JP2015068780A - Long body insertion/extraction device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve a work efficiency of insertion or extraction of a long body.SOLUTION: A long body insertion/extraction device for inserting or extracting a long-body detector tube 141 into or from a conduit tube 139 provided in a reactor vessel comprises a roller pair 2 for sandwiching the detector tube 141 and a drive part 3 for rotating the roller pair 2 and moving the detector tube 141 in the long direction.

Description

  The present invention relates to a long body insertion / extraction device for inserting or extracting a long body from a conduit tube provided in a nuclear reactor vessel.

  Conventionally, for example, in Patent Document 1, a thimble tube (long body) as a guide tube of an in-core measurement device installed in the lower part of a reactor is inserted into and removed from a conduit tube as an outer tube thereof. A thimble tube insertion / removal device is shown. This insertion / removal device includes a gripping part that grips the thimble tube and a drive part that drives the gripping part in the axial direction of the thimble tube.

Japanese Patent No. 4910051

  The above-described insertion / removal device described in Patent Document 1 moves the gripping portion that grips the thimble tube in the axial direction of the thimble tube by the drive unit, and the gripping portion grips the thimble tube. Then, it is necessary to repeatedly perform an operation of moving the gripping portion by the driving portion and an operation of releasing the gripping of the thimble tube by the gripping portion. For this reason, since there exists a state where the thimble tube is separated from the apparatus, when the thimble tube is again gripped by the grip portion, the thimble tube may not be accurately gripped. As a result, the operation time of the apparatus for inserting and extracting the thimble tube is increased, and the working efficiency is lowered.

  This invention solves the subject mentioned above, and aims at providing the elongate body insertion / extraction apparatus which can improve the working efficiency of insertion or extraction of a elongate body.

  In order to achieve the above-mentioned object, the long body insertion / extraction apparatus according to the first aspect of the present invention is the long body insertion / extraction apparatus for inserting / extracting the long body into / from the conduit tube provided in the reactor vessel. A roller pair that sandwiches the body, and a drive unit that rotates the roller pair to move the long body in the length direction.

  According to this elongate body insertion / extraction device, the elongate body is nipped by the roller pair, and the elongate body is moved in the length direction by rotating the roller pair by the driving unit. A long body can be sent continuously in a state. As a result, the operation time of the apparatus for inserting and extracting the long body can be shortened, and work efficiency can be improved.

  The long body inserting / removing device according to a second aspect of the present invention includes, in the first aspect, a base on which the roller pair and the driving unit are arranged, and a holding part that is connected to the base and holds the conduit tube. It is characterized by providing.

  According to this elongate body insertion / extraction device, the elongate body can be reliably inserted into and extracted from the conduit tube by holding and holding the conduit tube by the holding portion.

  According to a third aspect of the present invention, there is provided a long body insertion / extraction device according to the second aspect of the present invention, further comprising a holding portion that suspends and holds the base, and the holding portion is provided by a load on the base and rotation of the roller pair. It has a balance mechanism which receives elastically the load at the time of moving the long body in the length direction.

  According to this elongate body insertion / extraction device, bending of the elongate body and the conduit tube can be prevented without applying the load of the elongate body insertion / extraction device to the elongate body and the conduit tube.

  According to a fourth aspect of the present invention, there is provided the elongated body insertion / extraction device according to the second or third aspect, wherein the change in the load is interposed between the base and the sandwiching portion interposed between the base and the sandwiching portion. It is characterized by having a load detection part which detects.

  According to this elongate body insertion / extraction device, it is possible to know that the elongate body is clogged in the conduit tube by detecting a change in load generated between the base and the sandwiching portion.

  Moreover, the long body insertion / extraction apparatus according to a fifth aspect of the present invention is the photographing according to any one of the second to fourth aspects, wherein the end portion of the conduit tube is photographed in a state where the conduit tube is sandwiched by the sandwiching portion. It comprises a part.

  According to this elongate body insertion / extraction device, the state in which the elongate body is inserted / removed from / to the conduit tube can be confirmed at the remote part by viewing an image obtained by photographing the end of the conduit tube.

  According to a sixth aspect of the present invention, there is provided a long body inserting / extracting device according to the first aspect, comprising: a base on which the roller pair and the drive unit are disposed; a base on which the base is placed and having a wheel; and the conduit tube. The base disposed so that the rail is disposed on the supporting base for supporting the traveling of the base by the wheels, the fixing portion for fixing the position of the base, and the roller pair is located immediately above the conduit tube. And a horizontal movement mechanism that horizontally moves.

  According to this elongate body insertion / extraction device, a base is placed on a rail installed on a support base and traveled along the rail, the position of the base is fixed by a fixing portion, and a roller pair is connected to the conduit tube by a horizontal movement mechanism. The base body is moved horizontally so as to be located immediately above. Thereby, the operation | work which pinches | interposes a long body with a roller pair can be performed easily, and work efficiency can be improved.

  According to a seventh aspect of the present invention, in the sixth aspect of the invention, the gantry includes an inclination adjustment mechanism that adjusts an inclination of the roller pair with respect to the vertical.

  According to this elongate body insertion / extraction apparatus, the inclination of the roller pair can be matched to the inclination of the conduit tube (long body) by adjusting the inclination of the roller pair with respect to the vertical by the inclination adjusting mechanism.

  According to an eighth aspect of the present invention, in the sixth or seventh aspect of the invention, the base has a base placed on the gantry and is interposed between the base and the base. And a load detecting unit for detecting a load change generated between the base and the base.

  According to this elongate body insertion / extraction device, it is possible to know that the elongate body is clogged in the conduit tube by detecting a load change generated between the base and the base.

  Moreover, the elongate body insertion / extraction apparatus of 9th invention is set to any one of 6th-8th invention, The said mount has a height position variable mechanism which changes and supports the height position of the said base | substrate. It is characterized by that.

  According to this elongate body insertion / extraction device, when a part of the elongate body cannot be pulled out from the conduit tube manually between rollers, the elongate body is attached to the distal end of the elongate body, and the auxiliary tube is attached to the upper body by the high position base. Is sandwiched between roller pairs, and the roller pair is rotated by a drive unit, whereby the long body is moved in the length direction via the auxiliary tube. Thereafter, the long body can be continuously moved in the length direction by sandwiching the long body between the roller pair by the base at a low position and rotating the roller pair by the driving unit.

  Moreover, in the long body inserting / extracting device according to a tenth aspect of the present invention, in any one of the first to ninth aspects, a plurality of pairs of the roller pairs are provided, and the driving unit rotates all of the roller pairs. It is characterized by that.

  According to this elongate body insertion / extraction device, the elongate body can be reliably fed, and the elongate body can be smoothly inserted into and extracted from the conduit tube.

  Moreover, the elongate body insertion / extraction apparatus of 11th invention is biasing | biasing which urges | biases the other roller with respect to one roller of the said roller pair in any one invention of 1st-10th. It comprises a part.

  According to this long body inserting / extracting device, by energizing the other roller with respect to one of the rollers, the long body can be reliably sandwiched by the roller pair, and the long body is inserted into and extracted from the conduit tube. Can be performed smoothly.

  Moreover, the long body insertion / extraction apparatus according to the twelfth aspect of the invention is the invention according to any one of the first to eleventh aspects, wherein one roller of the roller pair is a fixed side and the other roller is the one roller. A moving unit that moves toward and away from the shaft, and the moving unit slides the shaft supporting block with respect to the base body, the shaft supporting block supporting the shaft rotatably through the rotating shaft that rotates the other roller of the roller pair. It has a slide support part supported so that movement is possible, and a movement mechanism which slides and moves the shaft support block with respect to the slide support part.

  According to this elongate body insertion / extraction device, the shaft supporting block has the rotating shaft that rotates the other roller penetrated, and the other roller is moved to one side by sliding the shaft supporting block with respect to the slide supporting portion. It can be surely and smoothly moved without shaking with respect to the rollers.

  In addition, the elongate body insertion / extraction device of the thirteenth aspect of the invention is any one of the first to twelfth aspects of the invention, wherein the drive unit has a rotating shaft that individually rotates the rollers of the roller pair, The outer periphery of the rotating shaft is provided with concavities and convexities that are continuous in the axial direction, and a fitting hole that passes through the rotating shaft and fits into the concavities and convexities is provided at the center of the roller, and a male screw portion is provided at the tip of the rotating shaft. The roller is fixed to the rotating shaft by a nut that is formed and screwed into the male screw portion.

  According to this elongate body insertion / extraction device, the roller can be attached to the rotating shaft while being prevented from rotating, and the roller can be easily attached to and detached from the rotating shaft by the nut.

  According to the present invention, it is possible to improve the work efficiency of insertion or extraction of a long body.

