JP2015221475A - Manipulator for radiation environment and fuel debris disassembling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a joint type manipulator which can operate with high reliability under a high radiation environment such as especially a work for taking out fuel debris.SOLUTION: A joint type manipulator comprises an arm part provided with: one or more semilunar-shaped rotation shafts in which a pair of shaft plates having semilunar parts on tip sides is formed in such a manner that the semilunar parts have 90 degrees with respect to each other in the state where the semilunar parts face opposite directions; and joint plates having recesses with which the semilunar parts slide on one or both surfaces and provided on both ends of the semilunar-shaped rotation shaft so as to rotate relative to the semilunar-shaped rotation shaft. The attitude of the arm part is controlled with a wire.

Description

  The present invention relates to a manipulator for radiation environment and a fuel debris dismantling device.

  In nuclear power plants, multiple emergency cooling facilities are provided so that the core in the reactor pressure vessel is always cooled even in an emergency, and measures are taken to prevent core melting accidents. However, although the probability is very low, it is assumed that the function of the emergency cooling facility is lost due to a severe accident and the core is melted. In such a case, the case where the fuel carrying-out apparatus currently installed in the existing reactor building cannot be used is considered, and the case where normal fuel carrying-out work cannot be implemented is assumed.

  Patent Document 1 describes a nuclear fuel removal method in which core fuel can be easily removed even after a severe accident occurs in a boiling water reactor. In this Patent Document 1, a temporary building is installed so as to surround an existing reactor building provided with a boiling water reactor, a lifting device is attached to the temporary building, and a boiling water atom is used by using this lifting device. A nuclear fuel removal method is described in which a plurality of in-core structures installed above the core fuel in the reactor are sequentially removed and then the core fuel is taken out using the lifting device.

JP 2013-156133 A

  The fuel debris generated by the melting of the core is the one that melted and hardened the highly radioactive fuel and the internal structure of the reactor. In the unlikely event that a fuel debris diffuses, it will lead to work exposure and increased contamination of the surrounding area. For this purpose, it is necessary to take out the fuel debris in a short time.

  In the method described in Patent Document 1, a fuel debris is taken out by operating a take-out jig attached to the tip of a multistage manipulator suspended from an operation floor (hereinafter referred to as an operation floor) of a reactor containment vessel. The operation from the operating floor is poor in operability and requires a lot of time for work. Therefore, it is conceivable to operate the articulated manipulator close to a contamination source such as fuel debris.

  However, the closer the articulated manipulator is to the contamination source, the greater the number of components affected by radiation, the greater the radiation damage, and the higher the possibility that the operation reliability will be reduced. Cited Document 1 does not describe an articulated manipulator with reduced radiation damage, and there is room for further improvement in this regard.

  Therefore, the problem to be solved by the present invention is to provide an articulated manipulator that can operate with high reliability, particularly in a high radiation environment such as a fuel debris retrieval operation.

  The present invention for solving the above-described problem is, as an example, a pair of axial flat plates having a half-moon-like portion on the tip side, and 90 degrees from each other with the half-moon-like portion facing in the opposite direction. One or more half-moon-shaped rotation shafts formed so as to form, and the half-moon rotation shaft rotating relatively to the half-moon rotation shaft, having a recess on one side or both sides on which the half-moon-shaped portion slides. And an articulation plate provided at both ends of the arm portion, and the posture of the arm portion is controlled by a wire.

  According to the present invention, it is possible to provide an articulated manipulator that can operate with high reliability, particularly in a high radiation environment such as a fuel debris retrieval operation.

It is a figure which shows embodiment of the manipulator system of this invention. It is a figure which shows the side view of the joint type manipulator of Example 1. FIG. In FIG. 2, it is the 2nd side view which looked at the joint type manipulator from the direction of arrow A. It is the figure which showed the meniscus-shaped rotating shaft and the joint board typically. It is the arrow line view seen from the cross section HH in the direction of the arrow in FIG. It is the arrow line view seen from the cross section GG in the direction of the arrow in FIG. It is a figure which shows the example of the state which the half-moon shaped rotating shaft act | operated. It is a figure corresponding to FIG. 6, and is a figure which shows the structural example which rotated arrangement | positioning of a wire drive part etc. 45 degree | times with respect to FIG. FIG. 6 is a diagram corresponding to FIG. 5, illustrating a configuration example in which the arrangement of tension springs and the like is rotated 45 degrees with respect to FIG. 5. FIG. 10 is a diagram corresponding to FIGS. 6 and 9 of the first embodiment and is a diagram illustrating an arrangement of wire driving units and the like in the second embodiment. It is a figure which shows the outline | summary of a boiling water nuclear power plant. It is a figure explaining the process of installing a some work house in the operation floor of a reactor building, and removing various structures. It is a figure explaining the nuclear power plant after removal of various structures. It is a figure explaining the carrying out process of fuel debris. It is a figure explaining the detailed structure of a fuel debris carry-out device. It is a flowchart explaining the operation | work process of this invention.

