JP2010051961A - In-liquid working apparatus and in-liquid working method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform various works at a remote point from a target site in water of a storage pool even if the space is narrow and obstacles are present. <P>SOLUTION: Remote control movable bodies ROV 6, 17, and 26 that move under water are provided with an electric winch 8 and a suction pad 6a connected to an air sac 6b, an endoscopic camera 22 and a sampling head 29. They are controlled using a console 13 or the like from the outside of a storage pool 1, so as to perform a work to transfer a vessel 2 from an inspection spot while adsorbing and holding the vessel 2 with the suction pad 6a, a work to observe the move trace using the endoscopic camera 22, or a work to collect substances adhering to the wall surface of the storage pool using the sampling head. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an apparatus for performing various operations in a liquid using a moving body that navigates in the liquid, and an operation method thereof.

  2. Description of the Related Art Conventionally, as an underwater work device for collecting an object existing in water, there are a robot and a collection device for the purpose of removing a shell from a sedimentation basin or a water channel (for example, see Patent Documents 1 and 2). Moreover, in a nuclear related facility, there is a method of recovering after removing water as a known example of a method of recovering waste in a solid waste storage tank (see, for example, Patent Document 3). There are also known examples of underwater inspection / cleaning robots in tanks and containers (see, for example, Patent Document 4).

Japanese Patent Laid-Open No. 05-163716 Japanese Patent Application Laid-Open No. 07-214019 JP-A-10-274698 Japanese Patent Laid-Open No. 11-188327

  Robots and recovery devices aimed at removing shells from sedimentation ponds and waterways did not take into account the recovery when there are narrow spaces or obstacles. In addition, in the method for collecting waste in the solid waste storage tank, the method for collecting in water has not been considered because of the method for collecting after removing water. In addition, robots that inspect and clean in the tank and in the container are robots that work in the water, but check the narrow area and the back of obstacles, obstructions that obstruct inspection, etc. It was not taken into account until it was recovered and rejected.

  The first object of the present invention is to provide an apparatus that engages in work to improve the work environment by rejecting obstacles that obstruct work in liquid, and the second object is to work in liquid. The third object is to provide an apparatus for collecting substances adhering to the wall surface in the liquid, even if there are obstacles that obstruct the observation work by the camera. .

  A basic configuration of an in-liquid working apparatus for achieving the first object of the present invention includes a moving body that navigates in liquid, and a handling apparatus that is mounted on the moving body and holds and releases the object in the liquid. And a traction device connected to the handling device.

  In order to achieve the second object of the present invention, the basic configuration of the submersible working device includes a moving body that navigates in liquid, a fixed arm that is mounted on the moving body so as to protrude from the moving body, and the movement A movable arm that is mounted on the body so as to be able to move forward and backward in the direction of the object to be observed, and an observation device that is suspended and supported by the movable end portion of the movable arm and that can change the direction of the capturing port of the observation object image Is a point.

  The basic configuration of the submerged working device for achieving the third object of the present invention includes a moving body that navigates in the liquid, a hood equipped in the moving body, and an opening of the hood inside the hood. A rotary brush that is supported so as to be able to advance and retreat in the direction of, a prime mover that drives the rotary brush, a suction device that sucks the liquid in the hood, a pressure control device that adjusts the pressure in the hood, And a seal member provided at the edge of the opening.

  If the submersible working device according to the present invention is used, even if there is a narrow part or an obstacle in the liquid without draining the water of the facility for storing the liquid such as a pool, the target observation for the part, Inspection, inspection, collection of foreign matter, repair, or collection of obstacles can be performed.

It is sectional drawing of the storage pool which stored the container in which the radioactive waste to which this invention was applied was stored. It is sectional drawing of the storage pool which stored the container in which the radioactive waste to which Example 1 of this invention was applied was stored. It is the whole figure which showed the structure of ROV in Example 1 of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the suction pad mounted in ROV in Example 1 of this invention, (a) A figure is the figure which looked at the inner surface of the suction pad, (b) A figure is a longitudinal cross-sectional view of a suction pad, (C) The figure is AA sectional drawing of (b) figure. 1 is a cross-sectional view of a recovery device in Example 1. FIG. It is the whole figure which showed the structure of ROV to which Example 2 of this invention is applied. It is the whole figure which showed the structure of ROV to which Example 3 of this invention is applied. It is sectional drawing which showed the internal outline | summary of the sampling head in FIG. FIG. 9 is a plan sectional view showing a mechanism for driving the rotating brush and the feed mechanism in FIG. 8 with one drive motor. FIG. 9 is an elevational view showing a mechanism for driving the rotating brush and the feed mechanism in FIG. 8 with one drive motor. It is AA sectional drawing of FIG. It is the figure which showed the modification of the suction pad by the Example of this invention, (a) A figure is a whole block diagram by a partial cross section display, (b) A figure is an AA arrow line view of (a) figure. . It is the figure which showed the modification of the combination structure of the movable arm by the Example of this invention, and an endoscope holder, (a) A figure is a whole block diagram by a partial cross section display, (b) A figure is a figure of (a) figure It is an AA arrow line view. It is sectional drawing which showed the modification of the sampling head in FIG. It is a general view of the underwater work apparatus which has ROV which employ | adopted the sampling head of FIG. FIG. 9 shows a modification of the mechanism for driving the rotating brush and the feed mechanism in FIG. 8 with a single drive motor. FIG. 8 (a) is a plan sectional view of the mechanism, and FIG. 8 (b) is a diagram of FIG. It is an AA arrow line view.

