or maintenance work and moves an underwater moving vehicle moving with a propulsion machine and wheels into the nuclear reactor, ;a delivering and pulling back means for delivering and pulling back the cable of the underwater moving vehicle moving into the nuclear reactor; a monitoring means for monitoring the state of the underwater moving vehicle; and a control operation section for controlling the moving means and the delivering and pulling back means. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an in-reactor structure installed in a reactor pressure vessel of a boiling water reactor power plant (BWR plant) that performs operations such as cleaning, inspection, inspection, preventive maintenance and repair of the outer surface of a core shroud. In-furnace inspection and repair device and control method thereof

  In a boiling water reactor power plant, for example, as shown in FIG. 12, the reactor internal structure installed in the reactor pressure vessel 1 is a material having sufficient corrosion resistance and mechanical strength in a high temperature and high pressure environment, For example, it is made of austenitic stainless steel or nickel base alloy. Such in-furnace structures are exposed to harsh environments due to long-term operation of the plant, and there is a concern about material deterioration due to the effects of neutron irradiation. Particularly in the vicinity of the welded portion of the internal structure of the furnace, there is a risk of potential stress corrosion cracking due to the sensitization of the material due to welding heat input and the influence of tensile residual stress.

  Conventionally, various inspections and preventive maintenance are performed in order to confirm the soundness of such a reactor internal structure and to perform preventive maintenance. For example, as an example of inspection from the outside of the core shroud 2 that is one of the in-furnace structures, a device that has been moved by swimming or adsorbed to a wall surface has been developed. There are various devices and jigs that are transported by these devices, positioned to the target, held in position, and moved slightly (for example, see Patent Document 1).

  However, the core shroud 3 is installed between the reactor pressure vessel 1 and the core shroud 2, and in particular, the gap between the core shroud 2 and the core shroud 3 is a slight space. In order to perform inspections, inspections, repairs, etc. in such a narrow space, the moving device on which various devices and jigs and tools are mounted is made thin and small, and swimming movement and application to the target wall surface are performed. Therefore, it is necessary to move it in contact.

Three-dimensional swimming movement requires at least three thrusters, and two-dimensional wall movement requires at least two drive sources. However, a large number of drive sources hinders the thinning and miniaturization of the moving device. If the number of cables is multi-core or a plurality of cables, the load at the time of movement increases, so that the movement performance is lowered and the reliability of the apparatus is also lowered.
Japanese Patent No. 3819380

  As described above, most of the inspection and inspection work on the outer surface of the shroud has a structure that is thin and small and moves while being attached to and touching the swimming wall surface. In a structure that moves while sticking to and touching the swimming wall, the cable touches the in-furnace structure at multiple locations and the load during movement increases, and the device moves away from the wall. Alternatively, the posture may be inclined, and there are problems such as redoing inspections and inspections and causing cable breakage.

  In addition, in order to improve the reliability of cable breakage prevention, inspection, inspection, etc., it is necessary to check the status of the device and cable with a surveillance camera. For this purpose, a fuel changer or a dedicated work cart is used. As a result, many manual operations such as camera operators and cable operators are required.

  In recent years, there has been a demand to shorten the period of periodic inspection as much as possible in order to increase the operation rate of the plant. To shorten the construction period, there is a need for equipment that can perform many inspections and inspections at once without replacing the equipment. It has been. There is also a need for a device that does not require the use of a fuel changer or work cart.

  The present invention has been made in view of such circumstances, and the inspection and inspection of the outer surface of the core shroud is accurately moved in the circumferential direction to eliminate the need for cable monitoring and operation, and the inspection and inspection can be performed in a short time. It is an object of the present invention to provide an in-reactor inspection / repair device and a control method thereof.

  In order to achieve the above object, in the present invention, a water-filled nuclear reactor is equipped with a camera for visual observation and work equipment for performing inspection, repair or maintenance work, and is moved by a propulsion mechanism and wheels. Moving means for moving an underwater mobile vehicle into the reactor, sending and returning means for sending and returning cables of the underwater mobile vehicle in the reactor, and monitoring means for monitoring the state of the underwater mobile vehicle; An in-reactor inspection / repair device is provided, comprising a control operation unit for controlling the moving means and the sending and returning means.

