JP2012037299A - In-reactor structure operation device and in-reactor structure operation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform a wide range operation in a short period of time without using a crane or manpower so much when performing an operations such as inspection and repairment on a wall surface of an in-reactor structure, such as a shroud.SOLUTION: Horizontal travel mechanisms 8, 9 are mounted on a cylindrical structure 2 in a reactor pressure vessel 1 and travel horizontally along on the cylindrical structure 2 by a wheel, and a hollow mast 10 is carried by the horizontal travel mechanisms 8, 9 and is expandable and contractable. An expansion operation mechanism 13 can be stored and expanded with respect to the inside of the mast 10, and approaches or comes into contact with the wall surface of the cylindrical structure 2 to perform operation when expanded.

Description

  The present invention relates to an in-reactor structure working apparatus and method for performing various operations such as cleaning, inspection, inspection, preventive maintenance, and repair of a shroud as an in-furnace structure installed in water in a nuclear power plant.

  Here, the inspection and inspection work of the shroud weld line performed in the water in the reactor by opening the upper part of the reactor pressure vessel when the reactor operation is stopped will be described as an example. The inspection and inspection work of the shroud weld line in the reactor water is required to be performed in parallel during the fuel change in order to shorten the work period and reduce the cost. Advantages of working time, inspection range, and cost Sex is required.

  The following has been proposed as a method for remotely and automatically performing inspection, inspection and preventive maintenance of the shroud as the reactor internal structure in the reactor water.

(1) A method using a mechanical moving means such as a guide for positioning the working device (2) A method using a transport vehicle for positioning the working device (3) A method for accessing the shroud with an underwater swimming vehicle (4) Method of installing work platform on top of reactor As a method related to the above (1), for example, in the method described in Patent Document 1, the shroud support plate is circumferentially arranged in the annulus portion outside the reactor shroud. In order to move, the tow rope is operated and moved from above the work carriage at the top of the furnace. In addition, in the method related to (1) above, an access arm suspended along the outer side of the shroud is mounted on a circumferential traveling carriage installed on the upper part of the shroud in the nuclear reactor, and the work device is moved and installed on the outer periphery of the shroud. There is also a way to do it.

  As a method related to the above (2), for example, in the method described in Patent Document 2, the inspection device in the jet pump is transported by a swimming large vehicle to the jet pump installed in the annulus portion in the nuclear reactor. The work equipment is installed remotely.

  As a method related to the above (3), for example, in the method described in Patent Document 3, the shroud is accessed by an underwater vehicle swimming and moving in the water in the nuclear reactor, and is self-propelled in the circumferential direction while adsorbing to the shroud wall surface. ing.

  As a method related to the above (4), for example, in the method described in Patent Document 4, a circular work platform is installed on the upper part of the reactor to perform the work in the reactor. As a result, a plurality of in-furnace operations can be performed in parallel.

JP 2007-309788 A US Patent Publication 2006/0227921 Japanese Patent No. 3819380 JP 2003-255077 A

  Conventionally, inspection and inspection of the weld line for the shroud, which is the main structure in the nuclear reactor, is carried out by the operator operating the inspection and inspection vehicle and access device from the top of the fuel exchanger and work carriage to the target weld line. The worker is proceeding with direct confirmation of the positioning of the machine and monitoring of the operation status. As a result, the working time varies and delays tend to occur.

  Furthermore, in order to shorten the work period and reduce costs, it is required that the inspection and inspection of the shroud be performed in parallel with the refueling, and the work time is short, the inspection range is wide, and the cost is low. This is necessary for work systems that perform inspections and inspections.

  As a technique for remotely / automatically inspecting and inspecting the shroud weld line, for example, in the technique described in Patent Document 1, mechanical moving means such as a guide is used for positioning the working device. However, as in Patent Document 1, in the method of installing a tow rope or a moving guide from a fuel changer or work cart at the top of the furnace, a fuel changer or work cart is always indispensable even during inspection and inspection. It is considered unsuitable for parallel work. Further, since the working device moves on the shroud support plate, it is considered that it is not suitable for the weld line above the shroud. Furthermore, as in the method related to (1) described above, in the method of moving by using the furnace internal structure such as the shroud upper shell as a guide, the work device is attached to the tip of the elastic structure such as a mast and installed on the outer periphery of the shroud. Therefore, it is necessary to move while avoiding the jet pump, and there is a possibility that the working time will be increased, for example, the installation change of the moving device becomes necessary.

  In the technique described in Patent Document 2, a transport vehicle is used for positioning the working device. However, as in Patent Document 2, the method using the transport vehicle does not require a work carriage or an overhead crane to install the work device, and can position the work device at an arbitrary place without using these. However, since the ratio depending on human skill is large, there is a possibility that the improvement of work reliability and the shortening of work time may be hindered.

  Furthermore, in the technique described in Patent Document 3, the working device is positioned by accessing the outer periphery of the shroud by a vehicle moving in the water in the reactor. However, the method using the vehicle that moves in the water in the reactor as in Patent Document 3 can reduce the size of the device, and can perform a wide range of inspections in a short time with a small number of installations. The cable must be adjusted by a human when moving the cable, the cable status must be monitored, and the extra cable length must be adjusted by human judgment, which may hinder improved work reliability and reduced work time. There is.