  The first embodiment of the present invention will be described below. As shown in FIGS. 1 and 2, a storage pool 1 that is a facility for storing water is configured such that a lining 4 is applied to an inner wall surface of a concrete housing 1 a and an opening 3 is only partially provided above. Have Such a storage pool 1 is used not only for nuclear facilities but also for sedimentation reservoirs and underground tanks that store liquids that are not very desirable for sewage treatment facilities and chemical plants.

  In the present embodiment, as one of nuclear facilities, a description will be given by applying the present invention to a facility in which a cylindrical container 2 sealed with radioactive waste is dumped into a storage pool 1 and stored in a submerged state. .

  A reinforcing base 16 h is placed above the vertical wall of the housing 1 a of the storage pool 1. A reinforcing floor 16i is placed above the reinforcing base 16h so as to cover the storage pool 1 above. The reinforcing floor 16 i has an opening 1 b having the same size as the opening 3 just above the opening 3 of the storage pool 1.

  In FIG. 1, a large number of containers 2 that become obstacles during underwater work are placed under the water surface 1c of the storage pool 1, that is, underwater. The storage pool 1 is in a radiation environment, and it is difficult for humans to work directly. Above the ceiling of the storage pool 1, that is, above the housing 1a, there is a space where the worker can work if he / she performs management necessary for radiation resistance. In addition, the ceiling of the storage pool 1 has an opening 3, and the container 2 is dumped into the storage pool 1. Therefore, it is difficult to perform various operations such as direct observation, inspection, inspection, and repair of the lining 4 because the container 2 becomes an obstacle.

  FIG. 2 shows a state in which an underwater work device for performing an operation of safely moving and collecting the container 2 that causes the narrow portion shown in FIG. 1 from the current position is applied to the storage pool 1. 3 shows the overall configuration of the underwater work apparatus, FIG. 4 shows the structure of the suction pad 6a mounted on the remotely controlled mobile body (hereinafter referred to as ROV) 6 of the underwater work apparatus, and FIG. Detailed configuration is shown.

  2 and 3, the ROV 6 that can be navigated by floating in the water in the storage pool 1 is capable of variably controlling the suction pad 6a for grasping and moving the underwater container 2 and the size for increasing the buoyancy. It has an air bag 6b. This ROV 6 is provided with a propulsion device in three dimensions including horizontal and vertical, and can travel underwater in the three dimensions. The ROV 6 is equipped with an illumination device and a video camera.

  The ROV 6 is equipped with a frame 6c that can be rotated up and down by a joint 6d. A suction pad 6a, which is a part of a handling device that holds and releases the container 2 that is a stored object, is fixed to the rotation free end side portion of the frame 6c. The ROV 6 has a built-in drive device that rotates the frame 6c in the vertical direction. Such ROV 6 is remotely controlled by the console 13 placed outside the storage pool 1. Signals necessary for the operation and electric power necessary for driving the ROV 6 are supplied by a cable 6m connected to the ROV 6. The cable 6m connected to the console 13 and the ROV 6 is detachably connected to the outside of the storage pool 1 by a cable connector 9d.

  The ROV 6 can perform navigation in the three-dimensional direction under water and rotational drive control of the frame 6c by remote control from the console. When maneuvering, the place illuminated by the illumination device mounted on the ROV 6 is imaged with a video camera, and the image is displayed on the monitor 14 or the image display device of the console, and the ROV 6 is remotely manipulated while viewing the image.

  The handling device mounted on the frame 6c includes a suction pad 6a, a power source of the handling device that applies a vacuum suction force to the suction pad 6a, and a hose 6k connected from the power source to the suction pad 6a. The power source of the handling device includes a tank 12 to which a hose 6k is connected, an air pump 12b connected to the tank 12, and a vacuum pump 12a that is also connected to the tank 12.

  When the vacuum pump 12a is driven and the gas in the tank 12 is exhausted by the vacuum pump 12a, the inside of the tank 12 and the hose 6k are evacuated and the vacuum is supplied to the suction pad. The suction pad 6a has a vacuum suction force. Can be demonstrated. When the air pump 12b is driven to supply air into the tank 12, the vacuum state in the tank 12 and the hose 6k is canceled and the vacuum suction force of the suction pad 6a is canceled. Therefore, the suction pad 6a can hold the container 2 by exhibiting a vacuum suction force, and can release the holding of the container 2 by releasing the vacuum. The middle of the hose 6k is connected by a connector 9c that attaches and detaches the middle of the hose 6k above the reinforcing floor 16i.

  As shown in FIG. 4, the suction pad 6a has a casing 6f having an inner peripheral surface having the same curvature as that of the outer peripheral surface of the container 2, and is mounted on the inner peripheral surface of the casing 6f along the edge of the casing 6f. A spacer for fixing and forming a space 6h between the seal member 6e and the inner peripheral surface of the casing 6f with a space therebetween, and a casing 6f communicating with the space 6h. And an intake port 6g fixed to the pipe. A hose 6k is connected to the intake port 6g. Therefore, a vacuum is supplied to the space 6h via the hose 6k or the vacuum in the space 6h is released, and the vacuum held by the suction pad 6a being vacuum-adsorbed on the container 2 as described above is released. You can release that hold.

  As shown in FIG. 3, an air bag 6b is connected as a buoyant body to the central portion of the casing 6f of the suction pad 6a. A tank 11 is connected to the air bag 6b via a hose 6n. The air pump 11b and the vacuum pump 11a are connected. When the air pump 11b is driven, the pressure in the tank 11 rises, compressed air is supplied from the tank 11 to the air bag 6b via the hose 6n, and the air bag 6b expands. Further, when the vacuum pump 11a is driven to exhaust the air in the tank 11, the air in the air bag 6b is exhausted from the air bag 6b and the air bag 6b contracts. Thus, the magnitude | size of the buoyancy given to the suction pad 6a and ROV6 by the air bag 6b is controlled by expanding and contracting the air bag 6b. In the middle of the hose 6n, the hose connector 9b is detachably connected to the outside of the storage pool 1.