  In the present invention, the control operation unit processes a signal of a rotation sensor attached to a drive motor of a wheel that travels on the surface of the in-furnace structure of the underwater moving vehicle, calculates a movement amount, and moves the movement. Provided is a control method for an in-reactor inspection / repair device, characterized in that the amount of movement of a linear motor that feeds and retracts a cable according to the amount is controlled.

  According to the present invention, inspection and inspection of the outer surface of the core shroud can be accurately moved in the circumferential direction to eliminate the need for cable monitoring and operation, and inspection and inspection can be performed in a short time.

  Hereinafter, an embodiment of an in-reactor inspection and repair apparatus according to the present invention will be described with reference to the drawings.

[First Embodiment (FIGS. 1 and 2)]
In the present embodiment, a case of underwater inspection and inspection work will be described as an example. FIG. 1A is a perspective view showing the overall configuration of the apparatus in the present embodiment, and FIG. 1B is an enlarged view showing the turning drive unit and the like shown in FIG.

  As shown in FIG. 1A, the in-reactor inspection / repair device 4 according to the present embodiment includes a turning drive unit 10 that moves in the horizontal direction along the core shroud 2. The turning drive unit 10 has a vertically long thin box shape, and includes a pair of propulsion force generating screws 5a and 5b arranged in parallel on the side surface thereof. These screws 5a and 5b are driven by motors 6a and 6b, respectively, and include wheels 7a and 7b and motors 8a and 8b that run in the circumferential direction along the outer surface of the core shroud 2.

  Further, the upper end portion of the core shroud 2 is provided with guides 9a and 9b having wheels 9c and 9c that can rotate in contact with the upper surface of the stepped portion provided at the upper end portion, thereby extending along the outer periphery of the core shroud 2. A turning drive unit 10 that can turn is configured.

  Below the swivel unit 10, a pair of vertical shafts 11a and 11b are provided in parallel, and ring-shaped linear motors 12a and 12b that pass through these shafts 11a and 11b and can be moved up and down are provided. Yes.

  Cable winding machines 14a and 14b for guiding the cables 13a and 13b of the linear motors 12a and 12b are provided at the upper ends of the shafts 11a and 11b, respectively, and are configured by guides 16a and 16b for holding the underwater moving vehicle 15. A mast 17 is provided.

  Inside the mast 17, a float (not shown) (a ballast tank capable of adjusting buoyancy by taking in and out water) can be disposed.

  In the above configuration, the in-reactor inspection / repair device 4 moves to the core shroud 2 in the reactor using the float buoyancy (not shown) of the mast 17 and propulsive force of the screws 5a, 5b and the motors 6a, 6b. By adsorbing to the outer surface of the core shroud 2 and pulling up the cable 18 of the in-reactor inspection / repair device 4, the in-reactor inspection / repair device is provided on the stepped portion 2a of the core shroud 2, as shown in FIG. 4 can be held.

  Next, with reference to FIGS. 2A and 2B, a method for supporting the inspection and inspection of the underwater mobile vehicle 15 in the in-reactor inspection / repair device 4 will be described. FIG. 2A is a perspective view showing the overall configuration of the in-reactor inspection / repair device 4 shown in FIG. 1A, and FIG. 2B shows the control operation unit 25.

  The cable 19 of the underwater vehicle 15 has a length necessary for the inspection range, and is shown in FIG. 2B through the linear motors 12a and 12b and the cable guides 20a, 20b, and 20c provided below the mast 17. It is connected to the control operation unit.

  Furthermore, by independently operating the underwater vehicle 15, the screws 21 a and 21 b that generate the propulsive force away from the guides 16 a and 16 b of the mast 17 along the horizontal direction of the underwater vehicle 15, the motors 22 a and 22 b, and the shroud outer surface Wheel 23a, 23b which travels in the circumferential direction.

  In addition, when the motor 24a, 24b is attracted to the core shroud 2 and travel is started, the motor 22a, 22b processes a rotation pulse signal from an encoder or a tachometer (not shown) by the control operation unit 25 to obtain the travel distance. The signal is converted and the linear motor 12a is lowered by the signal. Next, the linear motor 12b is lowered and the cable 19 is sent out through the cable guides 20a, 20b, and 20c.

