JP2014147981A - Working robot for nuclear facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To greatly shorten an installation time to set up a working robot 1 for nuclear facilities on a concrete floor 5 of a room 3 in an upper floor, and reduce an exposure dose of a worker.SOLUTION: A working robot for nuclear facilities is characterized as follows: a base end of a swinging arm 53 is swingably connected to a tip of a standing arm 27; a wire reel 57 is rotatably provided around an axial center at the base end side of a standing arm 27; a swing motor 65 is provided at the base end side of the standing arm 27; an output shaft 65s of the swing motor 65 is interlocked with a rotating shaft 57s of the wire reel 57; a first guide roller 71 for guiding and supporting wire 63 is provided in the standing arm 27; a second guide roller 73 for guiding and supporting the wire 63 is provided in the swinging arm 53; and an observation camera 75 is provided at the tip of the swinging arm 53.

Description

  The present invention relates to a nuclear facility work robot used when working in a room having a higher radiation dose than a room on an upper floor in a nuclear facility such as a nuclear power plant.

  For example, if any malfunction occurs in the nuclear facility, use a perforation formed through the upper floor of the nuclear facility to observe in a room with a higher radiation dose than the upper floor of the nuclear facility. It is assumed that work such as work is performed. When working in a room having a higher radiation dose than the room on the upper floor, the following nuclear facility work robot is used.

  The nuclear facility work robot includes a robot base, and this robot base is detachably installed on the periphery of the perforation in the floor of the upper floor room. In addition, the robot base is provided with a vertical arm (one of the standing postures) in a detachable manner, and this standing arm can be inserted into the perforation of the floor of the upper floor room. The base end side is positioned in an upper floor room when performing work such as observation work. Normally, the standing arm rotates around the axis of the standing arm by driving the rotary motor, and moves in the axial direction (vertical direction) of the standing arm by driving the moving motor.

  The base end portion of the swing arm is swingably connected to the distal end portion of the standing arm, and the swing arm can be inserted into the perforation of the floor of the upper floor room. In addition, a swing motor for swinging the swing arm is provided at the distal end of the standing arm or the base end of the swing arm, and the output shaft of this swing motor is the swing arm of the swing arm. It is linked to the drive shaft. At the tip of the swing arm, a work head is provided for performing work such as observation work in a room having a higher radiation dose than the room on the upper floor. Here, one of the reasons why the swing arm can be swung with respect to the standing arm is to avoid interference between the work robot for the nuclear facility and the obstacle, and the operability of the work robot for the nuclear facility (work) This is to ensure sufficient characteristics.

  In addition, there exist some which are shown to patent document 1 and patent document 2 as a prior art relevant to this invention.

Japanese Patent Laid-Open No. 10-26692 JP 2011-209611 A

  By the way, due to space limitations in the upper floor room, in order to install the work robot for nuclear facilities on the floor of the upper floor room, after installing the robot base, the swing arm is moved to the floor of the upper floor room. It is necessary to mount the standing arm on the robot base by changing the relative posture (swinging posture) of the swinging arm with respect to the standing arm in a stepwise manner while being inserted into the perforation. Further, since the output shaft of the swing motor is interlocked with the swing shaft of the swing arm, it is necessary to drive the swing motor each time the relative posture of the swing arm with respect to the standing arm is changed. For this reason, there is a problem that the installation time (setup time) for installing the nuclear facility work robot on the floor of the upper floor becomes longer, and there is a possibility that the exposure dose of the worker increases.

  Accordingly, an object of the present invention is to provide a nuclear robot working robot having a novel configuration capable of solving the above-described problems.

  A feature of the present invention is that work is performed in a room (a lower-floor room) having a higher radiation dose than the upper-floor room in the nuclear facility using a perforation formed in the floor of the upper-floor room in the nuclear facility. In the nuclear facility work robot used when performing the above, a robot base that is detachably installed on a perimeter of the perforation in the floor of the upper floor room, and is detachably provided on the robot base, An upright arm that can be inserted into the perforation in the floor of the room and is located in the upper floor room when the base end side (base end portion) performs work, and a base end portion of the upright arm. A swinging arm that is swingably connected to the distal end and can be inserted into the perforation of the floor of the upper floor room, and a shaft center (axial center of the rotation axis of the wire reel) on the base end side of the standing arm The swinging arm is rotatably provided around the A wire reel capable of winding and delivering a wire coupled to a part of the drum, and a proximal end side of the upright arm, and an output shaft coupled to a rotating shaft of the wire reel, and the swinging A swing motor for swinging the arm, a first wire guide provided on the standing arm and guiding and supporting the wire in a longitudinal direction of the standing arm, a swing wire provided on the swing arm, and the wire A second wire guide that guides and supports the swing arm in the longitudinal direction; and a work head that is provided at a tip of the swing arm and that performs work in the room having a higher radiation dose than the room on the upper floor. The summary is as follows.