  A traction device is connected to the central portion of the casing 6f of the suction pad 6a. As shown in FIG. 3, the traction device includes a wire rope 7 having one end connected to the center of the casing 6f, and an electric winch 8 having the other end of the wire rope 7 connected to be freely wound and unwound. And a wire rope 6p connected to the electric winch 8 to suspend and support the electric winch 8 at a position of a gas phase space between the water surface of the storage pool and the ceiling of the storage pool. The wire rope 6p is detachably connected in the middle by a connector 9a, and the end of the wire rope 6p is connected to the support frame 10 on the reinforcing floor 16i. Instead of connecting one end of the wire rope 7 to the casing 6f, the traction device may be connected to the ROV 6 by connecting one end of the wire rope 7 to the ROV 6.

  As shown in FIG. 5, the container recovery device 16 is disposed on the reinforcing floor 16 i. The container collection device 16 has the following configuration. That is, the housing 16f to which the casters 16g are attached is mounted on the reinforcing floor 16i as a carriage so as to be movable in a plane. The housing 16f is provided with a shielding cask 16c made of a radiation shielding material as a shielding container. The shielding cask 16c is opened only in the lower part, and the opening is freely opened and closed by an openable cask bottom 16d made of a radiation shielding material. The open / close type cask bottom 16d can be driven by a cask bottom opening / closing device 16e in a direction to close and open an opening of the shielding cask 16c. The cask bottom opening / closing device 16e includes a rack fixed to the open / close type cask bottom 16d, a pinion that meshes with the rack, and an electric motor that is provided in the housing 16f and rotates the pinion. The opening / closing action of the opening of the shielding cask 16c by the open / close cask bottom 16d is achieved by the rotation direction of the pinion by the electric motor.

  A gondola elevating device 16b is installed as an elevating device on the shielding cask 16c. The gondola lifting device 16b includes a ball screw screw shaft, a ball nut through which the ball screw screw shaft is passed, and an electric motor that rotationally drives the ball nut. The gondola lifting device 16b has a lifting stroke in which the downward extension of the ball screw screw shaft passes through the shielding cask and reaches below the water surface of the storage pool. A gondola 16a that accommodates the container 2 is fixed to an elevating shaft 16k that is a downward extension of the ball screw screw shaft.

  The gondola 16a has a size that can accommodate one container 2 and has a cylindrical shape that is closed at the top and bottom, and the side surface of the cylinder has a 180-degree angle region with a hinge 16p as a rotation center. The lid 16m can be opened and closed. The lid 16m is opened / closed by a watertight shielded motor incorporated in the hinge 16p, and the opening / closing drive is controlled by remote control. For this reason, a remote controller that remotely controls the motor incorporated in the hinge 16p is provided. A lighting device 16n is installed on the outer surface of the ceiling of the gondola 16a so that the work environment around the gondola 16a can be brightened.

  In such a gondola lifting device 16b, when the ball nut is rotationally driven by an electric motor, the ball screw screw shaft strokes up and down in accordance with the amount of rotation and in the direction of rotation. Therefore, when the above stroke is performed with the openable cask bottom open, the gondola 16a can be moved up and down between the water surface of the storage pool 1 and the shielding cask 16c.

  As a configuration of the container recovery device 16, a drying device 16j and a cleaning device 16o are provided in the shielding cask 16c. The cleaning device 16o includes a device that injects the cleaning liquid into the shielding cask 16c, and a device that collects, filters, and reuses the used cleaning liquid after the injection. The drying device 16j includes a warm air generator that supplies warm air into the shielding cask 13c, a dust collector that sucks in the warm air supplied in the shielding cask 13c and supplements dust and moisture that have been accompanied by the warm air. It has.

  It is to be avoided that the container recovery device 16 is directly mounted on the ceiling of the storage pool 1 due to the strength of the ceiling. Therefore, the reinforcement base 16h is installed on the floor surface directly above the concrete wall surrounding the storage pool 1, and the reinforcement floor 16i is placed on the reinforcement base 16h. The container recovery device 16 is casted by the casters 16g on the reinforcement floor 16i. I try to move. The load of the device or equipment that rides on the reinforcing floor 16i is distributed over the entire periphery of the storage pool by the reinforcing base 16h.

  The ROV 17 shown in FIG. 6 is an underwater working device used for observing the state of the surface of the lining 4 of the storage pool 1 or the substance attached to the surface. The ROV 17 and its operation console 23 are similar to the relationship between the operation console 13 and the ROV 6 in FIG. 3, and the ROV 17 can be remotely operated by the operation console 23. The cable 6m that connects the ROV 17 and the console 23 is connected to the outside of the storage pool 1 by a joint 23a that is detachable in the middle.

  A plurality of fixed arms of at least three or more are projected and fixed to the ROV 17 horizontally. Further, the ROV 17 is equipped with a movable arm 20 having a parallel link structure by a joint 19 so as to be rotatable up and down, and the movable arm 20 can be driven to rotate up and down by a motor built in the ROV 17. An endoscope holder 21 is fixed horizontally to the link member on the rotation free end side of the movable arm 20.