  When the underwater moving vehicle 15 is separated by a certain distance, the screw 5a, 5b that generates a propulsive force along the horizontal direction of the turning drive unit 10, the motors 6a, 6b, and the wheel 7a that travels in the circumferential direction of the outer surface of the core shroud. , 7b, motors 8a, 8b, and guides 9a, 9b that contact and rotate on the upper surface of the stepped portion of the core shroud 2 for support. The cable 19 can be pulled back by raising the linear motor 12b and then raising the linear motor 12a.

  According to the in-reactor inspection / repair device 4 of the present embodiment configured as described above, the outer surface of the core shroud 2 is inspected by moving the underwater moving vehicle 15 along the core shroud 2 in the reactor pressure vessel. Can be carried out in detail while moving smoothly. In particular, it is possible to prevent cable breakage that occurs during movement of the underwater vehicle 15 and to reduce the load applied during contact and movement, thereby enabling accurate positioning with respect to the inspection position of the weld line.

  Further, according to the present embodiment, the outer surface of the core shroud 2 is moved to support the underwater moving vehicle while having a large structure, and the sensor of the underwater moving vehicle 15 is moved a certain distance along the outer surface of the core shroud 2. It is possible to move with good precision in the circumferential direction while maintaining the above, and to reduce the number of workers.

  It should be noted that the same operation and effect can be obtained even if the work device portion that performs inspection and inspection is replaced with another work device. Further, although not shown, a cleaning device such as a brush or a polishing jig, a water cleaning nozzle, a preventive maintenance device such as a water jet peening head or a laser peening head, or a repair device such as a welding head or a grinding jig. The same function can be obtained.

[Second Embodiment (FIGS. 3 and 4)]
FIG. 3 is a front view showing a configuration of shafts 11a and 11b, linear motors 12a and 12b, cable guides 20a and 20b, and the like as the second embodiment of the present invention.

  In the present embodiment, the cable 19 of the underwater vehicle 15 shown in FIG. 1 is wound around the cable guides 20a and 20b. The shafts 11a and 11b are configured to be adjusted by the amount of vertical movement of the linear motors 12a and 12b to which the cable guides 20a and 20b are attached.

  The principle of movement in this configuration is that magnets 26 and 26 are arranged inside shafts 11a and 11b to constitute linear motors 12a and 12b, and electromagnetic magnets are incorporated in these linear motors 12a and 12b, and linear motor 12a is arranged. , 12b can be raised or lowered by energizing them.

  In some cases, it may be difficult to confirm the current positions and movement amounts of the linear motors 12a and 12b during operation. Therefore, the linear motors 12a and 12b are provided with a magnetic sensor 27. The magnet 26 inside 11b is detected. With such a configuration, the position where the linear motors 12a and 12b have moved can be specified.

  Next, a method for confirming the amount of movement of the cable 19 of the underwater moving vehicle 15 shown in FIG. 1 will be described with reference to FIG. FIG. 4 is a front view showing the configurations and shapes of the shafts 11a and 11b, the linear motors 12a and 12b, and the cable guides 20a and 20b in the second embodiment of the present invention.

  As shown in FIG. 4, the cable 19 of the underwater vehicle 15 is white and black or a color cable having an arbitrary color (not shown), and a photoelectric sensor 28 is provided inside the cable guides 20a and 20b. The sensor 28 confirms the luminance of the cable 19 and specifies the amount of movement.

  According to the present embodiment, the movement amount of the linear motors 12a and 12b is controlled from the control operation unit 25 shown in FIG. 2 by using the photoelectric sensor 28 to detect the luminance of the cable 19 of the shafts 11a and 11b. It becomes possible.

  In addition, the cable 19 of the underwater mobile vehicle 15 is colored white, black, or other colors, and a method of detecting the luminance with the photoelectric sensor 28 is applied. It becomes possible to confirm.

  According to the present embodiment, the underwater moving vehicle 15 can be moved with high accuracy while having a simple configuration.

[Third Embodiment (FIG. 5)]
FIG. 5 is a front view showing configurations and shapes of the shaft 11a (11b), the linear motor 12c, and the monitoring camera 30 according to the third embodiment of the present invention.

  The monitoring camera 30 is incorporated in a camera case 29, and the camera case 29 is fixed to the side surface of the linear motor 12c. When the underwater moving vehicle 15 shown in FIG. 1 is monitored, the linear motor 12c is moved to a position where the underwater moving vehicle 15 can be confirmed.