  In the technique described in Patent Document 4, the work platform is fixedly installed or moved to the upper part of the reactor. However, in the method of installing the platform in the upper part of the furnace as in Patent Document 4, it is possible to operate and monitor directly from above, but the platform has a large amount of work and requires a large number of man-hours for installation and removal. There is a possibility of increasing the cost.

  The present invention has been made in order to solve the above-described problems, and in carrying out operations such as inspection and repair of reactor internal structures such as a shroud while the reactor is shut down, it requires a short time without much labor. In addition, it is an object to enable a wide range of work to be performed without using a crane or a work carriage during the work.

  In order to achieve the above object, an in-reactor structure working apparatus according to the present invention is mounted on a cylindrical structure disposed in a reactor pressure vessel with its axis vertical when the reactor is shut down. A horizontal travel mechanism that travels horizontally along the cylindrical structure in the circumferential direction of the cylindrical structure, and is attached to the horizontal travel mechanism and can extend and contract at least when it extends in the vertical direction. A hollow mast, and a deployment work mechanism that can be stored and deployed with respect to the inside of the mast, and that works when approaching or contacting the wall surface of the cylindrical structure when deployed. .

  Further, the reactor internal structure working apparatus according to the present invention is placed on a cylindrical structure arranged in a reactor pressure vessel with the axis vertical, when the operation of the reactor is stopped, and the cylinder A horizontal traveling mechanism that travels horizontally in the circumferential direction of the cylindrical structure along the structure, and a hollow mast that is attached to the horizontal traveling mechanism and can expand and contract at least when extended in the vertical direction; An underwater vehicle connected to a cable penetrating the mast and performing an operation while approaching or contacting a wall surface of the cylindrical structure.

  In order to achieve the above object, the reactor internal structure working method according to the present invention is a method in which the cylindrical structure arranged with its axis vertical is stopped when the nuclear reactor is shut down in the reactor pressure vessel. A reactor internal structure work method in which a deployment work mechanism is deployed to approach or contact an outer wall surface of a cylindrical structure to perform an operation, wherein the upper part of the reactor pressure vessel is opened and the reactor pressure vessel is opened. In a state filled with water, a transport mounting step for transporting a traveling mechanism to which a mast is attached from above the reactor pressure vessel and mounting it on the upper end of the cylindrical structure, and the transport mounting step A horizontal traveling step for traveling by the traveling mechanism horizontally in the circumferential direction of the cylindrical structure along the upper end of the cylindrical structure, and a work site of the cylindrical structure after the horizontal traveling step. Towards the said A mast extending step for extending a strike, an unfolding step for unfolding the unfolding working mechanism disposed in the mast at a working site of the cylindrical structure after the mast stretching step, and the cylindrical structure after the unfolding step And a work traveling step for performing work on the wall surface of the object.

  In addition, the method for operating a reactor internal structure according to the present invention provides an outer wall surface of the cylindrical structure at the time of shutdown of a nuclear reactor in which a cylindrical structure arranged with a vertical axis is placed in a reactor pressure vessel. A reactor internal structure working method in which an underwater vehicle is approached or brought into contact with the reactor, the upper part of the reactor pressure vessel is opened, and the reactor pressure vessel is filled with water. A transport mounting step for transporting a traveling mechanism attached with a mast from above the reactor pressure vessel and placing it on the upper end of the cylindrical structure, and an upper end of the cylindrical structure after the transport mounting step. Along the horizontal direction of the cylindrical structure along the circumferential direction of the cylindrical structure, and a horizontal traveling step in which the traveling mechanism travels, and after the horizontal traveling step, the mast stretching extends the mast toward the working part of the cylindrical structure. Ste And after the mast stretching step, an approach operation step for moving the underwater vehicle disposed at the tip of the mast closer to a work site of the cylindrical structure, and after the approach operation step, the underwater vehicle is moved. And a work traveling step for performing work on the wall surface of the cylindrical structure.

  According to the present invention, when performing a work such as inspection and repair of a reactor internal structure such as a shroud while the nuclear reactor is shut down, a crane or a work cart can be used in a short time without much labor. A wide range of work can be done without using it.

It is a fragmentary sectional elevation view which shows the state which installed 1st Embodiment of the reactor internal structure working apparatus which concerns on this invention in the nuclear reactor. It is a fragmentary sectional elevational view which shows the state which set the mast in FIG. 1 to the horizontal posture. It is the side view which looked at the reactor internal structure operation | work apparatus of FIG. 1 from the arrow III direction, Comprising: It is a figure which shows the state which expanded the expansion | deployment arm by reducing the wide range rather than FIG. FIG. 2 is an enlarged partial cross-sectional elevation view showing the in-reactor structure working apparatus of FIG. 1. It is the partial cross section side view seen from the arrow V direction of FIG. FIG. 6 is an enlarged partial cross-sectional elevation view showing a mast drive structure of the in-reactor structure working apparatus of FIG. 5. It is a cross-sectional view which shows the internal structure of the mast of FIG. It is a fragmentary sectional elevation view which expands and shows the drive structure of the inspection repair drive part in 1st Embodiment of the reactor internal structure working apparatus. It is a fragmentary sectional elevation view which expands and shows the camera and sensor of the inspection repair drive part in 1st Embodiment of the reactor internal structure working apparatus. It is a fragmentary sectional elevation view which shows the state which installed 2nd Embodiment of the reactor internal structure working apparatus which concerns on this invention in the nuclear reactor. It is the side view which looked at the reactor internal structure operation | work apparatus of FIG. 10 from the arrow XI direction. It is a fragmentary sectional elevation view which expands and shows the reactor internal structure operation | work apparatus of FIG. It is the partial cross section side view seen from the arrow XIII direction of FIG. FIG. 13 is an enlarged partial cross-sectional elevation view showing a mast lower end portion and an underwater vehicle of the reactor internal structure working apparatus of FIG. 12. It is a block diagram which expands and shows the underwater vehicle of FIG.