  In the specification and claims of the present application, the term “work” means processing work such as observation work, pouring work for injecting liquid, and cutting work. Further, “provided” means not only being provided directly but also indirectly provided via another member, and “standing posture” means other than a vertical posture. In addition, it is intended to include a posture that is inclined, for example, 45 degrees with respect to the vertical direction. Furthermore, the number of “swinging arms” is not limited to one. For example, a first swinging arm whose base end is swingably connected to the tip of the standing arm, and a base end. May be composed of a plurality of oscillating arms, such as a second oscillating arm pivotably connected to the tip of the first oscillating arm.

  According to the feature of the present invention, after the nuclear facility working robot is installed on the floor of the upper floor, the wire reel is rotated in the forward direction by driving the swing motor to wind the wire. Thus, the swing arm is swung in one direction to increase the tilt angle of the swing arm with respect to the axis of the standing arm. On the other hand, by rotating the wire reel in the reverse direction by driving the swing motor and feeding the wire, the swing arm is swung in the other direction and the swing with respect to the axis of the standing arm is performed. Decreasing the tilt angle of the moving arm (including setting the tilt angle of the swing arm to 0 degrees with respect to the axis of the standing arm). Then, work is performed by the work head in the room having a higher radiation dose than the room on the upper floor in a state where the swing arm is inclined with respect to the axis of the standing arm (the work robot for the nuclear facility) Work-related work).

  Since the output shaft of the swing motor is linked to the rotation shaft of the wire reel, and as described above, the swing arm is swung by winding and / or sending out the wire by the wire reel. Before installing the equipment work robot on the floor of the upper floor room, the wire is sent out from the wire reel in advance, so that the length of the wire sent out without driving the swing motor. The swing arm can be freely swung within a range corresponding to. In other words, the relative posture (swinging posture) of the swinging arm with respect to the standing arm can be freely changed within a range corresponding to the length of the wire sent out. Further, as described above, the swing motor can be provided on the base end side of the upright arm, and the swing motor is positioned in the room having a higher radiation dose than the upper floor room when performing work. (There is no action other than the action related to the work by the nuclear facility work robot).

  According to the present invention, before installing the nuclear facility work robot on the floor of the upper floor room, without driving the swing motor, within a range according to the length of the wire sent, Since the relative posture of the swing arm with respect to the standing arm can be freely changed, the installation time (setup time) for installing the nuclear facility work robot on the floor of the upper floor room is greatly reduced. Thus, the exposure dose of the worker can be reduced.

  In addition, since the swing motor is not located in the room having a higher radiation dose than the upper floor room when performing work, damage to the swing motor due to radiation is suppressed as much as possible, and the swing motor Lifespan can be improved.

FIG. 1 is a diagram showing a nuclear facility work robot according to an embodiment of the present invention, and shows a state in which an observation camera is inserted through an upper opening of an obstacle on an upper floor in the nuclear facility. FIG. 2 is a diagram showing a nuclear facility work robot according to an embodiment of the present invention, and shows a state in which an observation camera is inserted through an opening on the lower side of an obstacle on an upper floor in the nuclear facility. FIG. 3 is an enlarged perspective view of the arrow III in FIG. FIG. 4 is an enlarged view of the arrow IV in FIG. FIG. 5 is a diagram showing the nuclear facility work robot according to the embodiment of the present invention, and shows a state before installation on the upper concrete floor of the nuclear facility. FIG. 6 is an exploded perspective view of a robot base, a rotating ring, an arm support, a standing arm, and the like in the nuclear facility work robot according to the embodiment of the present invention.

  An embodiment of the present invention will be described with reference to FIGS.