  Thus, according to the present embodiment, since the position of the monitoring camera 30 can be changed from the control operation unit 25 by checking the underwater moving vehicle 15 with the monitoring camera 30, the underwater moving vehicle 15 is checked. The underwater mobile vehicle 15 can be moved by remote control with a simple configuration.

[Fourth Embodiment (FIGS. 6 and 7)]
FIG. 6 is a longitudinal sectional view showing a configuration of a boiling water reactor power plant having a tie rod 100 according to a fourth embodiment of the present invention, and FIG. 7 is a diagram showing a configuration of the entire apparatus in the present embodiment.

  As shown in FIG. 6, the present embodiment is directed to a boiling water nuclear power plant that has undergone seismic reinforcement. That is, in this embodiment, a plurality of tie rods 100 are attached between the upper part of the core shroud 2 of the core shroud and the lower part of the core shroud 2.

  Thus, this embodiment is applicable also to the plant to which the tie rod 100 is attached.

  FIG. 7 is a perspective view showing the overall configuration and shape of the in-reactor inspection / repair device 101. As shown in FIG. 7, the in-reactor inspection / repair device 101 of this embodiment has a rail 103 installed on the shroud upper ring 102, and a cart that turns along the rail 103 via wheels 104 a and 104 b. 105 is provided. The carriage 105 is provided with cylindrical masts 106a and 106b and elevating devices 107a and 107b for driving these masts 106a and 106b in the vertical direction. The carriages 108a and 108b for moving the lifting devices 107a and 107b and the like in the front-rear direction and the cable guide device 109 for feeding or returning the cables 13a and 13b are attached.

  The outer surface of the core shroud 2 is equipped with a telescopic mast 110 that is equipped with working equipment for performing various operations such as repair or maintenance, and can be expanded and contracted in the vertical direction. An underwater mobile vehicle 111 is connected to the lower part of the telescopic mast 110.

  The telescopic mast 110 is pressed against the stepped portion 2a of the core shroud 2 by the holding portions 112a and 112b of the cylindrical masts 106a and 106b provided on the bogie 105, and the bogie 105 is turned in the circumferential direction, thereby extending the telescopic mast. Inspection or repair can be performed by the work equipment of the underwater mobile vehicle 111 provided in 110.

  According to the in-reactor inspection / repair device 101 of this embodiment, it is possible to simultaneously inspect or repair a plurality of locations on the outer surface welded portion of the core shroud 2 in the reactor pressure vessel 1. In particular, in the present embodiment, the work equipment can be accurately moved in the circumferential direction by the underwater moving vehicle 111 provided in the telescopic mast 110 that is moved by the carriage 105.

  According to the present embodiment, it is possible to obtain an in-reactor inspection / repair device that can move in the circumferential direction with high accuracy while maintaining a constant distance along the outer surface of the pipe while maintaining a large configuration.

[Fifth Embodiment (FIGS. 8 to 10)]
8, FIG. 9 (a), (b) and FIG. 10 (a), (b), (c) have shown the structure of 5th Embodiment of this invention.

  First, FIG. 8 is a front view showing a telescopic mast 110 equipped with a working device for performing various operations such as repair or maintenance in the present embodiment and having a configuration capable of stretching in the vertical direction. As shown in FIG. 8, a drive unit 113 mounted on a stepped portion of the core shroud 2 and a guide 114 supported by the drive unit 113 are provided on the upper part of the telescopic mast 110 that can be expanded and contracted in the vertical direction. .

  Inside the drive unit 113, a cart 115 that can move the telescopic mast 110 in the circumferential direction is provided, and the cart 115 is provided with a rotation mechanism 116 that can rotate the mast unit 110. .

  The telescopic mast 110 includes a relatively short fixed mast 117 provided on the upper end side, and a movable mast 118 supported by the fixed mast 117 and extending downward. The fixed mast 117 includes a gear 119, A linear guide (not shown) is provided.

  Further, the moving mast 118 is connected via a gear 119 provided on the fixed mast 117 by a gear 121 connected to a motor 120 that drives the moving mast 118.