FIG. 1 is a schematic configuration diagram of an example of a nuclear power plant. FIG. 2 is a longitudinal sectional view of a pressurized water reactor. FIG. 3 is a plan view showing an instrumentation nozzle of a reactor vessel lid into which a long body is inserted by the long body insertion / extraction apparatus according to Embodiment 1 of the present invention. FIG. 4 is a side view showing a long body inserted by the long body insertion / extraction apparatus according to Embodiment 1 of the present invention and a conduit tube into which the long body is inserted. FIG. 5 is a front view of the elongated body insertion / extraction device according to Embodiment 1 of the present invention. FIG. 6 is a front view showing the operation of the long body insertion / extraction apparatus according to Embodiment 1 of the present invention. FIG. 7: is a front view which shows the use condition of the elongate body insertion / extraction apparatus which concerns on Embodiment 1 of this invention. FIG. 8 is a block diagram of the elongated body insertion / extraction device according to Embodiment 1 of the present invention. FIG. 9: is a schematic side view which shows the conduit tube from which a long body is extracted by the long body insertion / extraction apparatus which concerns on Embodiment 2 of this invention. FIG. 10: is a top view which shows the seal table to which the edge part of the conduit tube from which a long body is extracted with the long body insertion / extraction apparatus which concerns on Embodiment 2 of this invention was fixed. FIG. 11: is a side view which shows the detail of the conduit tube from which a long body is extracted by the long body insertion / extraction apparatus which concerns on Embodiment 2 of this invention. FIG. 12 is a side view showing a state where the long body is extracted from the conduit tube in FIG. 11. FIG. 13: is a front view of the elongate body insertion / extraction apparatus which concerns on Embodiment 2 of this invention. FIG. 14: is a top view of the elongate body insertion / extraction apparatus which concerns on Embodiment 2 of this invention. FIG. 15: is a front view which shows operation | movement of the elongate body insertion / extraction apparatus which concerns on Embodiment 2 of this invention. FIG. 16: is a top view which shows operation | movement of the elongate body insertion / extraction apparatus which concerns on Embodiment 2 of this invention. FIG. 17: is a block diagram of the elongate body insertion / extraction apparatus which concerns on Embodiment 2 of this invention. FIG. 18: is a front view of the other structure of the elongate body insertion / extraction apparatus which concerns on Embodiment 2 of this invention. FIG. 19: is a front view which shows the operation | movement of the other structure of the elongate body insertion / extraction apparatus which concerns on Embodiment 2 of this invention.

  Embodiments according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

  FIG. 1 is a schematic configuration diagram of an example of a nuclear power plant, and FIG. 2 is a longitudinal sectional view of a pressurized water reactor.

  The nuclear power plant shown in FIG. 1 has a pressurized water reactor (PWR: Pressurized Water Reactor). In this nuclear power plant, in a reactor containment vessel 100, a reactor vessel 101 of a pressurized water reactor, a pressurizer 102, a steam generator 103 and a primary cooling water pump 104 are sequentially connected by a primary cooling water pipe 105, A circulation path of primary cooling water is configured.

  The reactor vessel 101 stores the fuel assembly 120 in a sealed state. The reactor vessel 101 includes a reactor vessel main body 101a and a reactor vessel lid 101b mounted on the upper portion thereof so that the fuel assembly 120 can be inserted and removed. It is configured. The reactor vessel main body 101a is provided with an inlet-side nozzle 101c and an outlet-side nozzle 101d for supplying and discharging light water as primary cooling water in the upper part. A primary cooling water pipe 105 is connected to the outlet side nozzle 101 d so as to communicate with the inlet side water chamber 103 a of the steam generator 103. The inlet side nozzle 101c is connected to the primary cooling water pipe 105 so as to communicate with the outlet side water chamber 103b of the steam generator 103.

  The steam generator 103 is provided with an inlet-side water chamber 103a and an outlet-side water chamber 103b partitioned by a partition plate 103c in a lower part formed in a hemispherical shape. The inlet side water chamber 103a and the outlet side water chamber 103b are separated from the upper side of the steam generator 103 by a tube plate 103d provided on the ceiling portion. On the upper side of the steam generator 103, an inverted U-shaped heat transfer tube 103e is provided. The end portion of the heat transfer tube 103e is supported by the tube plate 103d so as to connect the inlet side water chamber 103a and the outlet side water chamber 103b. The inlet-side water chamber 103a is connected to the inlet-side primary cooling water pipe 105, and the outlet-side water chamber 103b is connected to the outlet-side primary cooling water pipe 105. In addition, the steam generator 103 is connected to the upper side upper end partitioned by the tube plate 103d, the outlet side secondary cooling water pipe 106a, and the upper side part is connected to the inlet side secondary cooling water pipe 106b. Has been.

  Further, in the nuclear power plant, the steam generator 103 is connected to the steam turbine 107 via the secondary cooling water pipes 106a and 106b outside the reactor containment vessel 100, and the circulation path of the secondary cooling water is configured. .

  The steam turbine 107 includes a high-pressure turbine 108 and a low-pressure turbine 109, and a generator 110 is connected to the steam turbine 107. In addition, the high-pressure turbine 108 and the low-pressure turbine 109 are connected to a moisture separation heater 111 that is branched from the secondary cooling water pipe 106a. The low pressure turbine 109 is connected to the condenser 112. The condenser 112 is connected to the secondary cooling water pipe 106b. The secondary cooling water pipe 106b is connected to the steam generator 103 as described above, and reaches from the condenser 112 to the steam generator 103, and the condensate pump 113, the low-pressure feed water heater 114, the deaerator 115, and the main feed water pump. 116, and a high-pressure feed water heater 117 are provided.

  Therefore, in the nuclear power plant, the primary cooling water is heated in the reactor vessel 101 to become a high temperature and high pressure, and is pressurized by the pressurizer 102 to keep the pressure constant, and the steam is passed through the primary cooling water pipe 105. It is supplied to the generator 103. In the steam generator 103, heat exchange between the primary cooling water and the secondary cooling water is performed, whereby the secondary cooling water evaporates and becomes steam. The cooled primary cooling water after heat exchange is recovered to the primary cooling water pump 104 side via the primary cooling water pipe 105 and returned to the reactor vessel 101. On the other hand, the secondary cooling water converted into steam by heat exchange is supplied to the steam turbine 107. In connection with the steam turbine 107, the moisture separator / heater 111 removes moisture from the exhaust from the high-pressure turbine 108, further heats it to an overheated state, and then sends it to the low-pressure turbine 109. The steam turbine 107 is driven by the steam of the secondary cooling water, and the power is transmitted to the generator 110 to generate power. Steam used for driving the turbine is discharged to the condenser 112. The condenser 112 exchanges heat between the cooling water (for example, seawater) taken by the pump 112b through the intake pipe 112a and the steam discharged from the low-pressure turbine 109, and condenses the steam to produce a low-pressure saturated liquid. Return to. The cooling water used for heat exchange is discharged from the drain pipe 112c. Further, the condensed saturated liquid becomes secondary cooling water, and is sent out of the condenser 112 by the condensate pump 113 through the secondary cooling water pipe 106b. Further, the secondary cooling water passing through the secondary cooling water pipe 106b is heated by the low-pressure feed water heater 114, for example, by the low-pressure steam extracted from the low-pressure turbine 109, and dissolved oxygen and non-condensed gas (ammonia gas) in the deaerator 115. After the impurities such as) are removed, the water is fed by the main feed pump 116 and heated by the high-pressure steam extracted from the high-pressure turbine 108 by the high-pressure feed water heater 117 and then returned to the steam generator 103.

  In the pressurized water reactor of the nuclear power plant configured as described above, as shown in FIG. 2, the reactor vessel 101 has a nuclear reactor in which a reactor internal structure including the fuel assembly 120 can be inserted. A reactor vessel lid 101b is fixed to the vessel body 101a by a plurality of stud bolts 121 and nuts 122 so as to be opened and closed.

  The reactor vessel main body 101a has a cylindrical shape in which the upper portion can be opened by removing the reactor vessel lid 101b and the lower portion is closed by a lower mirror 101e having a hemispherical shape. In the reactor vessel main body 101a, the upper core support plate 123 is fixed above the inlet side nozzle 101c and the outlet side nozzle 101d, while the lower core support is located near the lower mirror 101e. The plate 124 is fixed. The upper core support plate 123 and the lower core support plate 124 have a disc shape and are formed with a number of communication holes (not shown). The upper core support plate 123 is connected to an upper core plate 126 having a plurality of communication holes (not shown) formed below through a plurality of core support rods 125.

  In the reactor vessel main body 101a, a cylindrical reactor core 127 having a cylindrical shape is disposed with a predetermined gap from an inner wall surface. The reactor tank 127 is connected to an upper core plate 126 at an upper portion and a disk shape at a lower portion. The lower core plate 128 in which a large number of communication holes (not shown) are formed is connected. The lower core plate 128 is supported by the lower core support plate 124. That is, the core tank 127 is supported by the lower core support plate 124 of the reactor vessel main body 101a.

  A core 129 is formed by the upper core plate 126, the core tank 127, and the lower core plate 128. A large number of fuel assemblies 120 are disposed inside the core 129. Although not shown, the fuel assembly 120 is configured by bundling a large number of fuel rods in a lattice pattern with a support lattice, and an upper nozzle is fixed to the upper end portion and a lower nozzle is fixed to the lower end portion. The core 129 has a large number of control rods 130 disposed therein. The large number of control rods 130 are combined at the upper end portion into a control rod cluster 131 that can be inserted into the fuel assembly 120. A number of control rod cluster guide tubes 132 are fixed to the upper core support plate 123 so as to pass through the upper core support plate 123, and the lower end portion of each control rod cluster guide tube 132 is controlled in the fuel assembly 120. It extends to the bar cluster 131.

  A reactor vessel lid 101b constituting the reactor vessel 101 has a hemispherical upper portion and is provided with a control rod drive device 133 of a magnetic jack, and is housed in a housing 134 that is integrated with the reactor vessel lid 101b. Has been. The control rod cluster guide tube 132 has an upper end extending to the control rod drive device 133, and the control rod cluster drive shaft 135 extends from the control rod drive device 133. The control rod cluster 131 can be gripped by extending to the fuel assembly 120.