FIG. 1 is a diagram showing an embodiment of a manipulator system 200 of the present invention. The manipulator system 200 includes an articulated manipulator 100 that is driven by a fluid to perform an operation, a fluid drive pump 210, a monitoring camera 220 that images a work target, and an operation panel 230. The operation panel 230 controls the articulated manipulator 100 via the fluid drive pump 210 based on the operation of the display 231 that displays the video from the monitoring camera 220, the operating device 232 that operates the articulated manipulator 100, and the operating device 232. It has the control part 233 which incorporates a computer. In FIG. 1, the operation device 232 is provided with a joystick. However, a master-slave master manipulator, a simple operation button, or a combination of these may be provided. In the case of an operation button, the articulated manipulator 100 is controlled based on a predetermined procedure.
Hereinafter, embodiments of the articulated manipulator 100 of the present invention will be described in more detail with reference to the drawings.

Example 1
A first embodiment of an articulated manipulator 100 according to the present invention will be described with reference to FIGS. FIG. 2 is a side view of the joint type manipulator 100 according to the first embodiment. FIG. 3 is a second side view of the articulated manipulator 100 viewed from the direction of the arrow A in FIG. 2, that is, rotated 90 degrees from the paper surface. FIG. 4 is a view schematically showing the half-moon-shaped rotating shaft 110 and the joint plate 120. FIG. 5 is an arrow view seen from the cross-section HH in FIG. 3 in the direction of the arrow. 6 is an arrow view seen from the cross-section GG in the direction of the arrow in FIG. FIG. 7 is a diagram illustrating an example of a state in which the half-moon shaped rotating shaft 110 is operated.

  As shown in FIGS. 2 and 3, the articulated manipulator 100 includes an arm part 100 </ b> A and an arm driving part 100 </ b> K. 2 and 3, the component having the function of rotating the joint plate 120 in the vertical (X) direction on the paper surface is given a suffix x, and the component having the function of rotating the joint plate 120 in the vertical (Y) direction of the paper surface. Is appended with a subscript y. First, the arm portion 100A will be described.

  The arm portion 100A is provided around the three half-moon-shaped rotation shafts 110, four joint plates 120 provided so as to sandwich each of the three sets of the half-moon-shaped rotation shafts, and the half-moon-shaped rotation shaft 110. It has a plurality of tension springs 130 whose both ends are fixed to one joint plate 120 and a plurality of wires 140 for compressing each of the plurality of tension springs. In each component, X, Y, etc. are not shown individually, but suffixes are omitted when showing the whole.

  As shown in FIG. 4, the half-moon-shaped rotating shaft 110 has shaft flat plates 111x and 111y each having a half-moon shaped portion 111α on the tip side and is fitted at an angle of 90 degrees with each other, or is formed in an integral structure. Therefore, it is possible to operate in two orthogonal directions.

  In addition, for example, in FIG. 4, the periphery of the half-moon-shaped portion 111 y α of the shaft plate 111 y slides on the upper and lower ends of the recess 121 y provided in the center of the joint plate 120, and both sides of the half-moon-shaped portion 111 y α. The side part moves so as to slide on both side parts of the recess 121y. By sliding both sides of the recess 121y, when the shaft flat plate 111x is rotated in the X direction, the play in the X direction that is not related to the rotation direction of the shaft flat plate 111y is eliminated, and the arm is kept highly rigid. Can do.

In addition, since sliding on the entire side surface becomes a load of wire driving, the uneven shape such as a dot shape or a belt shape is smoothly formed on both side portions where the half-moon shaped portion 111α or the concave portion 121 of the joint plate 120 slides. It is desirable to provide and reduce sliding area, ie friction. In addition, the upper and lower end portions of the recess 121 may be rounded so that the circumferential portion of the half-moon-shaped portion 111α can smoothly move.
As a result, the circumferential portion of the half-moon-shaped portion 111α can be combined with the sliding of the upper and lower end portions of the recess 121 to further reduce the load as viewed from the arm drive unit 100K, and the relative movement between the half-moon-shaped portion 111α and the recess. Can be smooth. In this embodiment, as can be seen from FIG. 2, when rotating in the X direction, the half-moon-shaped rotation shaft 110 is fixed to the joint plate 120 on the base side, so that the joint plate 120 on the distal end side slides. As can be seen from FIG. 3, when rotating in the Y direction, the half-moon-shaped rotating shaft 110 slides because it is fixed to the joint plates 120 on both the tip side and the root side. Which slides depends on the arrangement of the shaft plate 111.

  In addition, the concave portion 121x in which the half-moon-shaped portion 111xα of the shaft plate 111x of the half-moon-shaped rotating shaft 110 on the back surface slides at the center portion of the back surface of the joint plate 120 shown in FIG. An angle is provided. The common portions of the recesses 121x and the recesses 121y that are back to each other may pass through. However, the joint plates at both ends of the four joint plates 120 may be provided with only one of the concave portion 121x or the concave portion 121y from the viewpoint of function, or from the viewpoint of manufacturing, the concave portion 121x and the concave portion 121y may be provided. Both may be provided.

  The half-moon shape of the half-moon-shaped portion 111α does not necessarily represent only a 180-degree arc shape, but is determined by the rotation range in which the recess 121 slides, and may be 180 degrees or less.