  Below the moving mast 118, a link mechanism 122 and a cable guide mechanism 123a capable of sending back the cable 123 of the underwater moving vehicle 111 are provided to apply a mast to the step portion of the core shroud 2. .

  The link mechanism 112 includes a gear 125 that is rotated by a motor 124, a pulley 126 that is rotationally driven by the gear 125, and a timing belt 127 that is wound around the pulley 126. It is possible to change from a state to a horizontal state.

  The cable guide mechanism 123a includes a pair of left and right shafts 128a and 128b, linear motors 129a and 129b that move the shafts up and down, and three cable guides 130a, 130b, and 130c. The cable 123 can be moved by the linear motors 129a and 129b.

  The telescopic mast 110 is provided with various work devices 131a, 131b, 131c, 131d, and 131e at predetermined positions in the vertical and circumferential positions.

  FIGS. 9A and 9B are plan views showing the configuration and shape of the rotation mechanism 116 in the present embodiment.

  As shown in FIGS. 9A and 9B, the rotation mechanism 116 is installed on the carriage 115, and the rotation shaft 132 is rotated by a motor 133 and a gear 134. FIG. 9A shows a state before the telescopic mast 110 is rotated, and FIG. 9B shows a state where the telescopic mast 110 is rotated.

  By adopting a configuration in which the telescopic mast 110 can be rotated, it is possible to avoid contact when the telescopic mast 110 is inserted into the narrow part of the furnace, and to align the telescopic mast 110 with the core shroud 2 in parallel.

  10A, 10B, and 10C are plan views showing the configuration and shape of the drive unit 113 in the present embodiment. 10A shows a state before the carriage 115 moves on the rails 135a and 135b in the drive unit 113, and FIG. 10B shows the carriage 115 in the right direction of FIG. 10A. The moved state is shown. FIG. 10C shows a state in which the carriage 115 is moved in the left direction.

  As shown in FIGS. 10A, 10 </ b> B, and 10 </ b> C, in the drive unit 113 of this embodiment, a carriage 115 is mounted on rails 135 a and 135 b, and the drive unit 113 has an opening. Is provided. A method of moving the opening in the horizontal direction by the drive motor 136 can be implemented.

  Further, as shown in FIGS. 10A, 10B, and 10C, the structure in which the telescopic mast 110 can be moved in the horizontal direction by the carriage 115 allows the drive unit 113 to move by interference. Even when it disappears, the telescopic mast 110 can be moved further.

  According to the telescopic mast 110 of the fifth embodiment, it is possible to simultaneously inspect or repair the stepped portion or the narrow portion of the outer surface welded portion in the core shroud 2 in the reactor pressure vessel 1. In particular, in a plant where the tie rod 100 (FIG. 7) is installed, the telescopic mast 110 can be shortened to allow passage. Also, the telescopic mast 110 can be rotated during insertion and moved while avoiding contact.

  According to the fifth embodiment described above, the in-reactor inspection / repair device capable of accurately moving the work equipment in the circumferential direction while maintaining a constant distance along the outer surface of the pipe even in a large configuration. Can be realized.

[Sixth Embodiment (FIG. 11)]
FIG. 11 is a front view showing the overall configuration of the in-reactor inspection / repair device 101 according to the sixth embodiment of the present invention. The in-reactor inspection / repair device 101 includes elevating devices 107a and 107b, a cable guide device 109, and the like. Show.

  As shown in FIG. 11, the in-reactor inspection / repair device 101 includes a carriage 105 that turns on a rail 103 installed on a shroud upper ring 102 via wheels 104 a and 104 b. On the carriage 105, a pair of cylindrical vertical masts 106a and 106b, elevating devices 107a and 107b for driving these masts 106a and 106b in the vertical direction, and elevating devices 107a and 107b in the front-rear direction ( Carriages 108 a and 108 b that move in the direction of the paper surface in FIG. 11 and a cable guide device 109 that feeds or returns the cable 123 are mounted.

  Further, on the outer peripheral surface side of the core shroud 2, a telescopic telescopic mast 110 that is equipped with working equipment for performing various operations such as repair or maintenance and can be expanded and contracted in the vertical direction is provided. 110 is held by the upper mast 106a (106b).

  In the apparatus configured as described above, when the telescopic mast 110 passes the side of the tie rod 100, one mast 106a is moved upward by the lifting device 107a, and the telescopic mast 110 is held only by the other mast 106b. Then, the side of the tie rod 100 is passed.