  The control rod drive device 133 extends in the vertical direction and is connected to the control rod cluster 131, and a control rod cluster drive shaft 135 having a plurality of circumferential grooves arranged on the surface thereof at equal pitches in the longitudinal direction. The power of the reactor is controlled by moving up and down with a magnetic jack.

  In the reactor vessel 101, a neutron flux detector guide device 136 is disposed from the upper core support plate 123 to the upper core plate 126 and the fuel assembly 120. This neutron flux detector guiding device 136 is for inserting a neutron flux detector (not shown) from an instrumentation nozzle 137 provided in the reactor vessel lid 101b into the core 129 (fuel assembly 120). The neutron flux detector can measure the neutron level and distribution (neutron flux) here.

  In the guide device 136 for the neutron flux detector, a cylindrical support column 138 is erected on the upper core support plate 123. The upper end of the support column 138 extends through the reactor vessel lid 101 b to the outside of the instrumentation nozzle 137. The support column 138 has a plurality of conduit tubes 139 inserted therein. The conduit tube 139 has an inner diameter through which a neutron flux detector can be inserted, extends to the seal portion of the instrumentation nozzle 137 outside the reactor vessel 101, and the upper side has a support piece (not shown) in the support column 138. ), And the lower side is extended from the middle of the support column 138 to the outside, and each is inserted into a conduit tube guide tube 140 disposed in the core support rod 125. Further, the conduit tube 139 communicates with the inside of the core 129 through the upper core plate 126 from the lower end of the conduit tube guide tube 140 at the lower end.

  The reactor vessel body 101a is provided with a number of instrumentation nozzles 146 that penetrate the lower mirror 101e, and each instrumentation nozzle 146 has an in-reactor instrumentation guide tube 147 connected to the upper end of the inside of the reactor. On the other hand, a conduit tube 148 is connected to a lower end portion outside the furnace. Each in-core instrumentation guide tube 147 has an upper end connected to the lower core support plate 124, and upper and lower connecting plates 149, 150 for suppressing vibration are attached. The conduit tube 148 is provided to reach the lower core plate 128, and a thimble tube 151 into which a neutron flux detector (not shown) capable of measuring a neutron flux is inserted is inserted. The thimble tube 151 can be inserted into the fuel assembly 120 through the lower core plate 128 through the instrumentation nozzle 146 and the in-core instrumentation guide tube 147 via the conduit tube 148.

  Such a pressurized water reactor controls the nuclear fission in the core 129 by moving the control rod cluster drive shaft 135 by the control rod drive device 133 and extracting the control rod 130 from the fuel assembly 120 by a predetermined amount. The light water filled in the reactor vessel 101 is heated by the generated thermal energy, and high-temperature light water is discharged from the outlet side nozzle 101d. That is, the nuclear fuel constituting the fuel assembly 120 is fissioned to release neutrons, and the light water as the moderator and the primary cooling water reduces the kinetic energy of the released fast neutrons to become thermal neutrons. It makes it easy to cause nuclear fission and takes away the generated heat to cool it. On the other hand, by inserting the control rod 130 into the fuel assembly 120, the number of neutrons generated in the core 129 is adjusted, and by inserting all the control rod 130 into the fuel assembly 120, the nuclear reactor is emergency Can be stopped. In the reactor vessel 101, an upper plenum 152 communicating with the outlet side nozzle 101d is formed above the core 129, and a lower plenum 153 is formed below. A downcomer portion 154 that communicates with the inlet side nozzle 101 c and the lower plenum 153 is formed between the reactor vessel 101 and the reactor core 127. Accordingly, light water flows into the reactor vessel body 101a from the inlet side nozzle 101c, flows down the downcomer portion 154, reaches the lower plenum 153, and is guided upward by the spherical inner surface of the lower plenum 153. And then flows into the core 129 after passing through the lower core support plate 124 and the lower core plate 128. The light water that has flowed into the core 129 absorbs heat energy generated from the fuel assemblies 120 that constitute the core 129, thereby cooling the fuel assemblies 120 while passing through the upper core plate 126 at a high temperature. Then, it rises to the upper plenum 152 and is discharged through the outlet side nozzle 101d. The light water discharged from the reactor vessel 101 is sent to the steam generator 103 as described above.

[Embodiment 1]
In the present embodiment, in the above-described pressurized water reactor, the elongated body insertion / extraction apparatus 1 for inserting a neutron flux detector as an elongated body from the instrumentation nozzle 137 provided in the reactor vessel lid 101b into the core 129. explain.

  FIG. 3 is a plan view showing an instrumentation nozzle of a reactor vessel lid into which a long body is inserted by the long body insertion / extraction apparatus according to the present embodiment, and FIG. 4 is a long body according to the present embodiment. It is a side view which shows the conduit tube in which the elongate body inserted by the insertion / extraction apparatus and a elongate body are inserted.

  Referring to FIG. 2, as described above, the conduit tube 139 is inserted with a neutron flux detector (not shown), and a plurality of conduit tubes 139 are inserted into the support column 138. The support column 138 extends through the reactor vessel lid 101b to the outside of the instrumentation nozzle 137. As shown in FIG. 3, in this embodiment, five conduit tubes 139 are inserted through one support column 138. Each conduit tube 139 extends from the support column 138 to the outside of the instrumentation nozzle 137. Then, as shown in FIG. 4, the neutron flux detector is inserted into each conduit tube 139 from an end 139 a that opens outside the instrumentation nozzle 137. FIG. 4 shows a state where a detector tube 141 having a neutron flux detector at the tip is inserted into the conduit tube 139. The detector tube 141 has a connector 141a at the rear end. Neutron flux detectors are changed regularly (every few years), and insertion is performed manually by the operator. The elongated body insertion / extraction apparatus of the present embodiment is a detector tube 141 that is a long body having a neutron flux detector at the tip of the conduit tube 139 provided on the reactor vessel lid 101b of the reactor vessel 101. Is to be inserted.

  FIG. 5 is a front view of the long body insertion / extraction device according to the present embodiment, FIG. 6 is a front view showing the operation of the long body insertion / extraction device according to the present embodiment, and FIG. 7 is the embodiment. It is a front view which shows the use condition of the long body insertion / extraction apparatus which concerns on FIG. 8, FIG. 8 is a block diagram of the long body insertion / extraction apparatus which concerns on this embodiment.

  As shown in FIGS. 5 and 6, the elongated body insertion / extraction device 1 of this embodiment includes a roller pair 2 and a drive unit 3. The roller pair 2 sandwiches the detector tube 141 as shown in FIG. The drive unit 3 rotates the roller pair 2 to move the detector tube 141 in the length direction.

  The roller pair 2 includes a pair of rollers 2A and 2B. Each of the rollers 2A and 2B has a concave groove corresponding to almost half of the outer diameter of the detector tube 141 on the circumferential surfaces facing each other. The roller pair 2 is disposed on the base 4, one roller 2 </ b> A is provided as a fixed side, and the other roller 2 </ b> B is supported by a moving unit 5 that moves toward and away from the one roller 2 </ b> A.

  The moving unit 5 includes a shaft support block 5A, a slide support unit 5B, and a moving mechanism 5C. The shaft support block 5A is formed as a block of blocks that are rotatably supported through the rotation shaft 2Ba that rotates the other roller 2B.

  The slide support portion 5B supports the shaft support block 5A so as to be slidable in a state where the shaft support block 5A is housed in the base body 4. Specifically, the slide support portion 5B has a housing portion 5Ba in the base body 4 in which a portion that supports the other roller 2B of the shaft support block 5A is housed. The slide support 5B has an insertion hole 5Bb in the base 4 through which a part of the shaft support block 5A is inserted in succession to the housing 5Ba.

  The moving mechanism 5C slides the shaft support block 5A with respect to the slide support portion 5B. Specifically, the moving mechanism 5C includes a cylinder 5Ca formed inside a part of the shaft support block 5A that is inserted into the insertion hole 5Bb, a piston 5Cb that is slidably provided in the cylinder 5Ca, and a piston 5Cb. The piston rod 5Cc is connected to the cylinder 5 and is configured as a hydraulic cylinder that relatively moves the cylinder 5Ca and the piston 5Cb by injecting water into the cylinder 5Ca. The moving mechanism 5C is fixed to the base body 4 on which the piston rod 5Cc is on the fixed side. For this reason, in the moving mechanism 5C, the shaft support block 5A, in which the piston 5Cb is fixed and the cylinder 5Ca is formed, moves relative to the base 4 so that the other roller 2B approaches and separates from the one roller 2A. Move. Accordingly, the detector tube 141 is sandwiched between the rollers 2A and 2B. In addition, not only a hydraulic cylinder but a pneumatic cylinder and a hydraulic cylinder may be used.

  Moreover, the moving part 5 has a biasing part 5D that biases the other roller 2B in a direction approaching the one roller 2A. Since the moving mechanism 5C is configured as a hydraulic cylinder, the urging unit 5D in the present embodiment urges the other roller 2B in the direction approaching the one roller 2A by the water pressure. This urging force becomes a force for sandwiching the detector tube 141 between the rollers 2A and 2B in the roller pair 2.