  In this embodiment, the four joint plates 120a to 120d are provided, but their roles are slightly different. The three joint plates 120a to 120c from the tip are rotated by wire driving. The joint plate 120a at the tip has a fixing portion for fixing the wire 140 and rotates only in one direction. In addition, it plays the role of fixing jigs necessary for work. The work joint plate 120d at the base is fixed to the arm drive unit 100K and does not rotate. The joint plates 120b and 120c in the middle rotate in the X and Y directions. The number of articular plates 120 in the middle is two, that is, the number of the meniscus rotating shafts 110 is three, but the number is not limited. Since the arm length can be changed by changing the number of the half-moon-shaped rotating shafts 110, it may be less or more. At least the joint plates 120a to 120c have a through hole 141 through which the wire 140 passes. The joint plates 120 are connected by being surrounded by a bellows (not shown).

  Both ends of the tension spring 130 are held by hook portions 122 provided on the joint plate 120 on both ends. As shown in FIG. 5 which is an arrow view seen from the cross-section HH in FIG. 3, the tension spring 130 is on the four sides around the joint plate 120, in other words, both sides in the rotational direction of the recess 121. A total of eight sets are provided on the side, four sets of two each. 2 and 3, the subscript u indicates a tension spring 130 that rotates the joint plate 120 upward in FIG. 2 and FIG. 3, and the subscript d indicates the joint plate 120 in FIG. 2 and FIG. A tension spring 130 to be rotated is shown.

  The wires 140 are also provided in pairs of eight corresponding to the eight tension springs 130, and the wires 140 shown in FIGS. 2 and 3 are also attached corresponding to the subscripts of the tension springs 130. The reason for the two sets is that they can be reliably driven by pulling from the left and right to obtain a stable posture. Moreover, even if one side is disconnected, the work can be continued with the other one. The subscript of the wire through hole 141 through which the wire 140 provided in each joint plate 120 shown in FIG. 5 is attached is also attached corresponding to the subscript of the tension spring 130. From the arrangement of the tension spring 130 and the wire 140, FIGS. 2 and 3 show that the arm portion 100A is rotated in the X direction and in the upward direction.

  In FIG. 5, the positions of the wire 141 and the tension spring 130 may be reversed. Further, the tension spring 130 may be one, or the wire 141 may be one.

  Next, the arm drive unit 100K will be described. 2 and 3, the arm drive unit 100K positions the cylindrical wire drive unit 150, the support unit 160 that supports the wire drive unit, and the support unit, and moves the arm unit 100A to the arm drive unit 100K. And a connecting portion 170 having a plurality of connecting rods 171 to be fixed.

  6 is an arrow view seen from the cross-section GG in the direction of the arrow in FIG. 6 is the same as that of the tension spring 130 and the wire 140 shown in FIG.

  As shown in FIG. 6, four wire drive units 150 are arranged in a diamond shape. FIGS. 2 and 3 show only the wire drive unit 150xu that rotates the joint plate 120 in the X direction and upward in order to avoid complication of the four. The configuration and operation of the wire driving unit 150 will be described using the wire driving unit 150xu.

  Each wire drive unit 150 is a double cylindrical cylinder comprising an injection part 151 having an L-shaped injection hole 152 for injecting a fluid, an inner cylinder 156 serving as a piston, and an outer cylinder 157 on which the inner cylinder slides. Part 155. The arm high-pressure pipe 240 (see FIG. 1) that connects the injection hole 152 and the fluid drive pump 210 does not change in shape even if the attitude of the injection hole changes the attitude of the arm portion 100A. Made of piping can be used.

  The tip of the inner cylinder 156 is provided with a ring part 156r protruding outward, and two wires 140 are fixedly connected to the ring part through the outside of the outer cylinder 157 as shown in FIG. In a space formed by the end surface of the inner cylinder 156 and the end surface of the outer cylinder 157, a fluid injection space 158 into which a fluid is injected through the injection hole 152 is formed. Note that fluid seals 151 s and 156 s are provided on the outer cylinder 157 and the inner cylinder 156 before and after the fluid injection space 158, respectively.

  Therefore, when fluid is injected into the fluid injection space 158, the fluid injection space 158 expands. Accordingly, the inner cylinder 156 moves in the right direction in FIG. 2, and the two wires 140xu are pulled in the right direction. As a result, the joint plate 120a to which the wire 140xu is fixed in FIG. 3 is pulled.

  According to this wire drive unit, a simple configuration and a rigid configuration in which the piping to the injection unit is not movable can be achieved.

  Only the joint plate 120 a at the tip of the wire 140 is fixed, and the other joint plates 120 pass through the through hole 141. Therefore, when the joint plate 120a at the distal end is pulled and rotated by the wire 140xu, the tension spring 130xd between the joint plates 120a and 120b is extended to generate a tensile force, and the tensile force rotates the next joint plate 120b. In this way, it is transmitted to the joint plate 120d one after another. Since the joint plate 120d is fixed, the joint plate 120d can be balanced at a rotation angle that balances as a whole, and the posture of the arm as a whole can be obtained.