  Next, the one mast 106a is lowered by the elevating device 107a, the telescopic mast 110 is transferred and held on the mast 106a, and is cut off from the other mast 106b.

  Then, the mast 106b is moved downward by the elevating device 107b after being moved upward by the elevating device 107b and passing through the tie rod 100, so that the mast 106b can pass even if the tie rod 100 is installed.

  Next, the cable guide device 109 can send out and pull back the cable in accordance with the movement of the telescopic mast 110.

  As described above, according to the present embodiment, the telescopic mast 110 passes through the tie rod 100 by remotely controlling the masts 106 a and 106 b and the lifting devices 107 a and 107 b, and the core shroud 2 in the reactor pressure vessel 1. It is possible to simultaneously inspect or repair the stepped portion or the narrow portion in the outer surface welded portion, and the replacement of the expansion / contraction mast 110 can be eliminated.

  According to the present embodiment, even in a large configuration, the work equipment can be accurately moved in the circumferential direction while maintaining a constant distance along the outer surface of the core shroud 2 so that inspection and repair in the reactor can be performed. become.

(A) is a perspective view which shows the structure of the in-reactor inspection and repair apparatus by 1st Embodiment of this invention, (b) is the top view. (A) is a perspective view which shows the structure of the in-reactor inspection repair apparatus by 1st Embodiment of this invention, (b) is a block diagram which shows a control operation part. The front view which shows the structure of the in-reactor inspection repair apparatus by 2nd Embodiment of this invention. The front view which shows the structure of the in-reactor inspection repair apparatus by 2nd Embodiment of this invention. The front view which shows the structure of the in-reactor inspection repair apparatus by 3rd Embodiment of this invention. The figure which shows the installation site | part of the pressure vessel of the nuclear reactor by 4th Embodiment of this invention. The perspective view which shows the structure of the in-reactor inspection repair apparatus by 4th Embodiment of this invention. The front view which shows the structure of the in-reactor inspection repair apparatus by 5th Embodiment of this invention. (A), (b) is a top view which shows the structure and effect | action of the in-reactor inspection repair apparatus by 5th Embodiment of this invention. (A)-(c) is a top view which shows the structure and effect | action of the in-reactor inspection repair apparatus by 5th Embodiment of this invention. The front view which shows the structure of the in-reactor inspection repair apparatus by 6th Embodiment of this invention. The block diagram which shows the site | part relevant to this invention among the structures and structures of a pressure vessel of a nuclear reactor.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Reactor pressure vessel, 2 ... Core shroud, 3 ... Core shroud, 4 ... In-reactor inspection and repair device, 5a ... Screw, 5b ... Screw, 6a ... Motor, 6b ... Motor, 7a ... Wheel, 7b ... Wheel, 8a motor, 8b motor, 9a guide, 9b guide, 10 turning drive unit, 11a shaft, 11b shaft, 12a linear motor, 12b linear motor, 13a cable, 13b cable, 14a ... Cable winding machine 14b Cable winding machine 15 Underwater vehicle 16a Guide 16b Guide 17 Mast 19 Cable 20a Cable guide 20b Cable guide 20c Cable guide 21a Screw 21b, screw, 22a, motor, 22b, motor, 23a, wheel, 23 Wheel, 24a Motor, 24b Motor, 25 Control operation unit, 26 Magnet, 27 Magnetic sensor, 28 Photoelectric sensor, 29 Camera case, 30 Monitoring camera, 100 Tie rod, 101 Inside reactor Inspection and repair device, 102 ... Shroud upper ring, 103 · Rail, 104a · Wheel, 104b · Wheel, 105 · Dolly, 106a · Mast, 106b · Mast, 107a · Elevator, 107b · Elevator, 108a · Dolly, 108b · · · Dolly, 109 ... Cable guide device, 110 ... Telescopic mast, 111 ... Underwater moving vehicle, 112 ... Link mechanism, 113 ... Drive unit, 114 ... Guide, 115 ... Dolly, 116 ... Rotating mechanism, 117 ... Fixed mast, 118 ... Movement Mast, 119a, gear, 120, motor, 121, gear, 122, link mechanism, 123 Cable 124 124 Motor 125 Pulley 127 Timing belt 128a Shaft 128b Shaft 129a Linear motor 129a Linear motor 130a Cable guide 130b Cable guide 130c Cable Guide, 131a ... Working equipment, 131b ... Working equipment, 131c ... Working equipment, 131d ... Working equipment, 131e ... Working equipment, 132 ... Rotary shaft, 133 ... Motor, 134 ... Gear, 135a ... Rail, 135b ... Rail, 136 ... motor.