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

(First embodiment)
FIG. 1 is a partial sectional elevational view showing a state in which a first embodiment of a reactor internal structure working apparatus according to the present invention is installed in a nuclear reactor. 2 is a partial cross-sectional elevational view showing a state where the mast in FIG. 1 is in a horizontal posture. FIG. 3 is a side view of the in-reactor structure working apparatus of FIG. 1 as viewed from the direction of arrow III, and shows a state in which a deployment arm is expanded by reducing a wider range than FIG. 4 is an enlarged partial cross-sectional elevation view of the reactor internal structure working apparatus of FIG. FIG. 5 is a partial cross-sectional side view seen from the direction of arrow V in FIG.

  The in-reactor structure working device 6 shown here will be described as an example of the case where it is used for inspection and inspection work of the weld line of the shroud 2 that is a cylindrical structure when the operation of the boiling water reactor is stopped.

  In FIG. 3, the reactor pressure vessel 1 has a cylindrical shape whose axis is vertical, and a shroud 2 that is a cylindrical structure coaxial with the reactor pressure vessel 1 is installed therein. An upper ring 7 is disposed along the circumference of the upper end of the shroud 2. A plurality of jet pumps 3 are arranged in an annular portion between the shroud 2 and the reactor pressure vessel 1. The upper end of the jet pump 3 is lower than the upper ring 7. Above the shroud 2, a water supply spudger 4 and a core spray pipe 5 are installed along the inner wall of the reactor pressure vessel 1.

  The in-reactor structure working device 6 is installed on the upper ring 7 of the shroud 2 using a crane or a conveying means (not shown). At this time, the nuclear reactor is stopped, and the upper cover (not shown) of the reactor pressure vessel 1 and the shroud head, the steam separator, the steam dryer, etc. (not shown) installed above the shroud 2 (not shown). ) Is removed, and the reactor pressure vessel 1 is filled with water.

  The in-reactor structure working device 6 includes a left / right moving stage 8 that can move horizontally in the left / right direction (circumferential direction of the shroud 2), and a horizontal movement in the front / rear direction (radial direction of the shroud 2) toward the reactor pressure vessel 1 side. A possible back-and-forth moving stage 9 is arranged. A mast 10 that can be freely expanded and contracted and a cable processing device 11 capable of feeding or collecting a cable are disposed on the mast 10 on the back and forth moving stage 9. The mast 10 can be expanded and contracted by feeding or collecting 14. A rotation drive mechanism 12 for changing the attitude of the mast 10 is attached to the mast 10.

  An inspection / repair drive unit 13 as a deployment work mechanism is arranged in the tip (lower end) direction of the mast 10. The mast 10 provided with the inspection / repair drive unit 13 is inspected / repaired using the cable processing device 11. The drive unit 13 is extended to the vicinity of the weld line inspection site of the shroud 2, the inspection / repair drive unit 13 is driven to expand in the direction of the shroud 2 from the tip of the mast 10, and an inspection sensor (described later) mounted on the inspection / repair drive unit 13 is shroud. Close to 2 in contact.

  In the reactor internal structure working device 6, two wheels 15 a and 15 b are arranged on the left and right, and a drive motor 17 is connected to the wheel 15 a via a gear 16 to drive the drive motor 17. Thus, the vehicle travels left and right along the upper ring 7. Further, the reactor internal work device 6 is provided with a left / right moving stage 8 that can move horizontally to the left and right, a drive motor 18 is connected to a ball screw (not shown), a nut (not shown) of the ball screw is driven, and a linear guide 19a. Then, the linear guide 19b moves horizontally. Further, a front / rear moving stage 9 that can move horizontally back and forth is provided on the left / right moving stage 8, a drive motor is connected to a ball screw (not shown), a nut (not shown) of the ball screw is driven, and a linear guide 21a, linear guide It moves horizontally back and forth at 21b.

  Here, as a method of horizontally moving the mast 10 in the circumferential direction (left and right direction) of the shroud 2, the left and right moving stage 8 is driven by the method of rotating the wheels 15a and 15b and the linear guide 19a and linear guide 19b. There are two methods. The former is for large movements and the latter is for precise control of small movements.

  The mast 10 includes an outer cylinder 10a and an inner cylinder 10b that are coaxial cylindrical bodies. The inner cylinder 10b is disposed inside the outer cylinder 10a, and is configured to be slidable within a range that does not come out in the axial direction (described later with reference to FIGS. 5 and 6). An inspection / repair drive unit 13 on which an inspection sensor 22 is mounted is housed by a cable 14 inside the inner cylinder 10b.