  Therefore, the rotation amount of the joint plate 120a at the distal end with respect to the joint plate 120d on the base side depends on the total rotation amount of the joint plates 120a to 120c. By performing such an operation in the y direction as well as in the x direction, the joint plate 120a can be moved to a predetermined curved surface range.

  Each joint plate 120 described above moves with respect to the joint plate on the base side as shown in FIG. In FIG. 7, in each half-moon shaped rotation shaft 110, the joint plate 120 on the distal end side slides on the half-moon shaped portion 111xα of the shaft flat plate 111x and rotates upward as described above. As a result, the tension spring 130xu contracts, and the tension spring 130xd on the opposite side where the wire 140xd is free extends. At this time, the tensile force of the wire 140xd and the restoring force of the opposite tension spring 130xd to return are balanced, and the arm portion 100A can maintain a constant posture. Actually, the load of the arm portion 100A is also considered in the above-described balance.

  In FIG. 7, when the tension spring 130xd is extended, a restoring force is generated to return to the original equilibrium state in an attempt to contract, and the concave portion 121 provided in the joint plate 120 together with the tensile force by the wire 140xu It is pressed against the half-moon-shaped portion 111yα of 111y, in other words, the half-moon-shaped rotating shaft 110. As a result, the arm portion 100A can be kept highly rigid with respect to the rotation direction.

  Therefore, the entire arm portion 100A can always be kept highly rigid due to the high rigidity in the rotation direction and the high rigidity due to the recess side portion in the direction unrelated to the rotation direction of the arm portion 100A described above. For example, although the operations on the X and Y 2 axes of the half-moon-shaped rotating shaft 110 of this embodiment can be realized, the spherical bearing has a degree of freedom in the other direction, so its rigidity is lower than that of the half-moon-shaped rotating shaft 110. Further, the half-moon-shaped rotating shaft 110 can realize a two-axis operation with a simpler configuration than a spherical bearing, and since it has a simple configuration, radiation resistance can be improved.

  The support unit 160 includes two drive unit support plates 161 and 162 that support the wire drive unit 150, and a base plate 163 that supports the arm drive unit 100 </ b> K and the articulated manipulator 100 together with the connecting unit 170. The base plate 163 is fixed to the support structure 300 in the work area.

  In order to receive the reaction force of the tension spring 140, the connecting portion 170 is provided with eight 171xu, 171xd, 171yu, and 171yd respectively at positions corresponding to the tension spring 140 shown in FIG. 120d, the drive part support plates 161 and 162, and the base plate 163 are fixedly provided with metal nuts.

  FIGS. 8 and 9 are diagrams corresponding to FIGS. 5 and 6 in the first embodiment, and maintain the components and the arrangement of the tension spring 140, the wire drive unit 150, and the like in the above-described embodiment while maintaining the arrangement thereof. It has a configuration rotated 45 degrees. As shown in the first embodiment, the articulated manipulator can perform its function regardless of the arrangement angle of the components.

  According to the articulated manipulator 100 described above, high rigidity can be obtained using a simple half-moon-shaped rotating shaft, and secondary waste due to radiation contamination can be reduced.

  According to the joint-type manipulator 100 described above, all of its constituent elements, for example, the half-moon-shaped rotary shaft 110, the joint plate 120, the tension spring 130, the wire 140, the wire driving unit 150, the support unit 160, the coupling unit 170, and small parts. Then, the hook 122, the screw, and the like can be made of a radiation-resistant metal, for example, iron or SUS.

  Further, according to the joint type manipulator 100 described above, no electronic component can be used in a region where the radiation dose is high. In that case, for example, the relationship between the pressure of the fluid injected from the injection hole 152 and the posture of the arm unit 100A is obtained in advance, or the posture of the arm 100A is controlled by viewing an image from the monitoring camera 220 protected by radiation.

  Therefore, according to the present embodiment, it is possible to provide an articulated manipulator capable of performing work with high reliability and in a long time in a radiation environment, particularly in a high radiation environment such as a fuel debris retrieval operation.

  Further, according to the present embodiment, it is possible to provide a manipulator having high rigidity with a simple mechanism without a complicated mechanism such as a spherical bearing.

(Example 2)
FIG. 10 is a diagram corresponding to FIGS. 6 and 9 of the first embodiment and is a diagram illustrating the arrangement of the wire driving unit 150 in the second embodiment. The second embodiment is an example in which the arrangement of the wire driving unit 150 is the same as the arrangement 2 of FIGS. 6 and 9 shown in the first embodiment and is shifted by 22.5 degrees to the right from the state of FIG. . For example, the wire driving unit 150xu that rotates in the X direction is 150xur that rotates about 22.5 degrees to the right and 150xur that rotates about 22.5 degrees to the left (l: indicates L, the same applies hereinafter). I have two. The arrangement of the 150 tension spring 130, the wire through-hole 141, the connecting rod 171 and the like corresponding to the two wire drive units 150xul and 150xur is also a combination of the first and second embodiments. The same applies to the other wire driving units 150xd, 150yu, and 150yd. The connecting rods 171 may be arranged and reduced.
FIG. 10 is a diagram in which the first and second embodiments are simply combined, but in FIG. 10, for example, the wire driving units 150xul and 150xur may be arranged side by side.