  As shown in FIGS. 1 and 2, a nuclear facility work robot 1 according to an embodiment of the present invention uses a perforation 7 formed in a concrete floor 5 of a room 3 on an upper floor in a nuclear facility to generate nuclear power. This is used when the observation work is performed in the lower floor room 9 having a higher radiation dose than the upper floor room 3 in the facility. The specific configuration of the nuclear facility work robot 1 is as follows.

  As shown in FIGS. 1, 5, and 6, the nuclear facility work robot 1 includes a rectangular robot base 11, and the robot base 11 drills in the concrete floor 5 of the upper floor room 3. 7 is detachably installed on the periphery of the terminal 7 via mounting pins (not shown) or mounting bolts (not shown). The robot base 11 is provided with a rotating ring 13 that is rotatable around a shaft center (axial center of the rotating ring 13) via a bearing (not shown). 15 is formed.

  The rotary ring 13 is provided with an arm support 17 that is detachable and non-rotatable via a clamp (not shown). The arm support 17 includes a circular support body 19 that is detachably attached to the rotating ring 13. In order to prevent the support body 19 from rotating with respect to the rotating ring 13, An engagement recess 21 for engaging the positioning pin 15 of the rotating ring 13 is formed. Support brackets 23 and 25 are integrally provided on the upper side and the lower side of the support main body 19, respectively.

  The arm support 17 is provided with a hollow tubular standing arm 27 in a vertical posture (one of the standing postures) that is movable in the vertical direction (the axial direction of the standing arm 27) and concentrically with the rotating ring 13. In other words, the robot base 11 is provided with an upright arm 27 in a vertical posture so as to be detachable via the rotary ring 13 and the arm support 17, and the upright arm 27 is provided via the rotary ring 13 and the arm support 17. The robot base 11 can rotate around the axis of the standing arm 27 and can move in the vertical direction. The standing arm 27 can be inserted into the perforation 7 of the concrete floor 5 of the upper floor room 3 and has a hollow tubular first split arm 29 and a base end side (base end) on the first split arm. The second split arm 33 has a hollow tubular shape and is pivotably connected to the tip of 29 by a hinge 31. Here, the base end side of the first split arm 29 is located in the room 3 on the upper floor when performing the observation work, and the second split arm 33 is coaxial with the first split arm 29 by the snap lock 35. It can be fixed to the shape.

  The robot base 11 is provided with a rotation motor 37 for rotating the standing arm 27 integrally with the arm support 17 and the rotation ring 13 around the axis. In addition, a drive gear 39 is connected (linked) to an output shaft (not shown) of the rotary motor 37 via a speed reduction mechanism 41, and the drive gear 39 is a driven gear formed on the outer peripheral surface of the rotary ring 13. (Not shown).

  The support bracket 23 is provided with a moving motor 43 through a mounting bracket 45 for moving the upright arm 27 in the vertical direction. In addition, a pinion 47 is connected to (linked to) the output shaft 43 s of the moving motor 43 via a speed reduction mechanism 49, and the first split arm 29 meshes with the pinion 47 and the length of the first split arm 29 is long. A rack 51 extending in the direction (axial direction) is provided.

  As shown in FIGS. 1, 4, and 5, the proximal end of a hollow tubular swing arm 53 is a hinge mechanism (hinge) at the distal end of the second split arm 33 (the distal end of the standing arm 27). The swing arm 53 is swingably connected by 55, and can be inserted into the perforations 7 of the concrete floor 5 of the upper floor room 3. Further, the swing shaft 53 s of the hinge mechanism 55 that swings in the range of 0 to 90 degrees with respect to the axial direction of the second split arm 33 and that is the swing shaft of the swing arm 53 is the swing arm 53. It is located at the position where it becomes the outer corner during the swinging motion of.

  As shown in FIGS. 1, 3, and 5, the wire reel 57 is disposed at the base end portion (the base end portion of the standing arm 27) of the first split arm 29 (the rotation axis 57 s of the wire reel 57). The wire reel 57 is connected to a part on the base end side of the swing arm 53 via a connecting piece 61 so as to be rotatable around the axis). Can be wound and delivered. A swing motor 65 for swinging the swing arm 53 is provided at the base end portion of the first split arm 29 via a mounting bracket 67. An output shaft 65s of the swing motor 65 is In addition, the rotary shaft 57 s of the wire reel 57 is interlocked and connected via a speed reducer 69. The swing motor 65 is designed to stop power supply when an overload is applied.