  A cable processing device 11 is installed in the outer cylinder 10a. The cable processing device 11 sandwiches the cable 14 between a rotating roller 23a, a rotating roller 23b, a guide roller 24a, and a guide roller 24b, and a driving motor 26 rotates the rotating roller 23a. The cable 14 is sent out and returned by rotating.

  A rotation driving mechanism 12 that rotates the mast 10 from a standing position to a horizontal position is fixed to the front / rear moving stage 9 via the connection pipe 27 in the outer cylinder 10a. it can. Therefore, it is possible to change the posture of the mast 10 by rotating the rotation drive mechanism 12. By setting the mast 10 to the horizontal posture, the center of gravity of the in-reactor structure working device 6 can be kept low, and the posture during transportation can be stabilized. Further, by placing the mast 10 in the horizontal posture, it is possible to avoid the tie rod disposed on the shroud 2 or the LPCI (low pressure water injection system) coupling (not shown) and move to the entire circumference.

  Further, the rotation drive mechanism 12 is provided with a mast rotation drive unit 29 for rotating the outer cylinder 10 a and the inner cylinder 10 b, and can be rotated by driving the drive motor 30. Each cable of the motor can be connected to a control panel (not shown) on the operation floor (not shown) by a composite cable 31 via a cable relay box (not shown) and remotely controlled.

  6 is an enlarged partial cross-sectional elevational view showing a mast drive structure of the in-reactor structure working apparatus of FIG. FIG. 6 shows a state in which the inner cylinder 10 b extends from the outer cylinder 10 a of the mast 10. FIG. 7 is a cross-sectional view showing the internal structure of the mast of FIG.

  As shown in FIGS. 6 and 7, in the mast 10, the outer cylinder 10a and the inner cylinder 10b have different outer diameters, and the inner cylinder 10b is formed to have a smaller diameter than the outer cylinder 10a. The outer cylinder 10a has a groove 31a and a groove 31b that are arranged opposite to each other in the axial direction, while the inner cylinder 10b has a block 32a and a block 32b that move up and down along the groove 31a and the groove 31b. Are arranged respectively.

  In FIG. 6, a fixing ring 33 formed in a ring shape is fixed to the upper end of the inner cylinder 10 b, and a fixing metal fitting 34 is fixed to the fixing ring 33. The cable 14 of the inspection / repair drive unit 13 passes through the fixing bracket 34.

  In order to extend the mast 10, the cable processing device 11 (see FIG. 6) sends out the cable 14 of the inspection / repair drive unit 13, so that the inner cylinder 10 b to which the tip of the cable 14 is attached is lowered at the same time. The fixing ring 33 and the fixing bracket 34 fixed to the rear end portion of the inner cylinder 10b are also lowered, and the inspection / repair driving portion 13 provided at the tip portion of the inner cylinder 10b is lowered, whereby the inspection site in the height direction of the shroud 2 is obtained. And the inspection sensor 22 can be aligned.

  Next, when the mast 10 is rotated by the drive motor 30 of the mast rotation drive unit 29 by the block 32a and the block 32b of the inner cylinder 10b fitted into the groove 31a and the groove 31b of the outer cylinder 10a, respectively, the inspection and repair of the inner cylinder 10b is performed. The drive unit 13 rotates, and the inspection portion and the inspection sensor 22 can be aligned in the circumferential direction of the shroud 2.

  Moreover, the cable processing apparatus of the reactor internal structure working apparatus 6 of this embodiment is demonstrated. In FIG. 6, the cable 14 of the inspection / repair drive unit 13 is disposed so as to pass between the rotating roller 23a and the guide roller 24a and between the rotating roller 23b and the guide roller 24b. A gear 25a is disposed on the rotating roller 23a, and a drive motor 26 is attached to the gear 25a via a gear (not shown). The rotating roller 23a is coupled to the timing pulley 25b, and the rotating roller 23b is coupled to the timing pulley 25c. The timing pulley 25b and the timing pulley 25c are interlocked by a timing belt 25d. By driving the drive motor 26, the rotating roller 23a and the rotating roller 23b can be rotated simultaneously via the timing belt 25d.

  A guide roller 24a and a guide roller 24b are disposed above the rotating roller 23a and the rotating roller 23b so as to sandwich the cable 14. The guide roller 24a and the guide roller 24b for the cable 14 are respectively adjusted by the adjusting bolt 24c and the adjusting bolt 24d. The pressing force can be adjusted.

  With the configuration described above, the cable processing device 11 can stably lift and unwind the cable 14.

  In addition, a rotation roller 24e is arranged so that the cable 14 can be directly touched so that the amount of the cable 14 fed out can be confirmed by the cable processing device 11, and a rotary distance measuring sensor is attached to the rotation roller 24e. It is possible to control the feed amount.

  FIG. 8 is an enlarged partial cross-sectional elevational view showing the drive structure of the inspection / repair drive unit in the first embodiment of the reactor internal structure working apparatus. FIG. 8 shows a state where the deployment arm 35 of the inspection / repair drive unit 13 is deployed.