  In the case where the operation range is the same as that of the first embodiment, the connecting portion of the joint plate 120a of the wire 140 waits for the shift of 22.5, and the concave portions of the half-moon-shaped rotary shaft 110 and the joint body 120 of the first embodiment are merely waiting There is no need to change the shape of 121. However, when the operating range is widened compared to the first and second embodiments, it may be necessary to divide the concave portion 121 and divide the concave sliding portion of the half-moon-shaped rotating shaft 110 according to the divided concave portions. In this case, when the surface of the joint body 120 having the concave portion 121 is a curved surface, or when the surface of the joint body 120 having the concave portion 121 is kept flat as in the first embodiment, the half-moon-shaped rotation shaft 110 becomes the concave portion 121. In order to reach this, it is necessary to lengthen the half-moon shaped rotation axis.

  In the second embodiment, the shift amount is 22.5 degrees, but other angles, for example, 15 degrees and 30 degrees are also possible. Moreover, in the said Example, although the operation range was divided into two, it is also possible to divide into three or more.

  As described above, in the second embodiment, the rotational drive range is divided by the two wire drive units to control the posture of the arm unit 100A.

  According to the second embodiment, the same effect as the first embodiment is obtained, but the following advantages are obtained. When the operation range is the same, the drive curve of the wire 140 formed by the arm portion 100A becomes smooth, the friction is reduced by the wire through hole 141, and the wire 140 can be driven more smoothly.

  Further, when the operation range is widened, the tip of the articulated manipulator 100 can be controlled literally over a wide range.

The articulated manipulator 100 described above can be driven with a water pressure of ^{20 to} 100 kgf / cm ² , for example.

  Moreover, although provided in three stages of the half-moon-shaped rotating shaft of the manipulator 100 described above, it may be two stages or less or four stages or more.

  Further, the manipulator 100 described above uses the tension spring 130 in order to fix the wire only to the joint plate at the tip and maintain high rigidity. However, when the load is light, a wire may be disposed on each of the rotating joint plates from the wire driving unit, and the joint plates may be driven independently.

  In the manipulator 100 described above, all components are made of metal in order to reduce secondary contaminants. However, when the radiation dose is low, it is not always necessary to configure all the components with metal.

  Next, a third embodiment in which the articulated manipulator of the present invention is applied to carrying out fuel debris in a boiling water nuclear power plant will be described with reference to FIGS.

(Example 3)
First, the schematic structure of the boiling water nuclear power plant of a present Example is demonstrated using FIG. The boiling water nuclear power plant 1 includes a nuclear reactor 2 and a reactor containment vessel (hereinafter referred to as PCV 3). The PCV 3 is installed in the reactor building 4 and is sealed with an upper lid 5 attached to the upper end. The PCV has a dry well 6 formed therein and a pressure suppression chamber 7 in which a pressure suppression pool filled with cooling water is formed. One end of the vent passage 8 communicated with the dry well is immersed in the cooling water of the pressure suppression pool in the pressure suppression chamber. A shield plug 9, which is a radiation shielding body divided into a plurality of parts, is disposed directly above the upper lid 5 of the PCV, and these shield plugs are installed on the operation floor (operating floor 29) of the reactor building.

  The nuclear reactor includes a reactor pressure vessel (hereinafter referred to as RPV 11) configured with an upper lid 10, a core 12 loaded with a plurality of fuel assemblies containing nuclear fuel materials, a steam dryer 13 and a steam / water separator 14. It has. The core, steam separator and steam dryer are located in the RPV. A core shroud 15 installed in the RPV surrounds the core. Each fuel assembly 16 loaded in the core is supported at its lower end by a core support plate 17 and at its upper end by an upper lattice plate 18. The steam separator is disposed above the upper grid plate located at the upper end of the core, and the steam dryer is disposed above the steam separator.

  A plurality of control rod guide tubes 19 are arranged below the core, and a support cylinder including a plurality of control rod guide tubes is formed. Control rods 20 that are put into and out of the fuel assemblies in the core and control the reactor power are disposed in the respective control rod guide tubes. A plurality of control rod drive mechanism housings 21 are attached to the lower mirror 22 of the RPV. A control rod drive mechanism (not shown) is installed in each control rod drive mechanism housing 21 and connected to the control rod 20 in the control rod guide tube 19. The steam dryer 13, the steam separator 14, the core shroud 15, the core support plate 17, the upper lattice plate 18, the support cylinder, the control rod guide tube 19, and the core shroud lower shell installed in the RPV 11 are in-core structures. It is.

  The RPV is installed on a cylindrical pedestal 24 provided on a concrete mat 23 provided at the bottom of the PCV. A cylindrical γ-ray shield 25 is installed at the upper end of the pedestal and surrounds the RPV.