  An intermediate portion of the endoscope cable 6r is suspended and supported by the endoscope holder 21. The lower end of the endoscope camera 22 serves as a window for capturing an image to be observed. When the observation target is the surface of the lining 4, the lower end of the endoscope camera 22 can bend in the horizontal direction so that an image of the surface can be captured. As described above, the lower end of the endoscope camera 22 is configured to be controlled to change the direction from the console 23.

  Connected to the console 23 are a monitor for displaying an image of the inspection object captured by the endoscope camera as an image and a recording device for recording the image. The monitor is also configured to display an image captured by a video camera mounted on the ROV 17.

  The ROV 26 shown in FIG. 7 is an underwater work apparatus used for the work of collecting substances adhering to the surface of the lining 4 of the storage pool 1. The ROV 26 and its operation console 34 are similar to the relationship between the operation console 13 and the ROV 6 shown in FIG. 3, and the ROV 26 can be remotely controlled by the operation console 34. The cable 6m that connects the ROV 26 and the console 34 is connected to the outside of the storage pool 1 by a connector 30c that is detachable halfway.

  A movable arm 28 is mounted on the ROV 26 shown in FIG. 7 so as to be vertically rotatable via a joint 27. The movable arm 28 can be driven in the vertical rotation direction with the joint 27 as a rotation center by a motor built in the ROV 26. Have A sampling head 29 is fixed to the rotation free end portion of the movable arm 28.

  As shown in FIG. 8, the sampling head 29 includes a hood 29d fixed to the movable arm 28, a rotating brush 29a supported by a pressing spring 29b in the hood 29d, and the rotating brush 29a along the lining together with the pressing spring 29b. And a feed mechanism 29c that moves in the vertical direction. The rotary brush 29a can move forward and backward in the direction of the opening of the hood by the amount of spring stroke of the pressing spring 29b. The hood 29d is provided with an air supply port 29f that communicates with the hood 29d at the top and a water suction port 29g that communicates with the hood 29d at the bottom. An opening of the hood 29d is provided on the left side of the hood 29d in FIG. 8, and a seal member 29e is provided around the entire opening at the edge of the opening.

  A hose 29 h is connected to the air supply port 29 f of the sampling head 29 between the pump 31 and a connector 30 a that is detachable on the outside of the storage pool 1. Similarly, a hose 29i is connected to the water intake port 29g with the filter 32, and in the middle thereof is connected with a detachable connector 30b. A water absorption pump 33 is connected to the filter 32, and the water in the hood 29 d can be sucked by the water absorption pump 33 through the hose 29 i and the filter 32.

  The combination structure of the feed mechanism, the pressing spring, and the rotating brush in the hood is as shown in FIGS. In other words, the rotating mechanism of the rotating brush 29a transmits power from the shaft of the drive motor 36, and the gear 37a attached to the shaft 37a supported by the bearing 39a and the shaft 37c disposed at a place parallel to and different from the shaft 37a. , The gear 38b, the shaft 37d, the gear 38c, the belt 41 for transmitting power to the gears 38a, 38b, 38d, and the guide groove provided in the casing 29l can slide in the left-right direction in the figure. A slide bar 40a, 40b having bearings 39d, 39e and a gear 38d to which power is transmitted from the belt 41 are attached, and is constituted by a shaft 37e that slides together with the slide bar 40a, 40b. A rotating brush 29a is attached to the shaft 37e. It is attached. Since the pressing spring 29b is attached to the slide bars 40a and 40b, when the rotating brush 29a is pressed against the target surface, the slide bar moves to a place where the reaction force and the pressing spring force are balanced. The feed mechanism 29c includes a gear 42a attached to a shaft 37a, a shaft 37b supported by a bearing 39c, a rack 43 fixed to the inner wall of the reduction gear 42b and the hood 29d, and a rail portion on the inner wall of the hood 29d. The guide rail 29m. If this mechanism is used, the rotary brush 29a and the feed mechanism 29c can be driven by a single drive motor 36. Even when the rotary brush 29a is moved in the left-right direction in the drawing by the pressing spring 29b, the gear 38d is engaged with the belt 41, so that the rotary brush 29a can be driven. At this time, a speed reduction mechanism may be provided so that the constituent elements have an appropriate speed reduction ratio and rotation direction so that the rotating brush and the feed mechanism 29c have a predetermined speed.

  Next, each work by each underwater work device will be described below. If the container is leaning against the lining of the storage container, the space between the container and the lining is so narrow that the surface of the lining cannot be observed. In that case, as shown in FIG. 2, the ROV 6 is thrown into the water of the storage pool 1, and the ROV 6 is used to lean on the lining and safely move and collect the disturbing container 2 from the current position. I do.

  In the work, first, the gondola 16a of the container collection device 16 is lowered from the opening 3 into the water of the storage pool 1 by the gondola lifting device 16b. While the gondola 16a is being lowered, the illumination 16n is turned on to improve workability, and the lid 16m is opened when the gondola 16a reaches the water. Similarly, after inserting the ROV 6 into the water of the storage pool 1 from the opening 3, the operator remotely controls the ROV 6 with the console 13, and displays an image from the video camera mounted on the ROV 6 on the display device of the console 13 or While looking at the monitor 14, the ROV 6 is made to reach the collection target container 2.

  Next, the ROV 6 rotates the frame 6c around the joint 6d so that the angle of the suction pad 6a matches the angle of the target container 2 at the stationary state, and the seal member 6e of the suction pad 6a is attached to the container 2 as shown in FIG. As in 4, contact. The vacuum pump 12a is driven to evacuate the tank 12 so that the suction pad 6a is sucked and held in the container 2.