  As shown in FIG. 8, one end of the deployment arm 35 is connected to the inner wall surface of the inner cylinder 10b via a link-type connection fitting 37a. A cylinder 36 that is driven by air pressure or water pressure is attached to the inner surface of the tip (lower end) of the inner cylinder 10b via a link connection 38b, and the tip of the piston 36a of the cylinder 36 is a link connection fitting. It is connected to the center of the deployment arm 35 via 37b. Furthermore, the side surface of the cylinder 36 is connected to the inner wall surface of the inner cylinder 10b via a link type connecting portion 38a.

  Accordingly, when the cylinder 36 is driven to extend the piston 36a, the cylinder 36 rotates in the clockwise direction, and the deployment arm 35 rotates in the counterclockwise direction until it reaches the horizontal position. When the cylinder 36 is driven to retract the piston 36a, the cylinder 36 and the deployment arm 35 are accommodated in the mast 10b by rotating the cylinder 36 counterclockwise while the deployment arm 35 rotates clockwise. Can do.

  FIG. 9 is an enlarged partial cross-sectional elevation view showing the camera and sensor of the inspection / repair drive unit in the first embodiment of the reactor internal structure working apparatus.

  As shown in FIG. 9, the inspection sensor 22 a and the inspection sensor 22 b are attached to the other end of the deployment arm 35 via a sensor mounting bracket 39.

  In the vicinity of one end of the deployment arm 35, an underwater camera 40 as a monitoring camera capable of confirming the position of the inspection site on the wall surface of the shroud 2 and the inspection sensor 22 a and the inspection sensor 22 b is attached by a mounting bracket 41. Yes. Therefore, the underwater camera 40 can confirm whether the inspection sensor 22a and the inspection sensor 22b are correctly inspecting the inspection portion of the wall surface of the shroud 2.

  Next, a method for inspecting and inspecting a weld line of the shroud 2 that is a reactor internal structure using the reactor internal structure work apparatus 6 of the present embodiment will be described.

  As shown in FIGS. 1 and 2, when the reactor operation is stopped, the upper cover and the shroud head of the reactor pressure vessel 1 are opened, and the reactor pressure vessel 1 is filled with water. In this state, the in-reactor structure working device 6 is suspended from the operation floor in the reactor containment vessel 1 using a crane (such as an overhead crane or a hoist) and a lifting tool and placed on the upper ring 7. At that time, the mast 10 is in a lateral posture.

  Next, the mast 10 is changed to a standing posture, and further, the mast 10 is positioned in the horizontal direction by the operations of the left and right moving stage 8 and the front and rear moving stage 9. Thereafter, the cable 14 is fed out by the cable processing device 11 to extend the mast 10 downward, and the tip of the mast 10 is extended to the vicinity of the inspection site on the wall surface of the shroud 2. Then, the inspection / repair drive unit 13 approaches the vicinity of the inspection site, and in this state, the inspection / repair drive unit 13 is deployed in the shroud 2 direction from the tip of the mast 10 and the inspection sensor 22a mounted on the inspection / repair drive unit 13 and The inspection sensor 22b is brought close to and in contact with the shroud 2.

  Thereafter, by driving the traveling wheels 15a and the traveling wheels 15b of the reactor internal structure working device 6, the inspection structural repair drive shown in FIG. 9 is performed while moving the nuclear reactor internal working device 6 in the circumferential direction of the shroud 2. The inspection sensor 22a and the inspection sensor 22b mounted on the portion 13 can inspect and inspect the weld line.

  In the present embodiment, the case where inspection and inspection work is performed by the inspection / repair drive unit 13 has been described. However, the present invention is not limited to this, and the work means mounted on the inspection / repair drive unit 13 is, for example, prevention using a laser peening head. Maintenance work and repair work using a welding head are also possible.

  According to the reactor internal structure working apparatus according to the present embodiment described above, an overhead crane or a work carriage is used during inspection and inspection when performing operations such as inspection and inspection of the weld line of the shroud 2 during fuel replacement. Without this, the in-reactor structure working device 6 and its inspection / repair drive unit 13 can inspect and inspect the weld line existing above the shroud 2. In addition, device control and device monitoring can be performed remotely and automatically, reducing manual work and shortening the work time. As a result, the regular inspection process can be shortened and costs can be reduced.

  Moreover, according to this embodiment, the underwater camera 40 is attached to the inspection / repair drive unit 13, and the positions of the inspection sensor 22 a and the inspection sensor 22 b attached to the deployment arm 35 with respect to the weld line existing on the upper part of the shroud 2 are determined. In order to monitor, it becomes possible to confirm whether the test | inspection site | part of the wall surface of the shroud 2 is correctly test | inspected.

(Second Embodiment)
FIG. 10 is a partial cross-sectional elevational view showing a state in which the second embodiment of the in-reactor structure working apparatus according to the present invention is installed in the reactor. FIG. 11 is a side view of the in-reactor structure working apparatus of FIG. 10 as viewed from the direction of arrow XI. 12 is an enlarged partial cross-sectional elevation view showing the reactor internal structure working apparatus of FIG. 13 is a partial cross-sectional side view seen from the direction of arrow XIII in FIG. The same or corresponding parts as those in the first embodiment will be described using the same reference numerals.

  The in-reactor structure working device 6A is installed on the upper ring 7 of the shroud 2 by using a crane or a conveying means (not shown). At this time, the nuclear reactor is stopped, and the upper cover (not shown) of the reactor pressure vessel 1 and the shroud head, the steam separator, the steam dryer, etc. (not shown) installed above the shroud 2 (not shown). ) Is removed, and the reactor pressure vessel 1 is filled with water.