  The drive unit 3 is disposed on the base 4 together with one roller 2A on the fixed side. The drive unit 3 includes a drive motor 3A. The drive motor 3A is provided with a drive gear 3B on its output shaft. The drive motor 3A can be driven forward and reverse. The drive gear 3B is connected to the roller gear 3D via a plurality of transmission gears 3C. The roller gear 3D is provided on a rotation shaft 2Aa that is rotatably supported with respect to the base 4 so as to rotate one roller 2A. That is, the rotation of the output shaft of the drive motor 3A is transmitted from the drive gear 3B to the roller gear 3D via the transmission gear 3C, whereby the rotation shaft 2Aa is rotated and one roller 2A is rotated. The drive unit 3 has a roller gear 3E on the rotation shaft 2Ba of the other roller 2B. This roller gear 3E meshes with the roller gear 3D of one roller 2A when the other roller 2B moves so as to approach the one roller 2A and sandwich the detector tube 141. That is, the rotation of the roller gear 3D is transmitted to the roller gear 3E, and the other roller 2B is rotated. Since the roller gears 3D and 3E are the same, the rollers 2A and 2B rotate at the same rotational speed. For this reason, the detector tube 141 is moved in the length direction.

  Note that a plurality of pairs (two pairs in the present embodiment) of the roller pairs 2 are provided. In each roller pair 2, the roller gears 3D and 3D of each one of the rollers 2A and 2A mesh with the transmission gear 3C and rotate at the same rotational speed in the same direction. Further, the roller gears 3D and 3D of each one of the rollers 2A and 2A mesh with the respective roller gears 3E and 3E of the other rollers 2B and 2B. For this reason, the drive unit 3 rotationally drives all the rollers 2A, 2B of each roller pair 2. The rollers 2A and 2B can be formed of a metal material or a rubber material. In consideration of decontamination and durability, a metal material is preferable.

  The drive unit 3 has rotating shafts 2Aa and 2Ba for individually rotating the rollers 2A and 2B of the roller pair 2. The rotary shafts 2Aa and 2Ba are provided with concavities and convexities that are continuous in the axial direction (shaft extending direction) on the outer periphery thereof. In the present embodiment, the rotation shafts 2Aa and 2Ba are formed in a prismatic shape (hexagonal prism). The rollers 2A and 2B are formed with fitting holes 2Ab and 2Bb that are inserted into the concave and convex portions through the rotation shafts 2Aa and 2Ba, that is, square holes (hexagonal holes) in this embodiment. . The rotary shafts 2Aa and 2Ba have male screw portions 2Ac and 2Bc formed at their tips, and the rollers 2A and 2B are fixed to the rotary shafts 2Aa and 2Ba by nuts 2Ad and 2Bd screwed into the male screw portions 2Ac and 2Bc. To do. The rollers 2A and 2B can be detached from the rotary shafts 2Aa and 2Ab by removing the nuts 2Ad and 2Bd.

  Furthermore, the elongated body insertion / extraction device 1 of the present embodiment includes a clamping unit 6. The sandwiching portion 6 is connected to the base body 4 and sandwiches the conduit tube 139. The clamping unit 6 includes a clamping unit main body 6A, a fixed clamping piece 6B, a movable clamping piece 6C, a moving block 6D, a slide support unit 6E, and a moving mechanism 6F. A fixed clamping piece 6B is fixed to the clamping unit main body 6A.

  The moving block 6D is formed as a block of blocks that support the moving holding piece 6C. The slide support 6E supports the movable block 6D so as to be slidable in a state in which the movable block 6D is housed in the clamping unit main body 6A. Specifically, the slide support portion 6E has an accommodating portion 6Ea in which the moving block 6D is accommodated in the sandwiching portion main body 6A. Further, the slide support portion 6E has an insertion portion 6Eb through which a part of the moving block 6D is inserted in succession to the accommodating portion 6Ea in the holding portion main body 6A.

  The moving mechanism 6F slides the moving block 6D relative to the slide support 6E. Specifically, the moving mechanism 6F includes a cylinder 6Fa formed inside a part of the moving block 6D inserted through the insertion portion 6Eb, a piston 6Fb slidably provided in the cylinder 6Fa, and a piston 6Fb. The piston rod 6Fc is connected, and is configured as a hydraulic cylinder that relatively moves the cylinder 6Fa and the piston 6Fb by injecting water into the cylinder 6Fa. And the moving mechanism 6F is being fixed to the clamping part main body 6A whose piston rod 6Fc is a fixed side. For this reason, the moving mechanism 6F has the piston 6Fb fixed and the moving block 6D formed with the cylinder 6Fa moves relative to the holding portion main body 6A so that the moving holding piece 6C approaches the fixed holding piece 6B. Move apart. Thereby, the conduit tube 139 is pinched | interposed by each clamping piece 6B, 6C.

  Further, the long body insertion / extraction device 1 of the present embodiment has a load detection unit 7. The load detection unit 7 includes a load cell, and is interposed between the base body 4 and the sandwiching part 6 to detect a load change that occurs between the base body 4 and the sandwiching part 6. In addition, when not having the load detection part 7, the base | substrate 4 and the clamping part 6 are connected directly.

  Moreover, the long body insertion / extraction apparatus 1 of this embodiment has the imaging | photography part 8. FIG. The photographing unit 8 is a camera provided on the base body 4 or the sandwiching unit 6, and photographs the end 139 a of the conduit tube 139 with the conduit tube 139 sandwiched by the sandwiching unit 6.

  Further, the long body insertion / extraction device 1 of the present embodiment has a holding portion 9. As shown in FIG. 7, the holding unit 9 suspends and holds the base 4. The base body 4 is provided with a connecting portion 4A to which the holding portion 9 is connected. The holding unit 9 is a temporary suspension 9A attached to a stationary part in the reactor containment vessel 100 in which the reactor vessel 101 is disposed, and fishing for hanging and holding the base body 4 by being suspended by the temporary suspension 9A. And a combination mechanism 9B. The balancing mechanism 9 </ b> B elastically receives the load of the base 4 and the load when the detector tube 141 is moved in the length direction by the rotation of the roller pair 2. That is, the holding unit 9 prevents the detector tube 141 and the conduit tube 139 from being bent by not applying the load of the elongated body insertion / extraction device 1 to the detector tube 141 and the conduit tube 139. In addition, you may suspend the balance mechanism 9B with the crane etc. in an installation, without using the temporary suspension tool 9A.

  Moreover, the elongate body insertion / extraction apparatus 1 of this embodiment has the monitor 10, the operation part 11, and the control part 12, as shown in FIG. The monitor 10 displays the video imaged by the imaging unit 8. The operation part 11 operates the elongate body insertion / extraction apparatus 1.

  The control part 12 controls the elongate body insertion / extraction apparatus 1 comprehensively. The control unit 12 is provided in a remote part that is not exposed to radiation isolated from the reactor vessel 101, and includes a hydraulic pressure supply unit (not shown) of the moving mechanism 5C, a driving motor 3A of the driving unit 3, and a hydraulic pressure supply unit of the moving mechanism 6F. (Not shown), connected to the load detection unit 7, the imaging unit 8, the monitor 10, and the operation unit 11. The hydraulic pressure supply unit (not shown) of the moving mechanism 5C, the drive motor 3A of the driving unit 3, the hydraulic pressure supply unit (not shown) of the moving mechanism 6F, the load detection unit 7, and the imaging unit 8 include power lines and signal lines. The remote control unit 12 is connected via a cable (not shown). The monitor 10 and the operation unit 11 are provided in the remote unit together with the control unit 12.

  Then, the control unit 12 displays the video imaged by the imaging unit 8 on the monitor 10. The operator operates the operation unit 11 while confirming the video displayed on the monitor 10. The control unit 12 operates the water pressure supply unit of the moving mechanism 5C, the drive motor 3A of the driving unit 3, and the water pressure supply unit of the moving mechanism 6F according to the input of the operation unit 11. Accordingly, the detector tube 141 is sandwiched by the roller pair 2 while the conduit tube 139 is sandwiched by the sandwiching section 6, and the detector tube 141 is moved in the length direction by the roller pair 2. Thereby, the detector tube 141 can be inserted into the conduit tube 139. Further, the control unit 12 inputs a detection signal from the load detection unit 7 and displays the detection result on the operation panel of the monitor 10 or the operation unit 11. For example, when the detector tube 141 is clogged in the conduit tube 139, the feed of the detector tube 141 with the roller pair 2 becomes heavy, so that the base 4 and the sandwiching portion 6 are relatively separated from each other, thereby detecting the load. In part 7, it detects that the load became light. In this case, the operator operates the operation unit 11 to once rotate the drive motor 3A of the drive unit 3 to reverse the clogging. In addition, when the detection signal from the load detection unit 7 is input and the load becomes light, the control unit 12 displays the detection result on the operation panel of the monitor 10 or the operation unit 11 and the drive motor 3A of the drive unit 3 It is also possible to reverse the clogging by automatically rotating it once. The position where the conduit tube 139 is clamped by the clamping unit 6 is preferably closer to the end 139 of the conduit tube 139. As a result, the conduit tube 139 can be prevented from buckling when the detector tube 141 is inserted, and the detector tube 141 can be smoothly fed.

  Thus, the long body insertion / extraction apparatus 1 of this embodiment inserts and removes the detector tube 141 which is a long body with respect to the conduit tube 139 provided in the reactor vessel 101, and the detector tube The roller pair 2 which pinches | interposes 141, and the drive part 3 which rotates the roller pair 2 and moves the detector tube 141 to a length direction are provided.

  According to this long body insertion / extraction device 1, the detector tube 141 is sandwiched between the roller pair 2 and the roller tube 2 is rotated by the drive unit 3 to move the detector tube 141 in the length direction. The detector tube 141 can be continuously sent with the detector tube 141 sandwiched therebetween. As a result, the operating time of the device for inserting and extracting the detector tube 141 can be shortened, and the working efficiency can be improved.

  Further, the long body insertion / extraction device 1 of the present embodiment includes a base body 4 on which the roller pair 2 and the drive unit 3 are arranged, and a clamping unit 6 that is connected to the base body 4 and clamps the conduit tube 139.