  After the holding of the container 2 by the suction pad 6a is completed, the wire 7 is wound up by the electric winch 8, and the container 2 held by the suction pad 6a is pulled up by pulling the suction pad 6a upward. This method is effective because it does not impose a burden on the ROV 6 when the container 2 is heavy. At this time, the pulled-up container 2 is suspended in a state vertically below the opening 3. Since the opening 3 is located in the center of the side surface of the storage pool 1 away from the lining 4, when the suction of the suction pad 6 a to the container 2 is canceled by driving the air pump 12 b here, the container 2 is separated from the suction pad 6 a. Then, the user can move down and move to the position immediately below the opening 3.

  When the container 2 is moved, neutral buoyancy of the container 2 may be achieved using the air bag 6b, and the container 2 held by the suction pad 6a may be moved using the thrust of the ROV 6. In this method, the inside of the tank 11 is pressurized by the air pump 11b and the pressurized air is supplied from the tank 11 to the air bag 6b to inflate the air bag 6b. By adjusting the amount of air supplied to the air bag 6b at this time, the medieval buoyancy of the container 2 can be achieved, or more buoyancy can be obtained, and the movement of the container 2 is facilitated. Moreover, if the vacuum pump 11a is driven and the air in the tank 11 is discharged, the air bag 6b will shrink | contract and buoyancy will fall and it can transfer to the operation | work which collect | recovers the next container.

  Thus, if the air bag 6b is utilized, the container 2 can be moved directly below the opening 3 of the storage pool 1 by the propulsive force of the ROV 6, so it is necessary to pull it using the wire 7 and the electric winch 8 Nor. However, a traction device using the wire 7 and the electric winch 8 may be connected to the ROV 6 so that both of them can be used together with the air bag 6b.

  In this case, when the space for inflating the air bag 6b around the container 2 cannot be taken, the air bag 6b is inflated by holding the container 2 with the suction pad 6a and then pulling it to a position where sufficient space can be obtained. The container 2 can be made neutral buoyant and moved using the thrust of the ROV 6.

  When collecting the container 2 dumped near the vertical lining 4, the air bag 6b is inflated to neutralize the container, and the container 2 is moved into the gondola 16a by the thrust of the ROV 6. The container 2 is placed in the casing 16l of the gondola 16a, and the suction of the suction pad 6a to the container 2 is released. After the ROV 6 has retreated from the vicinity of the gondola 16a to a safe position, the lid 16m of the casing 16l is closed, the gondola 16a is moved up by the gondola lifting device 16b and arrives in the shielding cask 16c, and the container 2 is stored together with the gondola 16a.

  Thereafter, the open / close type cask bottom 16d is closed by the cask bottom opening / closing device 16e. Then, the cleaning liquid from the cleaning device 16o is jetted into the shielding cask 16c with the lid 16m opened to purify the gondola 16a and the container 2 with the cleaning liquid. The cleaning liquid is purified again and ejected into the shielding cask again. After the cleaning operation is completed, warm air is blown into the shielding cask 16c from the warm air generator 16j of the drying device, and the inside of the gondola 16a, the container 2 and the shielding cask 16c is sufficiently dried. The warm air blown into the shielding cask 16c during the drying operation is again sucked into the hot air generator, filtered by a filter, overheated, and blown again. In this manner, the purified and dried container 2 is stored in the shielding cask 16c and is transported to the destination by the recovery device 16 being moved by the casters 16g, and is transferred to another storage pool or the like at the transport destination. The collection work is finished.

  After all the containers that have become obstacles when observing the lining 4 are collected or moved to an unobstructed position, the electric winch 8 is used inside the storage pool 1, and the wire 7 or electric winch is used. 8 is contaminated with water. Therefore, the electric winch 8 is discarded in the storage pool 1 without directly touching the contaminated site by disconnecting the joint 9a outside the work space of the worker, that is, the storage pool 1. Further, when the component equipment of the ROV 6 is deteriorated by radiation, the connector 9b, the connector 9c, and the connector 9d can be separated and discarded in the storage pool 1.

  As described above, by moving the container 2 that is in contact with or close to the lining 4, various types of observation, inspection, collection of deposits on the lining 4, and repair of the lining 4 are performed. A space where work can be performed can be secured, and work can be performed by an apparatus that performs observation, inspection, collection, repair, and the like. In addition, it is possible to safely move and collect the container 2 without directly touching the contaminants.

Thus, even if a wide observation work space is secured near the observation place of the lining 4, the observation work is performed when the container 2 exists around the observation work space and a sufficient work space cannot be obtained yet. The ROV 17 to be performed is put into the water in the holding pool 1 from the opening 3.
Thereafter, the ROV 17 is remotely controlled by the console 23. The operator moves the ROV 17 above the observation position while confirming the underwater image obtained by the video camera built in the ROV 17 on the monitor 24.

  Next, the ROV 17 is propelled in the direction of the lining 4, and the fixed arm is pressed against the lining 4 with the propulsive force of the ROV 17 to be stationary. The stationary position is a position where the movable arm 20 is rotated so that the tip of the endoscope camera 22 can reach the observation location. Accordingly, the ROV 17 is pressed and fixed to the lining 4 with a propulsive force, and the endoscope camera 22 can be prevented from shaking during observation by the endoscope camera 22.

  At this time, since the endoscopic camera 22 accesses the narrow space near the lining 4 only by the tip portion, if there is a slight gap that allows the endoscopic camera 22 to be inserted, An image of the surface of the narrow lining 4 can be obtained using the swing mechanism. Further, the endoscope 22 can be accurately positioned and finely adjusted by rotating the movable arm 20 up and down.