  In the reactor building, a dryer / separator pool 26 (hereinafter abbreviated as DSP) and a spent fuel storage pool 27 (hereinafter abbreviated as SFP) for temporarily storing spent fuel so as to sandwich the reactor well. Is provided. The DSP is used as a place for temporarily placing in-furnace structures such as steam dryers and steam separators during periodic inspections.

  An outline of the configuration of the fuel debris 28 when core melting occurs in a boiling water nuclear power plant will be described. When the function of the cooling facility is lost and cooling water is not injected into the RPV, the fuel pellets in the fuel assembly, the cladding tube, and the like are melted by the decay heat of the nuclear fuel. In this case, the molten nuclear fuel is presumed to be present at the position where it originally existed, on the bottom of the RPV furnace, or on the concrete mat that is the bottom of the PCV. The present invention is applied when carrying out fuel debris in such a state.

  FIGS. 12 and 13 are explanatory diagrams of a process of installing a plurality of work houses on the operation floor 29 of the reactor building and removing various structures.

  First, the first work house 42, the second work house 43, and the third work house 44 are installed in the operation floor 29 (step 1). The number of work houses may be increased or decreased according to the actual work content. Each work house is provided with a crane device 45 in the work house, and each work house is provided with a sealed door 46 for preventing radiation leakage and contamination expansion. Structures such as the shield plug 9, the upper lid 5, the upper lid 10, the steam dryer 13, the steam / water separator 14, the upper lattice plate 18, and the core shroud 15 are removed by the crane device 45 in the work house (Step 2). These removed structures are shredded using, for example, a cutting device 47 in the third work house 44, stored in the equipment storage container 48, and carried out of the reactor. Further, a decontamination device 49 may be provided, and when a decontamination device is provided, it can be carried out while performing decontamination on various structures that require decontamination.

  FIG. 13 shows the nuclear power plant after removal of various structures. Since the reactor from which the various structures have been removed has secured a working space that allows access to the fuel debris from above, the fuel debris unloading device is set from above and the fuel debris is taken out.

  14 to 16 show the detailed structure of the fuel debris unloading device and the fuel debris unloading process.

  As shown in FIG. 14, the fuel debris unloading device 60 has a device fixing mechanism 62 that is placed on the flange surface 61 of the RPV from which the upper lid is removed. The device fixing mechanism 62 is provided with wire drum devices 63 at four locations, and a box device 65 is suspended from a wire 64 of the wire drum device 63. The suspended box device 65 is moved up and down by the wire winding and unwinding operation of the wire drum device 63 to move the box device 65 to a target position.

  A clamp portion 66 with a side seal is provided on the side surface of the box device 65, and the box device moved to a predetermined position is fixed to the inner side surface of the RPV by the protruding operation of the clamp portion with the side seal. Seal the gap with the inner wall. Further, the inside of the box device 65 is configured such that a gap between the box device and the main turning table 78 is sealed by a sealing device 67 so that airtightness is maintained.

  The detailed structure of the fuel debris unloading device 60 will be further described with reference to FIG. The box device 65 has a power cable and a water supply system 68. The box device 65 drives power for operating various devices, cooling water for cooling the inside of the nuclear reactor, cutting with a water jet, and the articulated manipulator 100. The driving water used for the is supplied. Further, a first shielding body 69 is provided on the upper part of the box device 65, and the first shielding body 69 is connected to a conveying device 70 for storing and moving various devices and a fuel cask inside. An entrance shielding port 71 is provided. The carrying-in / out shielding port is normally provided with a carrying-in / out shielding port door 72, and the airtightness in the box device is maintained. At the time of loading / unloading various devices, the loading / unloading shielding port door 72 is opened and the loading / unloading is performed. The first shielding body 69 has a first tank 73 having a hollow inside, and is configured so that the radiation shielding effect can be adjusted by the amount of water injected. In addition to the water, the injection may use an iron ball or a lead ball as long as the shielding effect can be secured. From this, by making a part into a 1st tank, it can become unnecessary to mount an unnecessary heavy article in the fuel debris carrying-out apparatus 60. FIG. The shielding effect can be realized only by injecting a necessary and sufficient amount of water or the like that can achieve the shielding effect, and the overall weight of the fuel debris unloading device can be reduced. The first shielding body may be an iron plate or a lead plate, and is not necessarily limited to the first tank system.

  The box device 65 includes an in-box crane device 74 and a manipulator 75 with a lifting function, and various devices and fuel cask 76 carried by the transfer device 70 can be mounted at predetermined positions in the box device. ing. A second shielding body 77 is provided at the lower part of the box device 65, and the second shielding body 77 is composed of a main turning table 78 and a main turning drive unit 79, and the main turning table 78 is rotatable. ing. Further, the main turning table 78 further includes a sub turning table 80 and a sub turning table 81, and the sub turning table 80 is rotatably provided independently of the main turning table 78.