  According to the long body inserting / extracting device 1, the detector tube 141 can be reliably inserted into and extracted from the conduit tube 139 by holding and holding the conduit tube 139 by the holding unit 6.

  Further, the long body insertion / extraction apparatus 1 of the present embodiment includes a holding unit 9 that suspends and holds the base body 4, and the holding part 9 holds the detector tube 141 by the load of the base body 4 and the rotation of the roller pair 2. It has a balance mechanism 9B that receives elastically the load when moving in the length direction.

  According to this long body insertion / extraction device 1, the detector tube 141 and the conduit tube 139 can be prevented from bending by preventing the load of the long body insertion / extraction device 1 from being applied to the detector tube 141 and the conduit tube 139. .

  Further, the elongated body insertion / extraction device 1 according to the present embodiment includes a load detection unit 7 that is interposed between the base 4 and the clamping unit 6 and detects a load change that occurs between the base 4 and the clamping unit 6. .

  According to the long body inserting / extracting device 1, it is possible to know that the detector tube 141 is clogged in the conduit tube 139 by detecting a change in load generated between the base body 4 and the clamping unit 6. .

  Further, the elongated body insertion / extraction device 1 of the present embodiment includes the photographing unit 8 that photographs the end portion 139a of the conduit tube 139 in a state where the conduit tube 139 is sandwiched by the sandwiching unit 6.

  According to the long body inserting / removing device 1, the state where the detector tube 141 is inserted into and removed from the conduit tube 139 can be confirmed at a remote part by viewing an image of the end 139 a of the conduit tube 139. it can.

  Moreover, in the long body insertion / extraction apparatus 1 of this embodiment, the roller pair 2 is provided with two or more pairs, and the drive part 3 rotates all of each roller pair 2. As shown in FIG.

  According to this elongate body insertion / extraction device 1, the detector tube 141 can be reliably fed, and the detector tube 141 can be smoothly inserted into and extracted from the conduit tube 139.

  Moreover, in the long body insertion / extraction apparatus 1 of this embodiment, it is provided with the urging | biasing part 5D which urges | biases the other roller 2B toward the one roller 2A of the roller pair 2.

  According to this elongated body insertion / extraction device 1, the other roller 2B is urged against the one roller 2A, so that the detector tube 141 can be reliably sandwiched by the roller pair 2, and the conduit tube 139 is provided. It is possible to smoothly insert and remove the detector tube 141 with respect to.

  Moreover, in the long body insertion / extraction apparatus 1 of the present embodiment, the moving unit 5 that moves one of the rollers 2A of the roller pair 2 to the fixed side and moves the other roller 2B closer to or away from the one roller 2A is provided. Reference numeral 5 denotes a shaft support block 5A that rotatably supports the shaft 2Ba that rotates the other roller 2B of the roller pair 2 and a slide support that supports the shaft support block 5A so as to be slidable relative to the base body 4. 5B, and a moving mechanism 5C that slides the shaft support block 5A relative to the slide support 5B.

  According to this long body insertion / extraction device 1, the shaft support block 5A has the rotation shaft 2Ba for rotating the other roller 2B penetrated, and the shaft support block 5A is slid relative to the slide support portion 5B. The other roller 2B can be reliably and smoothly moved without shaking with respect to the one roller 2A.

  Moreover, in the long body insertion / extraction apparatus 1 of this embodiment, the drive part 3 has rotating shaft 2Aa, 2Ba which rotates roller 2A, 2B of the roller pair 2 separately, and the outer periphery of rotating shaft 2Aa, 2Ba Are provided in the center of the rollers 2A and 2B, and are provided at the ends of the rotation shafts 2Aa and 2Ba. The rollers 2A and 2B are fixed to the rotary shafts 2Aa and 2Ba by nuts 2Ad and 2Bd that are formed with screw portions 2Ac and 2Bc and screwed into the male screw portions 2Ac and 2Bc.

  According to this elongate body insertion / extraction device 1, the rollers 2A, 2B can be attached to the rotation shafts 2Aa, 2Ba while being prevented from rotating, and the rollers 2A, 2Ba are attached to the rotation shafts 2Aa, 2Ba by the nuts 2Ad, 2Bd. 2B can be easily attached and detached.

[Embodiment 2]
This embodiment demonstrates the elongate body insertion / extraction apparatus 21 which extracts the thimble tube 151 as an elongate body from the fuel assembly 120 arrange | positioned at the reactor vessel 101 in the pressurized water reactor mentioned above.

  FIG. 9 is a schematic side view showing a conduit tube from which a long body is extracted by the long body insertion / extraction apparatus according to the present embodiment, and FIG. 10 is a schematic view of the long body by the long body insertion / extraction apparatus according to the present embodiment. It is a top view which shows the seal table to which the edge part of the conduit tube from which a pipe is extracted was fixed, FIG. 11 shows the detail of the conduit tube from which a long body is extracted by the long body insertion / extraction apparatus which concerns on this embodiment. FIG. 12 is a side view, and FIG. 12 is a side view showing a state in which the long body is extracted from the conduit tube in FIG. 11.

  Referring to FIG. 2, as described above, the conduit tube 148 is inserted through the thimble tube 151. The conduit tube 148 extends to the outside of the instrumentation nozzle 146. As shown in FIG. 9, the reactor vessel 101 is supported by being suspended in the reactor containment vessel 100. The reactor containment vessel 100 has a piping chamber 155 formed below the reactor vessel 101. The plurality of conduit tubes 148 are drawn out of the reactor vessel 101 from the lower mirror 101e, bent around the piping chamber 155, and then fixed to a seal table (support) 156 in a separate chamber. Has been. The thimble tube 151 is inserted through the conduit tube 148. Then, a neutron flux detector is inserted into the thimble tube 151.

  As shown in FIGS. 10 and 11, the seal table 156 is formed in a plate shape, and is fixed in a state where the end portion of the conduit tube 148 penetrates from the bottom to the top. The conduit tube 148 is forested as one set in which a plurality of rows arranged at equal intervals in the arrow direction in FIG. 10 are arranged in two rows in parallel. Further, the seal table 156 is provided between the rows of the set of conduit tubes 148 that are erected, and is provided with a tool mounting hole 157 at an intermediate position between the individual conduit tubes. The tool mounting hole 157 is a hole for mounting an inspection device for inspecting the thimble tube 151, and a circular hole is formed in the cylindrical member 157a fixed to the seal table 156 in a plan view. A rectangular keyway is formed on the opposite wall. The seal table 156 is provided with a plurality of combinations including a set of conduit tubes 148 and a tool mounting hole 157 therebetween (in FIG. 10, two combinations are shown).

  As described above, the thimble tube 151 is inserted into the conduit tube 148. As shown in FIG. 11, the conduit tube 148 has a flange 148a formed at the end thereof. The thimble tube 151 inserted through the conduit tube 148 has a flange 151 a that abuts on the flange 148 a of the conduit tube 148. The flanges 148a and 151a are in contact with each other, and are sealed with a high-pressure seal 158 so as to prevent water leakage. In the state shown in FIG. 11, a neutron detector (shown by a one-dot chain line in FIG. 11) is inserted into the thimble tube 151.

  In such a configuration, when the fuel assembly 120 is removed from the reactor vessel 101 during periodic inspection, the neutron detector and thimble tube 151 interfere with the removal and installation of the fuel assembly 120. The tube 151 is extracted from the fuel assembly 120. The neutron detector is provided at the tip of a detector tube (not shown), and the detector tube is wound up by the winder provided in the upper part of the separate chamber and extracted from the thimble tube 151. Thereafter, the thimble tube 151 is withdrawn from the end of the conduit tube 148 in a separate chamber at least a few meters from the fuel assembly 120. Specifically, as shown in FIGS. 11 and 12, the high-pressure seal 158 is removed, and the thimble tube 151 is pulled upward (in the direction of the arrow in FIG. 12) so that the flanges 148a and 151a are separated. The elongated body insertion / extraction apparatus of the present embodiment extracts a part of the thimble tube 151 from the conduit tube 148 provided in the lower mirror 101e of the reactor vessel 101 (at least as much as it is extracted from the fuel assembly 120). Is.

  FIG. 13 is a front view of the long body insertion / extraction device according to the present embodiment, FIG. 14 is a plan view of the long body insertion / extraction device according to the present embodiment, and FIG. FIG. 16 is a front view showing the operation of the long body insertion / extraction apparatus, FIG. 16 is a plan view showing the operation of the long body insertion / extraction apparatus according to the present embodiment, and FIG. 17 is the long body insertion / extraction apparatus according to the present embodiment. FIG.

  The elongate body insertion / extraction apparatus 21 of this embodiment is provided with the roller pair 22 and the drive part 23, as shown in FIGS. As shown in FIG. 15, the roller pair 22 sandwiches the thimble tube 151. The drive unit 23 rotates the roller pair 22 to move the thimble tube 151 in the length direction.

  The roller pair 22 includes a pair of rollers 22A and 22B. Each of the rollers 22A and 22B is formed with a concave groove corresponding to almost half of the outer diameter of the thimble tube 151 on the circumferential surfaces facing each other. The roller pair 22 is disposed on the base 24, one roller 22A is provided as a fixed side, and the other roller 22B is supported by a moving unit 25 that moves toward and away from the one roller 22A. The rollers 22A and 22B can be formed of a metal material or a rubber material. In consideration of decontamination and durability, a metal material is preferable.