  During the observation work of the surface of the lining 4 by the endoscope camera 22, the image of the endoscope camera 22 is collected and recorded in the recording device 25. In addition, when the components of the ROV 17 are deteriorated by radiation, the ROV 17 can be dumped into the storage pool 1 by disconnecting the joint 23a and the connector 23b.

  In this manner, a space that can be reached by the ROV 17 is secured by moving or collecting the container that is approaching the lining 4, and the endoscope camera 22 is suspended from the ROV 17 that is stationary in the space, thereby narrowing the space. The observation work of 4 parts of the lining can be performed. When the observation location is the portion of the lining 4 that the moved container 2 is in contact with, the lower end of the endoscopic camera 22 is directed to that location, and the location can be photographed and recorded. it can.

  When observing the surface of the lining 4 and then collecting the adhering material adhering to the surface, the following sampling operation is performed. That is, the sample of the deposit | attachment adhering to the lining 4 is extract | collected using the structure shown in FIG. 7, The method is as follows. First, the operator throws the ROV 26 into the water in the storage pool 1 from the opening 3 and remotely controls the ROV 26 with the console 34. The operator moves the ROV 26 to the wall surface of the lining 4 with deposits while confirming the underwater image obtained by the camera built in the ROV 26 on the monitor 35.

  The movable arm 28 of the ROV 26 is rotated in the horizontal direction before the wall surface so that the opening of the hood 29d of the sampling head 29 faces the wall surface. Thereafter, the sampling head 29 is pressed against the lining 4 using the thrust of the ROV 26. In this way, the inside of the hood 29d of the sampling head 29 is sealed by the seal member 29e that contacts the lining 4.

  In this way, after the inside of the hood 29d is sealed, by driving the water absorption pump 33, the water in the hood 29d is absorbed through the suction hose 29i so that the inside of the hood 29d has a negative pressure compared to the outside of the hood 29d. Air is sent from the air pump 31 into the hood 29d through the hose while adjusting the flow rate so that the negative pressure relationship between the inside and outside of the hood 29d is established. As a result, the sampling head 29 is attracted to the wall surface, and the ROV 26 can also be fixed to the lining 4 side.

  Next, the rotating brush 29a pressed against the wall surface is rotationally driven by the drive motor 36, and the adhering matter adhering to the lining is scraped off from the lining by the rotating brush 29a as a sample, and the adhering matter is collected in the hood 29d. . After the sampling is completed, the air pump 31 removes air from the air pump 31 while pressing the sampling head 29 with the thrust of the ROV 26 or maintaining the negative pressure in the hood 29d in order to avoid dilution of the peeled sample due to water immersion in the hood 29d. The sample peeled off in the hood 29d is sucked together with the water in the hood 29d by the water absorption pump 33.

  The peeled sample sucked in this way is filtered by the filter 32. By collecting the filter 32, the worker can collect the sample with the minimum exposure amount. Further, when the ROV 26 is deteriorated by radiation, the ROV 26 can be dumped into the storage pool 1 by disconnecting the connector 30a, the connector 30b, and the connector 30c. By the above, the sample of the deposit | attachment adhering to the lining 4 can be extract | collected.

  The suction pad shown in FIG. 12 is a substitute for the suction pad 6a shown in FIGS. That is, as shown in FIG. 12, the suction portion 61 i having a cylindrical shape and a cylindrical curved surface having a bellows shape is closed at one end by a closing plate and opened at the other end. The closing plate is provided with a pipe passing through the inside and outside of the suction portion 61i as a discharge port 61j, and a lid 61k is provided so as to be openable and closable so as to close an end of the pipe constituting the discharge port 61j. The lid 61k is attached to a pipe constituting the discharge port 61j so as to automatically close the discharge port 61j by a spring force.

  A wire 61l is connected to the lid 61k, and the wire 61l is wound around a hoisting device driven by a hoisting motor 61m. For this reason, when the hoisting device is driven by the hoisting motor 61m, the wire 61l can be taken up or fed out of the hoisting device according to the rotational drive direction. The hoisting device may be built in the ROV 6 of FIG. 3 together with the hoisting motor 61 m or may be arranged outside the storage pool 1.

  Such a suction pad shown in FIG. 12 is attached instead of the suction pad 6a attached to the ROV 6 of FIG. The mounting is performed by fixing the closing plate of the suction portion 61i to the rotation free end of the frame 6c of the ROV 6.

  When the suction pad 61i is pressed against the container 2 to be recovered or moved by using the driving force of the ROV 6, the bellows structure part of the suction part 61i contracts and the pressure in the suction part 61i is reduced. The water rises and the water pushes up the lid 61k from the discharge port 61j and is discharged to the outside. When the water is completely discharged, the lid 61k is immediately closed by the spring force, so that the bellows structure portion of the contracted adsorption portion 61i does not extend to the original state. Therefore, the inside of the adsorption part 61i becomes a negative pressure, and the adsorption part 61i can adsorb to the container 2 and hold the container.

  When the container 2 is released from the suction pad shown in FIG. 12, if the wire 61l is wound by the winding motor 61m and the wire 61l is pulled, the lid 61k opens against the spring force, and the surrounding portion is placed in the suction portion 61i. Water flows in through the outlet 61j. Thus, when the surrounding water flows into the adsorption part 61i through the discharge port 61j, the pressure in the adsorption part 61i becomes equal to the surrounding pressure and the force adsorbing the container is lost, and the container 2 is adsorbed. It can leave | separate from the part 61i.

  Thus, the suction pad shown in FIG. 12 can hold and open the container 2, and this suction pad does not use the suction tank 12 or hose 6k shown in FIG. 3, but is equivalent to the underwater work device shown in FIG. Can be done. Moreover, even if this suction pad does not have the shape of the container 2 shown in FIG.