  On the standing arm 27 (in the first split arm 29, in the second split arm 33, and on the distal end side of the second split arm 33), a plurality of wires 63 are guided and supported in the longitudinal direction (axial direction) of the stand up arm 27. The first guide roller (an example of the first wire guide) 71 is provided to be rotatable about an axis (axis of the first guide roller 71) and spaced in the longitudinal direction of the standing arm 27. A second guide roller 73 (an example of a second wire guide) 73 that guides and supports the wire 63 in the longitudinal direction (axial direction) of the swing arm 53 is provided on the proximal end side of the swing arm 53. 2 is provided so as to be rotatable around the axis of the guide roller. In the embodiment of the present invention, the sizes of the plurality of first guide rollers 71 are appropriately changed. However, the sizes of the plurality of first guide rollers 71 are unified or the sizes of the first guide rollers 71 are changed. The number of second guide rollers 73 may be changed.

  An observation camera (an example of a work head) 75 that performs observation work (imaging work) in the room 9 on the lower floor is provided via a cable 77 at the tip of the swing arm 53. The observation camera 75 is integrally connected (connected) to the distal end portion of the cable 77, and is transferred to the distal end portion of the swing arm 53 in the vertical direction (vertical direction) integrally with the cable 77. It is like that. Here, the cable 77 includes an electric wire (not shown) and a signal line (not shown), and a part of the cable 77 is connected to a cable guide (not shown) in the upright arm 27 and the swing arm 53. Guidance is supported. The work robot 1 for nuclear facilities is equipped with a cable transfer unit 79 for transferring the cable 77 in the vertical direction, and the specific configuration of the cable transfer unit 79 is as follows.

  The cable transfer unit 79 includes a unit base 81. The unit base 81 is provided with a mounting pin (not shown) or a mounting bolt (not shown) in the vicinity of the perforations 7 in the concrete floor 5 of the upper floor room 3. It is installed so that attachment or detachment is possible. In addition, a cable reel 83 is provided on the unit base 81 via a mounting bracket 85 so as to be rotatable around its axis (axis of the cable reel 83). The cable reel 83 sends out a cable 77. And can be wound. A transfer motor 87 for transferring the cable 77 is provided in the vicinity of the cable reel 83 in the unit base 81. An output shaft 87s of the transfer motor 87 includes a main driving pulley 89, a timing belt 91, and a driven gear. The pulley 93 is linked to the rotary shaft 83 s of the cable reel 83 via the pulley 93.

  A plurality of guide rollers 95 that guide and support the cable 77 in the vertical direction are provided at appropriate positions on the unit base 81 so as to be rotatable around an axis (axis of the guide roller 95). Further, a support column 97 is erected in the vicinity of the guide roller 95 in the unit base 81, and between the distal end portion of the support column 97 and the proximal end portion of the first split arm 29 (the proximal end portion of the standing arm 27). A guide tube 99 for guiding a part of the cable 77 is provided through a pair of connection ports 101 and 103.

  A visual sensor 105 that captures the periphery of the distal end of the swing arm 53 is provided at the base end portion of the swing arm 53. Based on the image signal from the visual sensor 105, the rotary motor 37 described above is provided. By controlling the movement motor 43 and the swing motor 65, the swing arm 53 and the observation camera 75 can be prevented from interfering with the obstacle G in the room 9 on the lower floor.

  Then, the effect | action and effect of embodiment of this invention are demonstrated.

  After installing the nuclear facility work robot 1 on the concrete floor 5 of the upper floor room 3, the movable arm 43 is driven to move the standing arm 27 vertically downward (downward), whereby the swing arm 53 is raised. The base part of the swing arm 53 (the tip part of the standing arm 27) is positioned at the same height as the upper opening Ga of the obstacle G in the room 9 on the lower floor. . Next, by driving the swing motor 65, the wire reel 57 is rotated in the forward direction, and the wire 63 is wound up, so that the swing arm 53 is swung upward and the swing arm 53 is swung with respect to the axial center. The inclination angle of the moving arm 53 is set to 90 degrees. Further, by rotating the standing arm 27 integrally with the arm support 17 and the rotating ring 13 around the axial center by driving the rotary motor 37, as shown in FIG. 75 is swung around the axis of the standing arm 27 and is advanced to the outside of the obstacle G from the upper opening Ga of the obstacle G. Then, in the state where the swing arm 53 is inclined with respect to the axis of the upright arm 27, the observation work is performed by the observation camera 75 from the opening Ga above the obstacle G in the room 9 on the lower floor. During the observation work from the upper opening Ga of the obstacle G, the cable reel 83 is rotated by driving the transfer motor 87, so that the observation camera 75 is connected to the tip of the swing arm 53 with the cable 77. It may be transferred vertically downward.