  The moving unit 25 includes a shaft support block 25A, a slide support unit 25B, and a moving mechanism 25C. The shaft support block 25A is formed as a block of blocks that are rotatably supported through the rotation shaft 22Ba that rotates the other roller 22B.

  The slide support portion 25B supports the shaft support block 25A so as to be slidable in a state where the shaft support block 25A is housed in the base body 24. Specifically, the slide support portion 25B has a housing portion 25Ba in the base body 24 in which a portion that supports the other roller 22B of the shaft support block 25A is housed. Further, the slide support portion 25B has an insertion recess 25Bb in the base body 24 for inserting a part of the shaft support block 25A in succession to the housing portion 25Ba.

  The moving mechanism 25C slides the shaft support block 25A relative to the slide support portion 25B. Specifically, the moving mechanism 25C is a cylinder formed inside a part of the shaft support block 25A inserted into the insertion recess 25Bb and opened only in the direction in which the other roller 22B moves away from the one roller 22A. 25Ca and the cylindrical portion 25Ca extend along the sliding movement direction of the shaft support block 25A, one end passes through the shaft support block 25A and is prevented from being detached, and the other end penetrates outside the base body 24. The rod 25Cb that is screw-fitted while being threaded, the flange portion 25Cc that allows the rod 25Cb to rotate by a bearing while passing through the rod 25Cb in the cylindrical portion 25Ca, and the flange portion 25Cc and the shaft in the cylindrical portion 25Ca And an urging portion 25Cd that is interposed between the supporting block 25A and urged by an elastic force in a direction away from each other.

  The moving mechanism 25C has a tool (not shown) fitted to the other end of the rod 25Cb penetrating outside the base 24, and rotates the rod 25Cb with the tool. As shown in FIG. 13, when the rod 25Cb moves so as to protrude to the outside of the base body 24, the other end of the rod 25Cb that passes through the shaft support block 25A and is prevented from coming off is the flange portion 25Cc and the urging portion 25Cd. When the shaft support block 25A is pulled, the other roller 22B moves away from the one roller 22A. On the other hand, as shown in FIG. 15, when the rod 25Cb moves so as to be immersed inside the base body 24, the flange portion 25Cc moves together to push the urging portion 25Cd and push out the shaft support block 25A. The roller 22B moves closer to the one roller 22A. When the other roller 22B moves closer to one roller 22A, the thimble tube 151 is sandwiched between the rollers 22A and 22B. At this time, the urging portion 25Cd urges the other roller 22B in a direction approaching the one roller 22A by its elastic force. This urging force is a force for sandwiching the detector tube 141 between the rollers 22A and 22B in the roller pair 22.

  The drive unit 23 is disposed on the base 24 together with one roller 22A on the fixed side. The drive unit 23 includes a drive motor 23A. The drive motor 23A is provided with a drive gear 23B on its output shaft. The drive motor 23A can be driven forward and reverse. The drive gear 23B is connected to the roller gear 23D through a plurality of transmission gears 23C. The roller gear 23D is provided on a rotation shaft 22Aa that is rotatably supported with respect to the base body 24 so as to rotate one roller 22A. That is, the rotation of the output shaft of the drive motor 23A is transmitted from the drive gear 23B to the roller gear 23D via the transmission gear 23C, so that the rotation shaft 22Aa rotates and one roller 22A rotates. The drive unit 23 includes a roller gear 23E on the rotation shaft 22Ba of the other roller 22B. The roller gear 23E meshes with the roller gear 23D of the one roller 22A when the other roller 22B moves to approach the one roller 22A and sandwich the thimble tube 151 therebetween. That is, the rotation of the roller gear 23D is transmitted to the roller gear 23E, and the other roller 22B is rotated. Since the roller gears 23D and 23E are the same, the rollers 22A and 22B rotate at the same rotational speed. For this reason, the thimble tube 151 is moved in the length direction.

  Note that a plurality of pairs (two pairs in the present embodiment) of the roller pairs 22 are provided. In each roller pair 22, the roller gears 23D and 23D of one of the rollers 22A and 22A mesh with the transmission gear 23C and rotate in the same direction at the same rotation speed. Further, the roller gears 23D and 23D of each one of the rollers 22A and 22A mesh with the respective roller gears 23E and 23E of the other rollers 22B and 22B. For this reason, the drive unit 23 rotationally drives all the rollers 22 </ b> A and 22 </ b> B of each roller pair 22.

  The drive unit 23 includes rotating shafts 22Aa and 22Ba for individually rotating the rollers 22A and 22B of the roller pair 22. The rotation shafts 22Aa and 22Ba are provided with concavities and convexities that are continuous in the axial direction (shaft extending direction) on the outer periphery thereof. In the present embodiment, the rotation shafts 22Aa and 22Ba are formed in a prismatic shape (hexagonal prism). The rollers 22A and 22B are formed with fitting holes 22Ab and 22Bb that are inserted into the concave and convex portions through the rotation shafts 22Aa and 22Ba, that is, square holes (hexagonal holes) in this embodiment. . Further, the rotation shafts 22Aa and 22Ba have male screw portions 22Ac and 22Bc formed at their tips, and the rollers 22A and 22B are fixed to the rotation shafts 22Aa and 22Ba by nuts 22Ad and 22Bd screwed into the male screw portions 22Ac and 22Bc. To do. The rollers 22A and 22B can be detached from the rotary shafts 22Aa and 22Ba by removing the nuts 22Ad and 22Bd.

  Further, the elongated body insertion / extraction device 21 of the present embodiment has a base 26. The base 26 is for supporting the base 24. The base 26 is detachably provided with positioning fixing pins 26 </ b> A that are inserted into side plates 29 </ b> Da of a mount 29 described later. In addition, the base 26 is provided with a leg 26B on the bottom surface thereof, which is placed on a moving base 29D of a base 29 described later.

  Further, the long body insertion / extraction device 21 of the present embodiment has a load detection unit 27. The load detection unit 27 includes a load cell, and is interposed between the base 24 and the base 26 to detect a load change that occurs between the base 24 and the base 26. When the load detection unit 27 is not provided, the base 24 and the base 26 are directly connected.

  In addition, the long body insertion / extraction device 21 of the present embodiment includes a photographing unit 28. The photographing unit 28 is a camera provided on the base 24 or the base 26 and photographs the thimble tube 151 sandwiched between the roller pair 22.

  In addition, the long body insertion / extraction device 21 of the present embodiment includes a gantry 29. The gantry 29 is used for mounting the base 24, and in this embodiment, the base 26 for supporting the base 24 is mounted. The gantry 29 has wheels 29A and is provided so as to be able to travel. The traveling of the gantry 29 is guided by the rail 30.

  As shown in FIGS. 13 to 16, the rail 30 is placed on the upper surface of a seal table 156 as a support base. The rail 30 has a bottom plate 30A and a protruding piece 30B protruding upward from the edge of the bottom plate 30A. The bottom plate 30A is formed in the conduit tube 148 standing on the seal table 156 and extending along the row of conduit tubes 148 with a width disposed between each row of the conduit tubes 148. Yes. Further, the bottom plate 30 </ b> A has fitting holes 30 </ b> Aa that fit into the columnar members 157 a of the tool mounting holes 157 disposed between the rows of the set of conduit tubes 148. That is, the rail 30 is positioned on the seal table 156 by fitting the fitting hole 30 </ b> Aa to the cylindrical member 157 a. The protruding pieces 30B are formed on both edges in the width direction of the bottom plate 30A. The gantry 29 travels along the length direction (the arrow direction in FIG. 14) on the upper surface of the bottom plate 30A by the wheels 29A. During this traveling, the projecting piece 30B prevents the wheel 29A from falling off the bottom plate 30A.

  Further, the gantry 29 has a horizontal movement mechanism 29B as shown in FIGS. In the horizontal movement mechanism 29B, the gantry 29 is divided into a fixed gantry 29C and a movable gantry 29D. A pair of slide rails 29Ba are provided in parallel to the fixed gantry 29C, and the movable gantry 29D is provided along the slide rail 29Ba. A movable slider 29Bb is provided. The fixed base 29C of the base 29 is provided with wheels 29A, and the base 26 supporting the base 24 is placed on the movable base 29D of the base 29. The slide rail 29Ba extends in a direction orthogonal to the traveling direction of the gantry 29 by the wheels 29A. Thereby, the horizontal movement mechanism 29 </ b> B moves the base body 24 toward the conduit tube 148 between each row of the set of conduit tubes 148 in a state where the horizontal movement mechanism 29 </ b> B is placed on the rail 30. That is, the horizontal movement mechanism 29B horizontally moves the base body 24 so that the roller pair 22 is positioned immediately above the conduit tube 148, as shown in FIG. The movable base 29D is provided with a side plate 29Da through which a fixing pin 26A for positioning and fixing the base 26 is inserted.

  Further, as shown in FIGS. 13 and 15, the gantry 29 has an inclination adjusting mechanism 29E. The tilt adjustment mechanism 29E has a leg 29Ea that contacts the bottom plate 30A of the rail 30 in the fixed mount 29C of the mount 29. The legs 29Ea extend in the vertical direction and are arranged at four positions on the fixed base 29C of the base 29. The tilt adjustment mechanism 29E has an adjustment portion 29Eb corresponding to each leg 29Ea in the fixed mount 29C of the mount 29. The adjustment unit 29Eb supports the leg 29Ea so that the height can be adjusted by a gear, and rotates the adjustment handle 29Ec extending to the side of the leg 29Ea to change the height of the leg 29Ea by the gear. Thereby, the inclination adjustment mechanism 29E adjusts the inclination of the gantry 29. Therefore, the inclination adjusting mechanism 29E adjusts the inclination of the base body 24 placed on the gantry 29, that is, the inclination of the roller pair 22 with respect to the vertical. Specifically, the inclination of the roller pair 22 with respect to the vertical means the level of the rotation shafts 22Aa and 22Ba of the rollers 22A and 22B, and the positional relationship in the horizontal direction between the rotation shaft 22Aa and the rotation shaft 22Ba.