  The combination of the movable arm and the endoscope holder shown in FIG. 13 is a configuration used in place of the combination structure of the movable arm 20 and the endoscope holder 21 shown in FIG. That is, instead of the parallel link type movable arm 20 shown in FIG. 6, the movable arm 55 is horizontally fixed to the ROV 17 at the fixed joint 54 portion. As shown in FIG. 13, the movable arm 55 has a telescopic structure, and one end is fixed to the fixed joint 54. The movable arm 55 can be driven to extend and contract by a piston / cylinder device provided inside the movable arm 55.

  The endoscope holder 21 is fixed to the extendable end of the movable arm 55. The endoscope holder 21 includes a pair of rollers 21a that are rotationally driven by a motor 21b built in the endoscope holder 21, and a pair of guide rollers that are rotatably provided at upper and lower ends.

  The pair of rollers 21a and the guide roller are sandwiched between the endoscope holder 21 so that the cable of the endoscope camera 22 passes in the vertical direction. Therefore, when the roller 21a is rotationally driven by the motor 21b, the endoscopic camera 22 can be moved in the vertical direction according to the rotational driving direction, and the imaging height of the endoscopic camera 22 can be adjusted.

  If such a movable arm 55 and the endoscope holder 21 shown in FIG. 13 are employed in the ROV 17 in FIG. 6, the movable arm 55 is expanded and contracted in the horizontal direction to move to the wall surface of the lining 4 of the endoscope camera 22. The distance in the depth direction of the endoscope camera 22 can be adjusted by moving the endoscope camera 22 in the vertical direction by the endoscope holder 21, and the endoscope can be viewed in the narrow space. The tip of the mirror camera 22 can be inserted. The ROV 17 equipped with the above-described components shown in FIG. 13 can also perform underwater observation using the ROV 17 in FIG. 6. With this component, positioning when the endoscope camera is close to the distal end can be positioned horizontally. This is easy because it is a straight line operation in the vertical direction.

  The sampling head shown in FIG. 14 is replaced with the sampling head 29 shown in FIGS. 7 and 8 and is used in the ROV 26 of FIG. The sampling head shown in FIG. 14 has a hood 29d fixed to the rotation free end of the movable arm 28 of the ROV 26 of FIG. The hood 29d has an air reservoir 44 as shown in FIG. An air suction port 29j is attached to the upper portion of the air reservoir 44 in parallel with the air supply port 29f. A hose 29k is connected to the suction port 29j, and the hose 29k is connected to the vacuum pump 45 via the joint 30 outside the storage pool 1. Other configurations are the same as those shown in FIGS.

  When sampling is performed using such a sampling head, air is supplied from the air pump 31 and the air is stored in the air reservoir 44 before the sampling head is pressed against the wall surface of the lining 4. Next, after pressing the sampling head against the wall surface, the air in the air reservoir 44 is exhausted by the vacuum pump 45, and the inside of the hood 29d is set to a negative pressure compared to the outer periphery. Even in an ROV equipped with such a sampling head, operations similar to those in the embodiments shown in FIGS. 7 to 11 can be performed.

  By using the sampling head of FIG. 14, it is possible to reduce the amount of water in the sampling head and prevent sample dilution. In addition, when water is absorbed to make the negative pressure when the sampling head is not completely sealed, the water sucked into the hose dilutes the sample. In the case of the configuration of the sampling head in FIG. There is no fear of that.

  The rotary brush drive and feed mechanism shown in FIG. 16 is employed in place of the drive and feed mechanism 29c of the rotary brush 29a shown in FIGS. The drive and feed mechanism of the rotating brush shown in FIG. 16 is as follows.

  Here, the same reference numerals are given to the same components as those described in the embodiments in FIGS. 7 to 11, and the description thereof is omitted. The rotation mechanism of the rotary brush 29a includes a bevel gear 38e attached to the shaft 37a of the drive motor 36, a shaft 50 that is orthogonal to the shaft 37a and supported by bearings 39h and 39i, and a bevel gear 49 that transmits power to the shaft 50. And a gear 51 attached to the shaft 50, a slide bar 40c and a bearing 39k, which are arranged in parallel to the shaft 50 and are slidable in the left-right direction in the drawing along a guide groove provided in the casing 29l together with the bearing 39j. The shaft 52 is supported, and a gear 53 having a wide tooth width that transmits power from the gear 51 and slides along with the shaft 52. If this mechanism is used, the rotating brush 29a and the feeding mechanism 29c can be driven by a single drive motor. Even when the slide bar moves to a place where the reaction force and the pressing spring force are balanced, and the rotating brush 29a moves in the left-right direction in the figure, as long as the gear 53 fits the gear 51 within the tooth width, the rotating brush 29a It can be driven.

  The sampling head using the mechanism for interlocking the driving force of the rotating brush 29a and the feeding mechanism 29c with the single driving motor 36 is used in the ROV 26 of FIG. Is possible. When the configuration of FIG. 16 is used, the rotating brush is rotated in parallel with the wall surface of the lining 4, so that the irregular lining 4 wall that is received when the rotating brush of the longitudinal rotation drive according to the embodiment in FIGS. 7 to 11 is rotated. The reaction force from the lining 4 is reduced, the rotating brush can be prevented from jumping up from the lining 4 wall, and the depositing operation can be stably performed.

  The present invention includes inspection, inspection, collection of foreign matter, storage pools that store containers containing radioactive waste, precipitation reservoirs and underground tanks that store liquids that are less desirable for human bodies in sewage and chemical plants, It can be applied to repairs or object recovery.