  As shown in FIGS. 10 to 12, the in-reactor structure working apparatus 6 </ b> A includes a left-right moving stage 8 that can move horizontally in the left-right direction (circumferential direction of the shroud 2), and a front-rear direction to the reactor pressure vessel 1 side. A back-and-forth moving stage 9 that can move horizontally in the radial direction of the shroud 2 is disposed. A mast 10 that can be freely expanded and contracted and a cable processing device 11 capable of feeding or collecting a cable are disposed on the mast 10 on the back and forth moving stage 9. The mast 10 can be expanded and contracted by feeding or collecting 14. A rotation drive mechanism 12 for changing the attitude of the mast 10 is attached to the mast 10.

  An underwater vehicle 50 is provided via a cable 51 in the tip (lower end) direction of the mast 10. The mast 10 provided with the underwater vehicle 50 is extended to the weld line inspection site of the shroud 2 by the cable processing device 11, the underwater vehicle 50 is moved in the direction of the shroud 2 from the tip of the mast 10, and the underwater vehicle 50 is driven. The inspection sensor 52 mounted on the underwater vehicle 50 is brought close to and in contact with the shroud 2 so that the weld line inspection of the shroud 2 is possible.

  Note that the specific configurations and operations of the left / right moving stage 8, the back and forth moving stage 9, the mast 10 and the cable processing device 11 in the reactor internal structure working device 6A are the same as those in the first embodiment. Description is omitted.

  As shown in FIG. 12, when the underwater vehicle 50 travels on the wall surface of the shroud 2 with a drive motor and wheels, which will be described later, the travel distance is confirmed by a distance sensor (not shown) of the underwater vehicle 50, and the atomic distance is determined based on the travel distance. The in-furnace structure work apparatus 6A can also travel.

  Specifically, in the present embodiment, when the wheel 15a is rotated by the drive motor 17 to move left and right, and the in-reactor structure working device 6A is moved to the left and right along the upper ring 7, an underwater vehicle described later is used. The distance of the underwater vehicle 50 is detected by the distance sensor 50, and the rotational speed of the wheel 15a is controlled by a control means (not shown) based on the movement time and the distance of the underwater vehicle 50. And can be synchronized.

  Each cable of the drive motor is connected to a control panel installed on an operation floor (not shown) via a cable relay box, a cable, and a composite cable 31 described later, and can be controlled remotely.

  FIG. 14 is an enlarged partial cross-sectional elevation view showing the mast lower end portion and the underwater vehicle of the reactor internal structure working apparatus of FIG. FIG. 14 shows a state in which the cable 51 of the underwater vehicle 50 is fed out from the inner cylinder 10b and the underwater vehicle 50 travels with a drive motor and wheels, which will be described later.

  As shown in FIG. 14, the inner cylinder 10 b is provided with a cable roller 54 that guides the cable 51 of the underwater vehicle 50. Further, an underwater camera 55 and an underwater light 56 as a monitoring camera are attached to the inside of the inner cylinder 10b by a mounting bracket 57. The underwater camera 55 can confirm the inspection site on the wall surface of the shroud 2 of the traveling underwater vehicle 50, the position of the inspection sensor 52, and the posture state of the underwater vehicle 50. Thereby, the underwater camera 55 can confirm whether the inspection sensor 52 is correctly inspecting the inspection region.

  FIG. 15 is an enlarged view of the underwater vehicle of FIG.

  As shown in FIG. 15, the underwater vehicle 50 is configured to rotate the underwater vehicle 53a and the underwater fan 53b for pressing the underwater vehicle main body against the wall surface of the shroud 2, and the underwater fan 53a and the underwater fan 53b. A drive motor 58a and a drive motor 58b connected via a gear or a belt are mounted.

  The underwater vehicle 50 includes wheels 59 a and 59 b for traveling on the wall surface of the shroud 2, a drive motor 60 a and a drive motor 60 b for rotationally driving the wheels 59 a and 59 b, and the traveling of the underwater vehicle 50. Measuring wheel 61a, measuring wheel 61b that rotates, distance sensor 62a, distance sensor 62b, and wheel 59a as detecting means for detecting the moving distance of the underwater vehicle 50 based on the rotational speed of these measuring wheel 61a and measuring wheel 61b A ball caster 63 that is driven to rotate as the wheel 59b travels is mounted.

  Further, in the underwater vehicle 50, a cable relay box 64 is attached to an attachment portion of the cable 51, and each cable of the drive motor 58a, the drive motor 58b, the drive motor 60a, and the drive motor 60b is connected to the cable relay box 64. Yes.

  Next, a method for inspecting and inspecting the weld line of the shroud 2 that is the in-reactor structure using the in-reactor structure working apparatus 6A of the present embodiment will be described.

  As shown in FIG. 10, when the reactor operation is stopped, the upper cover and the shroud head of the reactor pressure vessel 1 are opened, and the reactor pressure vessel 1 is filled with water. In that state, the in-reactor structure working device 6A is suspended from the operation floor in the reactor containment vessel 1 using a crane (such as an overhead crane or a hoist) and a lifting tool and placed on the upper ring 7. In this state, the underwater vehicle 50 is in contact with the tip of the mast 10.