  Further, the gantry 29 has a fixing portion 29F as shown in FIGS. The fixing portion 29 </ b> F is provided on the fixed base 29 </ b> C of the base 29, and the position of the base 29 is fixed by being inserted into the tool attachment hole 157 directly below the base 29. The fixing portion 29F includes an insertion portion 29Fa that is inserted into the circular hole of the tool attachment hole 157, and a key 29Fb that protrudes from a side portion of the insertion portion 29Fa and is inserted into the key groove of the tool attachment hole 157. The insertion portion 29Fa is provided so as to be movable up and down with respect to the fixed mount 29C of the mount 29. The insertion portion 29Fa is provided so as to be rotatable with respect to the fixed mount 29C of the mount 29 so that the direction of the key 29Fb can be changed. Therefore, as shown in FIG. 15, the fixing portion 29F is prevented from being removed from the tool mounting hole 157 by inserting the insertion portion 29Fa into the tool mounting hole 157 and changing the direction of the key 29Fb by rotation. For this reason, the position of the gantry 29 is fixed.

  Moreover, the elongate body insertion / extraction apparatus 21 of this embodiment has the monitor 31, the operation part 32, and the control part 33, as shown in FIG. The monitor 31 displays the video imaged by the imaging unit 28. The operation part 32 operates the elongate body insertion / extraction apparatus 21.

  The control part 33 controls the elongate body insertion / extraction apparatus 21 in an integrated manner. The control unit 33 is provided in a remote unit that is not exposed to radiation isolated from a separate room in which the seal table 156 is provided, and includes a drive motor 23A of the drive unit 23, a load detection unit 27, an imaging unit 28, a monitor 31, and an operation unit. 32. The drive motor 23A, the load detection unit 27, and the imaging unit 28 of the drive unit 23 are connected to the remote control unit 33 via a cable (not shown) including a power line and a signal line. The monitor 31 and the operation unit 32 are provided in the remote unit together with the control unit 33.

  When installing the long body insertion / extraction device 21 of the present embodiment, the operator places the long body insertion / extraction device 21 on the rail 30 installed on the seal table 156 and travels along the rail 30. In this way, the long body insertion / extraction device 21 is placed on the rail 30 and is easily gripped by the fixed base 29C of the base 29 as shown in FIGS. A portion 29G is provided. Further, as shown in FIG. 14, the long body insertion / extraction device 21 that travels along the rail 30 does not contact the conduit tube 148 (the thimble tube 151), and each row of the set of conduit tubes 148. It is designed to be large enough to pass between. Thereafter, at the position where the roller pair 22 faces the predetermined conduit tube 148, the inclination of the roller pair 22 is adjusted to the inclination of the conduit tube 148 (thimble tube 151) by adjusting the inclination of the roller pair 22 with respect to the vertical by the inclination adjusting mechanism 29E. Adjust. Thereafter, the position of the gantry 29 is fixed by the fixing portion 29F. Thereafter, the base body 24 is horizontally moved by the horizontal movement mechanism 29B so that the roller pair 22 is positioned immediately above the conduit tube 148 (thimble tube 151). As described above, the horizontally moved base 24 is designed to have a size that can pass between the conduit tubes 148 so as not to contact the plurality of conduit tubes 148 (thimble tubes 151) arranged at predetermined intervals. Yes. Thereafter, the other roller 22B is moved closer to the one roller 22A by the moving mechanism 25C, and the thimble tube 151 is sandwiched between the rollers 22A and 22B. At this time, the operator draws a part of the thimble tube 151 from the conduit tube 148 in advance so that the thimble tube 151 is positioned between the rollers 22A and 22B. 14 and 16, the elongate body insertion / extraction device 21 is rotated 180 degrees and placed on the rail 30 to sandwich the thimble tube 151 on the opposite side of the rail 30 between the rollers 22A and 22B. Can do. Although the moving mechanism 5C of the first embodiment may be applied to the moving mechanism 25C, in this embodiment, the separate room is a place where it is difficult to supply an operation source such as a water pressure supply unit, and the moving mechanism 25C that is manually operated. It is preferable that

  Thereafter, the operator moves to a remote part that is not exposed to radiation isolated from a separate room in which the seal table 156 is provided. Here, the control unit 33 displays the video imaged by the imaging unit 28 on the monitor 31. The operator operates the operation unit 32 while confirming the video displayed on the monitor 31. The control unit 33 operates the drive motor 23 </ b> A of the drive unit 23 according to the input of the operation unit 32. As a result, the thimble tube 151 sandwiched between the roller pair 22 is moved in the length direction. Thereby, the thimble tube 151 can be pulled out of the conduit tube 148. In addition, the control unit 33 inputs a detection signal from the load detection unit 27 and displays the detection result on the operation panel of the monitor 31 or the operation unit 32. For example, when the thimble tube 151 is clogged in the conduit tube 148, the feeding of the thimble tube 151 by the roller pair 22 becomes heavy, so that the base body 24 and the base 26 are relatively close to each other. Detecting that the load is heavy. In this case, the operator operates the operation unit 32 to once rotate the drive motor 23A of the drive unit 23 to reverse the clogging. In addition, when the control part 33 inputs the detection signal from the load detection part 27 and a load becomes heavy, while displaying the detection result on the operation panel of the monitor 31 or the operation part 32, the drive motor 23A of the drive part 23 is displayed. It is also possible to reverse the clogging by automatically rotating it once.

  As described above, the long body insertion / extraction apparatus 21 of the present embodiment inserts and removes the thimble tube 151 that is a long body into the conduit tube 148 provided in the reactor vessel 101. A roller pair 22 to be sandwiched and a drive unit 23 that rotates the roller pair 22 to move the thimble tube 151 in the length direction are provided.

  According to this elongate body insertion / extraction device 21, the thimble tube 151 is moved in the length direction by sandwiching the thimble tube 151 by the roller pair 22 and rotating the roller pair 22 by the drive unit 23. The thimble tube 151 can be continuously sent with the 151 sandwiched therebetween. As a result, the operation time of the apparatus for inserting and extracting the thimble tube 151 can be shortened, and the working efficiency can be improved.

  Moreover, in the long body insertion / extraction apparatus 21 of this embodiment, the base | substrate 24 which arrange | positions the roller pair 22 and the drive part 23, the mount frame 29 which has the base | substrate 24 and has wheel 29A, and the seal which supports the conduit tube 148 A rail 30 that is arranged with respect to the table (supporting base) 156 and guides the traveling of the gantry 29 by the wheels 29A, a fixing portion 29F that fixes the position of the gantry 29, and the roller pair 22 are positioned immediately above the conduit tube 148. And a horizontal movement mechanism 29B that horizontally moves the base 24.

  According to this elongate body insertion / extraction device 21, the gantry 29 is placed on the rail 30 installed on the seal table 156, travels along the rail 30, the position of the gantry 29 is fixed by the fixing portion 29F, and the horizontal movement mechanism The base member 24 is horizontally moved by 29B so that the roller pair 22 is positioned immediately above the conduit tube 148. Thereby, the operation | work which pinches | interposes the thimble tube 151 with the roller pair 22 can be performed easily, and work efficiency can be improved.

  Moreover, in the long body insertion / extraction apparatus 21 of the present embodiment, the gantry 29 includes an inclination adjustment mechanism 29E that adjusts the inclination of the roller pair 22 with respect to the vertical.

  According to this long body insertion / extraction device 21, the inclination of the roller pair 22 can be adjusted to the inclination of the conduit tube 148 (thimble tube 151) by adjusting the inclination of the roller pair 22 with respect to the vertical by the inclination adjusting mechanism 29E.

  Moreover, in the long body insertion / extraction apparatus 21 of the present embodiment, the base body 24 has the base 26 placed on the gantry 29, and is interposed between the base 24 and the base 26 so that the base 24 and the base 26 A load detection unit 27 is provided for detecting a load change occurring between them.

  According to the long body insertion / extraction device 21, it is possible to know that the thimble tube 151 is clogged in the conduit tube 148 by detecting a load change generated between the base 24 and the base 26.

  In addition, the elongated body insertion / extraction device 21 of the present embodiment includes an imaging unit 28 that images the thimble tube 151 sandwiched between the roller pair 22.

  According to this elongate body insertion / extraction device 21, the state in which the thimble tube 151 is inserted into and extracted from the conduit tube 148 can be confirmed in the remote part by viewing the video obtained by photographing the thimble tube 151.

  Moreover, in the long body insertion / extraction device 21 of the present embodiment, a plurality of pairs of rollers 22 are provided, and the drive unit 23 rotates all of the roller pairs 22.

  According to this elongate body insertion / extraction device 21, the thimble tube 151 can be reliably fed, and the thimble tube 151 can be smoothly inserted into and extracted from the conduit tube 148.

  In addition, the elongated body insertion / extraction device 21 of the present embodiment includes an urging portion 25D that urges the other roller 22B toward the one roller 22A of the roller pair 22.

  According to this long body insertion / extraction device 21, the other roller 22B is biased with respect to the one roller 22A, whereby the thimble tube 151 can be securely sandwiched by the roller pair 22 and the conduit tube 148 can be securely inserted. The thimble tube 151 can be inserted and removed smoothly.