  A fuel debris dismantling device fixing unit 82 is provided on the auxiliary turning table, and a fuel debris disassembling device 83 having the joint type manipulator 100 described in the first and second embodiments is provided in this unit. When the fuel debris dismantling device is not installed, a lower shielding port door 84 is slidably provided on the main turning table of the box device so as to maintain the airtightness in the box device. Moreover, the main turning table has a second tank 85 having a hollow inside, and is configured so that the radiation shielding effect can be adjusted by the amount of water injected. In addition to the water, the injection may use an iron ball or a lead ball as long as the shielding effect can be secured. By using a part of the main turning table 78 as the second tank 85, unnecessary loading of heavy objects can be eliminated. The shielding effect can be realized only by injecting a necessary and sufficient amount of water or the like that can achieve the shielding effect, and the overall weight of the fuel extraction device can be reduced.

  The fuel debris disassembly device 83 includes an operation panel 230 (see FIG. 13) provided in the operation floor 29, a high-pressure pump 94 that boosts the water guided from the water supply system by the high-pressure pump 94, and a cutting nozzle 87 that cuts the fuel debris. The joint type manipulator 100 described in Embodiment 1 or 2 is attached to the joint plate 120a, the monitoring camera 220 for monitoring the tip of the joint type manipulator, and the suction line 88 for sucking the cut fuel.

  The high-pressure pump 94 is divided into a nozzle pump 94 n that supplies high-pressure water to the cutting nozzle 87 through the nozzle high-pressure pipe 88, and a fluid-driven pump 210 that supplies high-pressure water to the injection unit 151 of the articulated manipulator through the arm high-pressure pipe 240. . The nozzle high-pressure pipe 88 is formed of a metal pipe combined with a rotary joint so as to cope with a change in the posture of the arm part 100A, and is a hollow part provided at the center of the concave portion 121 of the joint body 120 extending to the half-moon-shaped rotating shaft 110. To the cutting nozzle 87. Since the arm high-pressure pipe 240 does not need to be deformed as described above, it is constituted by a rigid metal pipe.

  Similarly to the nozzle high-pressure pipe, the suction line 88 is also made of a metal pipe that is combined with a rotary joint so as to cope with a change in the posture of the arm portion 100A.

  The monitoring camera 220 is housed in the lead radiation protection cylinder 221 fixed to the fuel debris dismantling device fixing unit 82 toward the fuel debris dismantling device fixing unit 82 so as not to receive radiation directly from the fuel debris. ing. The radiation protection cylinder 221 has a lid 222 that shields radiation, and closes the lid when imaging is not necessary. The lid 222 has a reflecting mirror on the inner surface, and a metal lid wire 223 is connected to the lid, and the lid wire has the same structure as the wire drive unit 140 used in the articulated manipulator 100. It is controlled by the wire driving unit 224 so that the monitoring camera 220 can image the cutting nozzle 87.

  With such a structure, the fuel debris can be cut by the cutting nozzle 87 by controlling the arm portion 100A so that the fuel debris can be taken out efficiently and reliably while looking at the monitoring camera 220.

  The cut fuel debris is collected by the suction line 88. The recovered fuel debris is conveyed through a recovery line to a recovered material separation device 89 where it is separated into water and fuel debris, and the fuel debris is stored in a fuel cask 76. When the fuel cask 76 stores the fuel debris, the fuel cask 76 is carried out of the reactor using the transfer device 70.

  The fuel debris dismantling device 83 described above uses a cutting nozzle that injects high-pressure water as the disassembling means. However, mechanical cutting with a cutter or the like, or thermal cutting with a laser beam, or the like may be used as another disassembling means. it can.

  As described above, by using the joint type manipulator 100 of the present invention, the disassembling means can be moved within a predetermined range, and the fuel debris can be disassembled efficiently. In some cases, it is possible to dismantle all the fuel debris within the operating range of the articulated manipulator 100 without turning the auxiliary turning table 80.

  Next, details of the transfer device 70 will be described. The transfer device 70 includes a transfer crane 90 and a cleaning mechanism 91 inside. A pump 92 for supplying water to the cleaning mechanism 91 is also provided. The fuel debris dismantling device and the fuel cask moved to the inside of the apparatus transport container can be cleaned inside the transport apparatus 70. Thereby, decontamination becomes possible. Further, a transport device lower surface lid 93 is attached to the bottom of the transport container.

  The details of the fuel debris unloading process will be described. Here, a fuel debris unloading process using the fuel debris unloading apparatus 60 having the joint type manipulator 100 of the first or second embodiment described above will be described.

  The device fixing mechanism 62 is installed on the flange surface of the reactor pressure vessel of the nuclear power plant after the removal of various structures, and the fuel debris unloading device 60 having the fuel debris dismantling device 83 is installed at a predetermined position (step 3). Thereby, the installation of the fuel debris dismantling device 83 is completed. Next, looking at the monitoring camera 220, the operator 232 is operated to control the articulated manipulator 100 by the fluid driven pump 210, and the cutting nozzle 87 for injecting high-pressure water is placed at an appropriate position for cutting the fuel debris. (Step 4). Thereafter, the high pressure water controlled by the nozzle pump 94n is injected to cut the fuel debris (step 5), and the cut fuel debris is recovered through the suction line 88 and the recovery separator 89 (step 6). Steps 4 to 6 are repeated until a predetermined amount is collected in the fuel cask 76 (Step 7). If there is still fuel debris to be recovered (step 8), the fuel cask 76 after a predetermined amount is recovered in the fuel cask 76 is replaced with a new fuel cask by the transfer device 70, and steps 4 to 7 are repeated. (Step 9). When the collection of all the fuel debris is completed, the fuel debris unloading device 60 having the fuel debris dismantling device 83 is removed (step 10).