  Next, the mast 10 is positioned in the horizontal direction by the operations of the left and right moving stage 8 and the back and forth moving stage 9. Thereafter, the cable 14 is fed out by the cable processing device 11 to extend the mast 10 downward, and the tip of the mast 10 is extended to the vicinity of the inspection site on the wall surface of the shroud 2. Then, the underwater vehicle 50 approaches the vicinity of the inspection site, and in this state, the underwater fan 53a and the underwater fan 53b of the underwater vehicle 50 are rotated to disengage the underwater vehicle 50 from the tip of the mast 10 and swim. 50 approaches the wall surface of the shroud 2. Subsequently, when the underwater fan 53a and the underwater fan 53b are rotated, a negative pressure is generated between the underwater vehicle 50 and the wall surface of the shroud 2, so that the underwater vehicle 50 is adsorbed on the wall surface of the shroud 2.

  Thereafter, the wheel 59a and the wheel 59b are rotationally driven to move the in-reactor structure working apparatus 6A to the left and right along the upper ring 7, and at the same time, the underwater vehicle 50 is caused to travel along the circumferential direction of the wall surface of the shroud 2. The inspection portion of the weld line on the wall surface is inspected by the inspection sensor 52. At this time, the ball caster 63 is driven to rotate by driving the wheels 59a and 59b. The travel distance of the underwater vehicle 50 with respect to the wall surface of the shroud 2 is measured by the distance sensor 62a, the distance sensor 62b, the measurement wheel 61a, and the measurement wheel 61b.

  In the present embodiment, as in the first embodiment, the case where the inspection and inspection work of the weld line on the wall surface of the shroud 2 is performed has been described. However, the present invention is not limited to this. For example, preventive maintenance work using a laser peening head and repair work using a welding head are also possible.

  According to the reactor internal structure working apparatus according to the present embodiment described above, an overhead crane or a work carriage is used during inspection and inspection when performing operations such as inspection and inspection of the weld line of the shroud 2 during fuel replacement. Without this, the in-reactor structure working device 6A and the underwater vehicle 50 can inspect and inspect the weld line existing above the shroud 2. In addition, device control and device monitoring can be performed remotely and automatically, reducing manual work and shortening the work time. As a result, the regular inspection process can be shortened and costs can be reduced.

  Further, by attaching the underwater camera 55 and the underwater light 56 to the inside of the inner cylinder 10b, the inspection site on the wall surface of the shroud 2 of the traveling underwater vehicle 50, the position of the inspection sensor 52, and the attitude of the underwater vehicle 50 Therefore, it is possible to confirm whether the inspection sensor 52 correctly inspects the inspection site.

  Furthermore, according to the present embodiment, the distance sensor 62a and the distance sensor 62b of the underwater vehicle 50 detect the moving distance with respect to the time during which the underwater vehicle 50 moves, and the rotational speed of the wheel 15a is determined based on the moving time and the moving distance. By controlling by a control means (not shown), the moving speed of the wheel 15a and the moving speed of the underwater vehicle 50 can be synchronized. Therefore, the cable 51 is not pulled and the cable 51 is not loosened, so that the handleability of the cable 51 is improved. As a result, the underwater vehicle 50 can travel stably, and the inspection and inspection accuracy can be increased.

  In each of the above embodiments, the inspection sensor is brought into contact with the shroud 2 in order to inspect and inspect the weld line of the shroud 2. However, the present invention is not limited to this, and operations such as repair are performed. In some cases, the shroud 2 may be simply approached without being brought into contact therewith.

  As mentioned above, although embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  For example, the mast has been described as being positioned on the horizontal movement stage, but there may be positioning means for positioning the mast on the horizontal plane of the reactor, for example, positioning the connecting pipe as extendable in the radial direction of the reactor, It is not limited to a horizontal movement stage.

1 ... Reactor pressure vessel 2 ... Shroud (cylindrical structure, in-reactor structure)
DESCRIPTION OF SYMBOLS 3 ... Jet pump 4 ... Water supply spudger 5 ... Core spray piping 6, 6A ... Reactor internal structure work apparatus 7 ... Upper ring 8 ... Left-right movement stage (horizontal traveling mechanism)
9: Back and forth movement stage (horizontal travel mechanism)
DESCRIPTION OF SYMBOLS 10 ... Mast, 10a ... Outer cylinder, 10b ... Inner cylinder 11 ... Cable processing apparatus 12 ... Rotation drive mechanism 13 ... Inspection repair drive part (deployment work mechanism)
DESCRIPTION OF SYMBOLS 14 ... Cable 15a, 15b ... Traveling wheel 16 ... Gear 17 ... Drive motor 18 ... Drive motor 19a, 19b ... Linear guide 20 ... Drive motor 21a, 21b ... Linear guide 22a, 22b ... Inspection sensor 23a, 23b ... Rotating roller 24a , 24b ... guide roller 25a ... gear 26 ... drive motor 27 ... connection pipe 28 ... drive motor 29 ... mast rotation drive unit 30 ... drive motor 31 ... composite cable 32a, 32b ... block 33 ... fixing ring 34 ... fixing bracket 35 ... deployment Arm 36 ... Cylinders 37a, 37b ... Link connection fittings 38a, 38b ... Link connection 39 ... Sensor mounting bracket 40 ... Underwater camera (surveillance camera)
41 ... Mounting bracket 50 ... Underwater vehicle 51 ... Cable 52 ... Inspection sensors 53a, 53b ... Underwater fan 54 ... Cable roller 55 ... Underwater camera (surveillance camera)
56 ... Underwater light 57 ... Mounting brackets 58a, 58b ... Drive motors 59a, 59b ... Wheels 60a, 60b ... Drive motors 61a, 61b ... Measuring wheels 62a, 62b ... Distance sensors (detection means)
64 ... Cable relay box