  DESCRIPTION OF SYMBOLS 1 ... Storage pool, 2 ... Container, 3 ... Opening, 4 ... Lining, 6, 17, 26 ... ROV, 6a ... Adsorption pad, 6b ... Air bag, 6c ... Frame, 6d, 9, 19, 23a, 27 ... Joint, 6e, 29e ... Seal member, 6f, 16l, 29l ... Casing, 6g ... Intake port, 6h ... Space, 6i ... Discharge port, 6j ... Adsorption part, 6l, 7 ... Wire, 8 ... Electric winch, 9a, 9b , 9c, 23b, 30a, 30b, 30c ... connectors, 10 ... support frame, 11, 12 ... tank, 13, 23, 34 ... console, 14, 24, 35 ... monitor, 15, 25 ... recording device, 16 ... Container recovery device, 16a ... gondola, 16b ... gondola lifting device, 16c ... shielding cask, 16d ... cask bottom, 16e ... cask bottom opening / closing device, 16f ... housing, 16g ... caster, 16h Reinforcement base, 16i ... Reinforcement floor, 16j ... Drying device, 16k ... Elevating shaft, 16m ... Lid, 16n ... Illumination device, 16o ... Cleaning device, 18 ... Fixed arm, 20, 28, 55 ... Movable arm, 21 ... Internal view Mirror holder, 21a ... Rotating roller, 22 ... Endoscopic camera, 29 ... Sampling head, 29a ... Rotating brush, 29b ... Pressing spring, 29c ... Feeding mechanism, 29d ... Hood, 29f ... Supply port, 29g ... Water intake port, 29h 29i, 29k ... hose, 29j ... suction port, 29m ... guide rail, 31 ... air pump, 32 ... filter, 33 ... water pump, 36 ... drive motor, 37a, 37b, 37c, 37d, 37e, 50, 52 ... shaft , 38a, 38b, 38c, 38d, 42a, 51, 53 ... gears, 38e, 49 ... bevel gears, 39a, 39b, 39c, 39 , 39e, 39f, 39g, 39h, 39i, 39j, 39k ... bearing, 40a, 40b, 40c ... slide bar 41 ... belt, 42b ... reduction gear, 43 ... rack 44 ... air reservoir, 54 ... fixed joint.

Claims (11)

A moving body that navigates in the liquid;
A hood equipped on the moving body;
A rotating brush supported inside the hood so as to be capable of moving forward and backward in the direction of the opening of the hood; a prime mover that drives the rotating brush;
A suction device for sucking the liquid in the hood;
A pressure control device for adjusting the pressure in the hood;
A seal member provided at an edge of the opening of the hood;
A submersible working device.   In claim 1, the mobile body is to navigate in the liquid in the pool by remote control from the console, between the console of the mobile body and the portion of the mobile body thrown into the pool, The power source of the suction device and the portion of the suction device thrown into the pool, and the power source of the pressure control device and the portion of the pressure control device thrown into the pool are detachable. Submersible working device connected by a simple coupling device.   3. The submerged operation device according to claim 1, wherein the suction device includes a filter that filters the sucked liquid, and the pressure control device includes an air pump that is communicated with the hood.   4. The submerged working device according to claim 1, 2, or 3, further comprising a moving device that moves the rotating brush along an inner wall surface of a facility that stores the liquid.   The submerged working device according to claim 4, wherein a prime mover that drives the rotating brush is shared by the prime mover of the moving device. A moving body that navigates in the liquid;
A fixed arm mounted on the moving body so as to protrude from the moving body;
A movable arm equipped on the movable body so as to freely advance and retract in the direction of the observation object;
An observation device that is suspended and supported by the movable end portion of the movable arm, and that can change the direction of the capturing port of the observation target image;
A submersible working device.   The mobile unit according to claim 6, wherein the mobile unit navigates in a liquid in a pool by remote control from a console, and between the console of the mobile unit and a portion of the mobile unit that is thrown into the pool, A submerged working device in which a portion of the observation device arranged outside the pool and a portion of the suction device introduced into the pool are connected by a detachable coupling device. A moving body that navigates in the liquid;
A handling device that is mounted on the moving body and holds and releases the object in the liquid; and a traction device connected to the handling device;
A submersible working device comprising:
A submerged working system comprising any one of the submerged working apparatus according to claim 1 and the submerged working apparatus according to claim 6. A moving body that navigates in the liquid;
A handling device that is mounted on the moving body and holds and releases the object in the liquid; and a traction device connected to the handling device;
A submersible working device comprising:
A gondola for receiving and storing objects in the liquid from the submerged working device;
An elevating device for moving the gondola between the liquid and above the liquid level;
A shielding cask that is arranged to receive the gondola moved by the lifting device at a moving position above the liquid level, and an opening for receiving the gondola is openable and closable;
A transport device that supports and moves the shielding cask;
A submerged working device according to claim 1;
An in-liquid working device according to claim 6;
Submerged work system equipped with. Transporting the handling device to an object in the liquid with a moving body that navigates in the liquid;
Engaging the handling device with the object;
Towing the handling device together with the object with a towing device to retract the object from the position before towing,
A submerged work method for expanding a submerged work space by expanding a space from which the object is retracted. Transporting the handling device to an object in the liquid with a moving body that navigates in the liquid;
Engage and carry the handling device with the object;
Transfer the object that has been transported from the handling device to a lifting means that moves up and down across the liquid level of the liquid,
The object transported above the liquid level by the elevating means is stored and confined in a shielding container,
A submerged working method of transporting the object from a place where the object is stored to another place by drying and collecting dust in the shield container in a state where the object is confined in the shield container.

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