  Further, the long body insertion / extraction apparatus 21 of the present embodiment includes a moving unit 25 that moves one of the rollers 22A of the roller pair 22 to the fixed side and moves the other roller 22B closer to or away from the one roller 22A. Reference numeral 25 denotes a shaft support block 25A that rotatably supports the shaft 22Ba that rotates the other roller 22B of the roller pair 22, and a slide support that supports the shaft support block 25A so that the shaft support block 25A is slidable relative to the base body 24. And a moving mechanism 25C that slides the shaft support block 25A relative to the slide support portion 25B.

  According to the long body insertion / extraction device 21, the shaft support block 25A has the rotation shaft 22Ba rotating the other roller 22B, and the shaft support block 25A is slid relative to the slide support portion 25B. The other roller 22B can be reliably and smoothly moved without shaking with respect to the one roller 22A.

  Moreover, in the long body insertion / extraction apparatus 21 of this embodiment, the drive part 23 has rotating shaft 22Aa, 22Ba which rotates roller 22A, 22B of the roller pair 22 separately, and the outer periphery of rotating shaft 22Aa, 22Ba Are provided in the center of the rollers 22A and 22B, and are provided at the ends of the rotary shafts 22Aa and 22Ba. The rollers 22A and 22B are fixed to the rotary shafts 22Aa and 22Ba by nuts 22Ad and 22Bd which are formed with screw portions 22Ac and 22Bc and screwed into the male screw portions 22Ac and 22Bc.

  According to this long body inserting / extracting device 21, the rollers 22A and 22B can be attached to the rotation shafts 22Aa and 22Ba while being rotated, and the rollers 22A and 22Ba are attached to the rotation shafts 22Aa and 22Ba by the nuts 22Ad and 22Bd. 22B can be easily attached and detached.

  By the way, in the present embodiment, when the thimble tube 151 is sandwiched between the rollers 22A and 22B, the operator previously sets the thimble tube 151 from the conduit tube 148 so that the thimble tube 151 is positioned between the rollers 22A and 22B. Pull out the part. However, the operator may not be able to partially pull out the thimble tube 151 from the conduit tube 148 between the rollers 22A and 22B.

  Therefore, the long body inserting / extracting device 21 of the present embodiment is configured to have another configuration in which the thimble tube 151 is pulled out from the conduit tube 148. FIG. 18 is a front view of another configuration of the long body insertion / removal device according to the present embodiment, and FIG. 19 is a front view illustrating the operation of the other configuration of the long body insertion / extraction device according to the present embodiment. .

  As shown in FIGS. 18 and 19, in the elongated body insertion / extraction device 21 of the present embodiment, the gantry 29 has a height position variable mechanism 29 </ b> H that variably supports the height position of the base body 24. As described above, the height position varying mechanism 29H has a side plate 29Ha instead of the side plate 29Da, that is, the side plate 29Da provided on the movable mount 29D, as shown in FIGS. The side plate 29Ha is longer than the side plate 29Da and is connected at the upper end. As shown in FIG. 18, the side plate 29Ha is inserted with a fixing pin 26A for positioning and fixing the base 26 in a state where the base 24 is separated from the base 29 (moving base 29D) together with the base 26 and the load detection unit 27. The height position varying mechanism 29H includes support pins 29Hb that are inserted into the side plates 29Ha and support the base 26. Further, the height position variable mechanism 29H is provided with a grip portion 29Hc on the side plate 29Ha in order to easily perform the operation of placing the elongated body insertion / extraction device 21 on the rail 30 and traveling along the rail 30. The holding part 29Hc is configured such that the support pin 29Hb is connected by a wire 29Hd and can be supported with the support pin 29Hb removed from the side plate 29Ha as shown in FIG.

  That is, as shown in FIG. 18, by raising the height position of the base 24 by the height position variable mechanism 29H, the auxiliary tube 151b fixed to the tip of the thimble tube 151 is sandwiched between the roller pair 22 of the base 24 at a high position. Since the roller pair 22 is rotated by the drive unit 23, the thimble tube 151 is moved in the length direction via the auxiliary tube 151b, so that the thimble tube 151 can be partially pulled out from the conduit tube 148. After that, as shown in FIG. 19, the height position of the base body 24 is lowered by the height position variable mechanism 29H to a height at which the base 26 is placed on the movable mount 29D, so that it is more than the flange 151a of the thimble tube 151. The thimble tube 151 can be continuously moved in the length direction by sandwiching the lower side with the roller pair 22 of the base 24 at a lower position and rotating the roller pair 22 by the driving unit 23. That is, since the thimble tube 151 is continuously moved in the length direction, the flange 151a of the thimble tube 151 can be avoided.

  In addition, in order to perform the operation | work which changes the height position of the base | substrate 24 easily, as shown to FIG. 18 and FIG. Similarly, in order to easily perform the operation of changing the height position of the base body 24, as shown in FIGS. 18 and 19, pulleys 39 that contact the side plate 29Ha are provided on both side portions of the base body 24 and both side portions of the base 26. It has been.

DESCRIPTION OF SYMBOLS 1 Long body insertion / extraction apparatus 2 Roller pair 2A, 2B Roller 2Aa, 2Ba Rotating shaft 2Ab, 2Bb Fitting hole 2Ac, 2Bc Male thread part 2Ad, 2Bd Nut 3 Drive part 4 Base body 5 Moving part 5A Shaft support block 5B Slide support part 5C moving mechanism 5D urging unit 6 clamping unit 7 load detecting unit 8 photographing unit 9 holding unit 9B balancing mechanism 21 long body inserting / extracting device 22 roller pair 22A, 22B roller 22Aa, 22Ba rotating shaft 22Ab, 22Bb fitting hole 22Ac, 22Bc Male thread part 22Ad, 22Bd Nut 23 Drive part 24 Base 25 Movement part 25A Shaft support block 25B Slide support part 25C Movement mechanism 25D Biasing part 26 Base 27 Load detection part 29 Mounting base 29A Wheel 29B Horizontal movement mechanism 29E Tilt adjustment mechanism 29F Fixed part 29H Height position variable mechanism 30 Le 101 reactor vessel 139 conduit tube 141 detector tube (long element)
148 conduit tube 151 thimble tube (long body)
156 Seal table (support)

Claims (13)

In the long body insertion / extraction device that inserts and removes the long body from the conduit tube provided in the reactor vessel,
A pair of rollers for sandwiching the elongated body;
A drive unit that rotates the pair of rollers to move the elongated body in a length direction;
An elongate body insertion / extraction device comprising: A base on which the roller pair and the drive unit are disposed;
A clamping part connected to the base body and clamping the conduit tube;
The elongate body insertion / extraction apparatus of Claim 1 characterized by the above-mentioned.   A holding unit that suspends and holds the substrate, and the holding unit elastically receives the load of the substrate and the load when the elongated body is moved in the length direction by the rotation of the roller pair. It has a mechanism, The elongate body insertion / extraction apparatus of Claim 2 characterized by the above-mentioned.   4. The elongate according to claim 2, further comprising a load detection unit that is interposed between the base body and the sandwiching part and detects a load change that occurs between the base body and the sandwiching part. Body insertion / extraction device.   The elongate body insertion / extraction device according to any one of claims 2 to 4, further comprising a photographing unit that photographs an end portion of the conduit tube in a state where the conduit tube is sandwiched by the sandwiching unit. A base on which the roller pair and the drive unit are disposed;
A platform on which the base is placed and which has wheels;
A rail that is arranged with respect to a support that supports the conduit tube and that guides the traveling of the gantry by the wheels;
A fixing portion for fixing the position of the gantry;
A horizontal movement mechanism that horizontally moves the base body so that the roller pair is positioned immediately above the conduit tube;
The elongate body insertion / extraction apparatus of Claim 1 characterized by the above-mentioned.   The elongate body insertion / extraction apparatus according to claim 6, wherein the gantry includes an inclination adjustment mechanism that adjusts an inclination of the roller pair with respect to a vertical direction.   The base includes a base placed on the gantry, and includes a load detection unit that is interposed between the base and the base and detects a load change generated between the base and the base. The elongate body insertion / extraction apparatus of Claim 6 or 7 characterized by these.   The elongate body insertion / extraction apparatus according to any one of claims 6 to 8, wherein the gantry includes a height position variable mechanism that variably supports the height position of the base body.   The long body insertion / extraction apparatus according to claim 1, wherein a plurality of the roller pairs are provided, and the driving unit rotates all of the roller pairs.   The elongate body insertion / extraction device according to any one of claims 1 to 10, further comprising an urging portion that urges the other roller toward the one roller of the pair of rollers.   A moving part is provided, with one roller of the roller pair as a fixed side and the other roller approaching and separating from the one roller, and the moving part passes through a rotating shaft that rotates the other roller of the roller pair. A shaft support block that supports the shaft support block so as to be slidable with respect to the base, and a moving mechanism that slides the shaft support block with respect to the slide support portion. The elongate body insertion / extraction apparatus according to claim 1, wherein:   The drive unit has a rotation shaft for individually rotating the rollers of the roller pair, and an unevenness continuous in the axial direction is provided on an outer periphery of the rotation shaft, and the rotation shaft is inserted into the unevenness. A fitting hole is provided at the center of the roller, a male screw part is formed at the tip of the rotary shaft, and the roller is fixed to the rotary shaft by a nut screwed into the male screw part. The elongate body insertion / extraction apparatus as described in any one of Claims 1-12.

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