Claims (12)

When the reactor is shut down, it is placed on a cylindrical structure placed in the reactor pressure vessel with its axis vertical, and the cylindrical structure circles horizontally along the cylindrical structure. A horizontal traveling mechanism that travels in the circumferential direction;
A hollow mast attached to the horizontal traveling mechanism and capable of expanding and contracting at least in the vertical direction;
A deployment work mechanism that can be stored and deployed with respect to the inside of the mast, and that works by approaching or contacting the wall surface of the cylindrical structure when deployed,
A reactor internal structure working apparatus characterized by comprising: The mast is further attached to an upper portion, and further includes a cable processing device that performs a lifting operation and a feeding operation on a cable connected to the mast tip to expand and contract the mast.
The in-reactor structure working apparatus according to claim 1. The mast includes an outer cylinder and an inner cylinder that is coaxially overlapped inside the outer cylinder and is slidable downward from the position of the outer cylinder. The deployment working mechanism can be stored and deployed in the inner cylinder. What
The in-reactor structure working apparatus according to claim 1. A monitoring camera attached to the deployment work mechanism for monitoring the position of the deployment work mechanism relative to the cylindrical structure;
The in-reactor structure working apparatus according to claim 1, wherein: When the reactor is shut down, it is placed on a cylindrical structure placed in the reactor pressure vessel with its axis vertical, and the cylindrical structure circles horizontally along the cylindrical structure. A horizontal traveling mechanism that travels in the circumferential direction;
A hollow mast attached to the horizontal traveling mechanism and capable of expanding and contracting at least in the vertical direction;
An underwater vehicle connected to a cable penetrating the mast and working near or on the wall surface of the cylindrical structure;
A reactor internal structure working apparatus characterized by comprising: In order to move the underwater vehicle to the work site of the cylindrical structure, it further includes a cable processing device that performs a lifting operation and a feeding operation of the cable,
The in-reactor structure working apparatus according to claim 5. Detecting means for detecting a movement distance with respect to a movement time of the underwater vehicle, speed-controlling the horizontal traveling mechanism based on the movement time and the movement distance, and synchronizing with the speed of the underwater vehicle;
The in-reactor structure working apparatus according to claim 5. A monitoring camera attached to the mast for monitoring the position of the underwater vehicle relative to the cylindrical structure;
The in-reactor structure working apparatus according to claim 5. The underwater vehicle includes an underwater fan for adsorbing to an outer wall surface of the cylindrical structure;
The reactor internal structure work device according to any one of claims 5 to 8, wherein When the operation of a nuclear reactor with a cylindrical structure arranged with its axis vertical is stopped in the reactor pressure vessel, the deployment work mechanism is deployed on the outer wall surface of the cylindrical structure to approach or contact it. A reactor internal structure work method,
The upper part of the reactor pressure vessel is opened and the reactor pressure vessel is filled with water, and a traveling mechanism to which a mast is attached is transported from above the reactor pressure vessel. A transfer mounting step for mounting on the upper end;
A horizontal running step for running and moving by the running mechanism horizontally in the circumferential direction of the cylindrical structure along the upper end of the cylindrical structure after the carrying and placing step;
After the horizontal running step, a mast extending step for extending the mast toward the work site of the cylindrical structure;
After the mast stretching step, the unfolding step of unfolding the unfolding working mechanism arranged in the mast on the working site of the cylindrical structure;
A work travel step for performing work on the wall surface of the cylindrical structure after the unfolding step;
A reactor internal structure working method characterized by comprising: Reactor in which a cylindrical structure arranged with its axis vertical is operated by bringing an underwater vehicle closer to or in contact with the outer wall surface of the cylindrical structure when operation of the reactor is stopped in the reactor pressure vessel An internal structure working method,
The upper part of the reactor pressure vessel is opened and the reactor pressure vessel is filled with water, and a traveling mechanism to which a mast is attached is transported from above the reactor pressure vessel. A transfer mounting step for mounting on the upper end;
A horizontal running step for running and moving by the running mechanism horizontally in the circumferential direction of the cylindrical structure along the upper end of the cylindrical structure after the carrying and placing step;
After the horizontal running step, a mast extending step for extending the mast toward the work site of the cylindrical structure;
After the mast stretching step, an approach operation step for causing the underwater vehicle disposed at the tip of the mast to move closer to a work site of the cylindrical structure;
After the approaching operation step, a work traveling step of moving the underwater vehicle to work the wall surface of the cylindrical structure;
A reactor internal structure working method characterized by comprising: Moving the traveling mechanism and the underwater vehicle synchronously;
The method for working an internal reactor structure according to claim 11.

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