  After performing the observation work from the upper opening Ga of the obstacle G, by rotating the standing arm 27 around its axis by driving the rotary motor 37, the tip of the swing arm 53 and the observation camera 75 are moved. It is swung around the axis of the standing arm 27 and once returned to the inside of the obstacle G from the upper opening Ga of the obstacle G. Next, by moving the standing arm 27 vertically downward by driving the moving motor 43, the tip of the swing arm 53 and the observation camera 75 are positioned at the same height as the opening Gb below the obstacle G. Let Further, by rotating the standing arm 27 around its axis by driving the rotation motor 37, the tip of the swing arm 53 and the observation camera 75 are turned around the axis of the standing arm 27 as shown in FIG. Thus, the obstacle G is advanced from the opening Gb below the obstacle G to the outside of the obstacle G. Then, in the state where the swing arm 53 is inclined with respect to the axis of the upright arm 27, the observation work is performed by the observation camera 75 from the opening Gb below the obstacle G in the room 9 on the lower floor. During the observation work from the lower opening Ga of the obstacle G, the observation camera 75 is moved vertically downward integrally with the cable 77 with respect to the tip of the swing arm 53 as described above. It doesn't matter.

  After performing the observation work from the opening Gb on the lower side of the obstacle G, the upright arm 27 is rotated around its axis by driving the rotary motor 37, whereby the tip of the swing arm 53 and the observation camera 75 are rotated. Is turned around the axis of the standing arm 27 and returned to the inside of the obstacle G from the lower opening Gb of the obstacle G. Next, by driving the moving motor 43, the standing arm 27 is moved vertically upward (upward), so that the tip of the swing arm 53 and the observation camera 75 are at the same height as the opening Ga above the obstacle G. It is located at a position or higher position. Then, by driving the swing motor 65, the wire reel 57 is rotated in the reverse direction and the wire 63 is sent out, thereby swinging the swing arm 53 downward, and swinging the shaft of the standing arm 27 with respect to the axis. The inclination angle of the arm 53 is set to 0 degree (operation related to observation work by the nuclear facility work robot 1).

  The output shaft 65s of the swing motor 65 is linked to the rotating shaft 57s of the wire reel 57, and the swing arm 53 is swung by winding and / or sending out the wire 63 by the wire reel 57. Before installing 1 on the concrete floor 5 of the room 3 on the upper floor, the wire 63 is sent out from the wire reel 57 in advance, so that the length of the wire 63 sent out is not driven without driving the swing motor 65. The swing arm 53 can be freely swung within the corresponding range. In other words, the relative posture (swinging posture) of the swinging arm 53 with respect to the standing arm 27 can be freely changed within a range corresponding to the length of the wire 63 sent out. Further, as described above, the swing motor 65 can be provided at the proximal end portion of the standing arm 27, and when performing the observation work, not only the rotation motor 37 and the moving motor 43 but also the swing motor 65 is provided on the upper floor. It is not located in the lower room 9 where the radiation dose is higher than that of the room 3.

  Since the hinge shaft 55 s of the hinge mechanism 55 is located at a position that becomes the outer corner when the swing arm 53 swings, the swing arm 53 can be swung even if the tension applied to the wire 63 is not large. Moment can be secured. Thereby, the diameter reduction of the wire 63 and the size reduction of the swing motor 65 can be promoted, and the weight of the nuclear facility work robot 1 can be reduced (except for the operation related to the observation work by the nuclear facility work robot 1). Action).

  Therefore, according to the embodiment of the present invention, the length of the wire 63 delivered without driving the swing motor 65 before installing the nuclear facility work robot 1 on the concrete floor 5 of the upper floor room 3. Since the relative posture of the swing arm 53 with respect to the standing arm 27 can be freely changed within a range corresponding to the above, installation for installing the nuclear facility work robot 1 on the concrete floor 5 of the upper floor room 3 is possible. The time (setup time) can be greatly shortened, and the exposure dose of the worker can be reduced. In particular, since the diameter of the wire 63 and the swing motor 65 can be reduced to reduce the weight of the nuclear facility work robot 1 as a whole, the above-described effects can be further enhanced.