Claims (10)

A water-filled nuclear reactor is equipped with a camera for visual observation and work equipment for performing inspection, repair or maintenance work, and a submersible moving vehicle moving with a propulsion mechanism and wheels is moved into the reactor. Means, sending and returning means for sending and returning the cable of the underwater mobile vehicle in the reactor, monitoring means for monitoring the state of the underwater mobile vehicle, the moving means and the sending and returning means An in-reactor inspection / repair device comprising a control operation unit for controlling. 2. The in-reactor inspection / repair device according to claim 1, wherein the moving means for moving an underwater vehicle into the reactor includes a horizontal thruster that generates a propulsive force along a horizontal direction in the reactor and a float or water that generates buoyancy. A ballast tank that generates buoyancy by loading and unloading, a wheel that travels on the surface of the reactor internal structure, a wheel that travels on a stepped surface of the reactor internal structure, and a guide that holds the underwater moving vehicle at the bottom, An in-reactor inspection / repair device that is adsorbed on the surface of a reactor internal structure by the horizontal thruster and generates buoyancy by the float or ballast tank, and can be positioned at a stepped portion of the reactor internal structure. The in-reactor inspection / repair device according to claim 1, wherein the cable sending and pulling means includes a mast that can be expanded and contracted at a lower portion of the moving means, and the shaft containing the magnet in the mast and the shaft can be moved up and down. With a linear motor or a ball screw and a nut having a ring shape and containing an electromagnet inside, a cable guide is provided in the linear motor or the nut, and by moving the linear motor or the nut up and down, In-reactor inspection / repair device that can send and return cables. The in-reactor inspection / repair device according to claim 1 or 3, wherein the feeding and retracting means detects the position of the magnet of the shaft by providing the linear motor with a magnetic sensor, and detects the position by the magnetic sensor. In-reactor inspection and repair device that can control the amount of movement of the linear motor. The in-reactor inspection / repair device according to claim 1 or 3, wherein the sending and pulling means includes a photoelectric sensor in a cable guide attached to the linear motor, coloring the cable of the underwater vehicle, In-reactor inspection and repair device that can detect the amount of cable movement by detecting with a photoelectric sensor. 2. The in-reactor inspection / repair device according to claim 1, wherein the means for monitoring the state of the underwater mobile vehicle includes an underwater camera in a linear motor, and the linear motor is moved up and down to move the underwater mobile vehicle and the underwater vehicle. In-reactor inspection and repair device that enables monitoring of mobile vehicles. The in-reactor inspection / repair device according to claim 1, wherein means for inspecting and repairing the inside of the reactor filled with water with a camera for visual observation and a work device for performing inspection, repair or maintenance work, and An in-reactor inspection / repair device comprising means for moving a means for inspecting and repairing in a circumferential direction of a cylindrical reactor internal structure. The in-reactor inspection / repair device according to claim 3, wherein the mast that can be expanded and contracted includes a gear and a linear guide in the fixed mast, and the movable mast can be expanded and contracted by a gear that rotates the gear of the fixed mast by motor drive. Inspection and repair device. The in-reactor inspection / repair device according to claim 1, wherein the means for moving the inspection and repair means in the circumferential direction of the cylindrical reactor internal structure is a guide rail on the upper ring of the reactor internal structure. In a nuclear reactor provided with a holding mechanism and a cable guide device for holding a drive mechanism portion on a step portion of the reactor internal structure on the carriage. Inspection and repair device. Using the in-reactor inspection / repair device according to any one of claims 1 to 9, a rotation attached to a drive motor of a wheel that travels on a surface of an in-core structure of the underwater mobile vehicle by the control operation unit. A control method for an in-reactor inspection / repair device, which processes a signal of a sensor, calculates a movement amount, and controls a movement amount of a linear motor that sends and retracts a cable according to the movement amount.

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