  Further, when the observation work is performed, not only the rotation motor 37 and the movement motor 43 but also the swing motor 65 is not located in the lower floor room 9 where the radiation dose is higher than the upper floor room 3. Damage to the swing motor 65 and the like can be suppressed as much as possible, and the life of the swing motor 65 and the like can be improved.

  Note that the present invention is not limited to the description of the above-described embodiment. For example, an observation camera 75 that changes the number of the swing arms 53 to a plurality or performs an observation operation at the tip of the swing arm 53 is provided. In addition to this, other working heads (not shown) for performing other operations such as an injection operation for injecting a liquid and a processing operation such as a cutting operation may be provided. is there. Further, the scope of rights encompassed by the present invention is not limited to these embodiments.

G Obstacle Ga Upper opening Gb Lower opening 1 Nuclear robot working robot 3 Upper floor room 5 Concrete floor 7 Drilling 9 Lower floor room 11 Robot base 13 Rotating ring 17 Arm support 27 Standing arm 29 First Dividing arm 33 Second dividing arm 37 Rotating motor 43 Moving motor 53 Oscillating arm 55 Hinge mechanism 55s Hinge shaft 57 of hinge mechanism Wire reel 57s Rotating shaft 61 of wire reel Connecting piece 63 Wire 65 Oscillating motor 65s Output of oscillating motor Shaft 71 First guide roller 73 Second guide roller 75 Observation camera 77 Cable 79 Cable transfer unit

Claims (7)

In a nuclear facility work robot used when working in a room having a higher radiation dose than the upper floor room in the nuclear facility using a perforation formed in the floor of the upper floor room in the nuclear facility ,
A robot base that is detachably installed around the perforation in the floor of the upper floor room;
A standing arm that is detachably provided in the robot base, can be inserted into the perforation of the floor of the upper floor room, and is positioned in the upper floor room when the base end side performs work;
A swing arm that is pivotably connected to a distal end portion of the upright arm, and that can be inserted into the perforation of the floor of the upper floor room;
A wire reel provided on the proximal end side of the upright arm so as to be rotatable about an axis, and capable of winding and delivering a wire connected to a part of the swing arm;
A swing motor provided on the base end side of the standing arm, the output shaft being interlocked with the rotating shaft of the wire reel, and swinging the swing arm;
A first wire guide provided on the standing arm and guiding and supporting the wire in a longitudinal direction of the standing arm;
A second wire guide provided on the swing arm and guiding and supporting the wire in the longitudinal direction of the swing arm;
A work robot for a nuclear facility, comprising: a work head provided at a tip of the swing arm and performing work in the room having a higher radiation dose than the room on the upper floor.   2. The work robot for a nuclear facility according to claim 1, wherein the swing axis of the swing arm is located at a position that becomes an outer corner during the swing operation of the swing arm. The upright arm is rotatable about the axis of the upright arm relative to the robot base;
The work robot for a nuclear facility according to claim 1 or 2, further comprising a rotation motor provided on the robot base and configured to rotate the upright arm about its axis. The standing arm is movable in the axial direction of the standing arm with respect to the robot base;
The nuclear power according to any one of claims 1 to 3, further comprising a moving motor that is provided on the robot base and moves the standing arm in the axial direction thereof. Equipment working robot. A rotating ring provided on the robot base so as to be rotatable around an axis;
An arm support detachably provided on the rotating ring,
The upright arm is movable on the arm support in the axial direction of the upright arm and is provided concentrically with the rotating ring,
A rotation motor provided on the robot base, for rotating the standing arm integrally with the arm support and the rotation ring about its axis;
The work robot for a nuclear facility according to claim 1 or 2, further comprising: a moving motor provided on the arm support for moving the standing arm in the axial direction thereof.   The standing arm includes a first split arm positioned in the upper floor room when the base end side performs work, a base end portion swingably connected to a tip end portion of the first split arm, and the first arm The work robot for a nuclear facility according to any one of claims 1 to 5, comprising a split arm and a second split arm that can be fixed coaxially.   The nuclear power according to any one of claims 1 to 6, wherein the working head is an observation camera that performs observation work in the room having a higher radiation dose than the room on the upper floor. Equipment working robot.

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