  As described above, according to the present invention described above, by using the manipulator 100, fuel debris can be efficiently disassembled.

  Further, according to the present invention described above, since the fuel debris unloading apparatus includes the first shielding body and the second shielding body, leakage of radiation can be prevented. In addition, by sealing the gap between the box device and the RPV inner wall surface by the clamp portion 66 with the side seal, and by securing the airtightness in the box device with the seal device 67, secondary contamination generation caused by fuel debris cutting, etc. Objects can be contained in the work space below the box device, and the spread of contamination to the surrounding area can be prevented.

1: Boiling water nuclear power plant 2: Reactor 3: PCV 4: Reactor building 5: Upper lid 6: Dry well 7: Pressure suppression chamber 8: Vent passage 9: Shield plug 10: Upper lid 11: RPV
12: Core 13: Steam dryer 14: Steam separator 15: Core shroud 16: Fuel assembly 17: Core support plate 18: Upper lattice plate 19: Control rod guide tube 20: Control rod 21: Control rod drive mechanism housing 22: Lower mirror 23: Concrete mat 24: Pedestal 25: γ-ray shield 26: Dryer / separator pool 27: Spent fuel storage pool 28: Fuel debris 29: Opeflo 42: First work house 43: Second work house 44 : Third work house 45: Crane device in the work house 46: Sealing door 47: Cutting device 48: Equipment storage container 49: Decontamination device 60: Fuel debris carry-out device 61: RPV flange surface 62: Device fixing mechanism 63: Wire Drum device 64: Wire 65: Box device 66: Clamp portion with side seal 67: Seal device 68: Electric power Table 70: First shielding body 70: Transfer device 71: Shield port for loading / unloading 72: Shielding port door for loading / unloading 73: First tank 74: Crane device in box 75: Manipulator 76: Fuel cask 77: First Two shields 78: main turning table 79: main turning drive unit 80: auxiliary turning table 81: auxiliary turning drive unit 82: fuel debris dismantling device fixing unit 83: fuel debris dismantling device 84: lower shielding port door 85: second tank 86: High pressure piping 87: Cutting nozzle 88: Suction line 89: Collected material separator 90: Transport crane 91: Cleaning mechanism 93: Cover lower cover 94: High pressure water pump 94n: Nozzle pump 100: Articulated manipulator 100A : Arm part 100B: Arm drive part 110: Half-moon-shaped rotating shaft 111: Shaft flat plate 111α: Half-moon-shaped part 120, 120a to 120d: Joint plate 121: Recess provided in joint plate 122: Hook part 130: Tensile spring 140: Wire 141: Wire through hole 150: Wire drive part 151: Injection part 152: Injection hole 155: Cylinder part 156: Inner cylinder 156r: Ring part 157: Outer cylinder 158: Fluid injection space 160: Support part 161, 162: Drive part support plate 163: Base plate 170: Connection part 171: Connection rod 200 : Manipulator system 210: Fluid drive pump 220: Surveillance camera 221: Radiation protection cylinder 222: Lid 223: Lid wire 224: Lid wire drive unit 230: Operation panel 231: Display 232: Controller 233: Control unit 240: Arm high pressure piping Subscript x: A structure having a function of rotating the joint plate in the X direction Element subscript y: a component having a function of rotating the joint plate in the Y direction

Claims (11)

One or more half-moon-shaped rotation shafts formed so as to form a pair of shaft flat plates each having a half-moon-shaped portion on the front end side at 90 degrees with the half-moon-shaped portion facing in the opposite direction;
A joint plate provided on both ends of the half-moon rotating shaft that has a concave portion on which the half-moon-shaped portion slides on one or both sides, and rotates relatively to the half-moon rotating shaft;
A wire having one end fixed to each of both side sides in the rotational direction of the concave portion of the joint plate at the tip of the joint plate;
A wire drive unit that pulls the other end of the wire in the direction of the joint plate at the root of the plurality of joint plates;
An arm drive for fixing the wire drive unit, the base joint plate and the plurality of wire drive units;
A joint type manipulator for use in a radiation environment. A joint type manipulator for radiation environment according to claim 1,
Except at least the joint plate at the tip, it has a wire through hole that penetrates the wire on both sides in the rotational direction of the recess,
A tension spring is provided between the two joint plates in parallel with the wire,
An articulated manipulator for use in a radiation environment. A joint manipulator for radiation environment according to claim 2,
Two wires are provided on each side of the concave portion in the rotational direction.
An articulated manipulator for use in a radiation environment. A joint manipulator for radiation environment according to claim 1 or 2,
The wire driving unit includes an outer cylinder, an inner cylinder that slides on the outer cylinder and fixes the other end of the wire, and a fluid injection space that injects a fluid between the outer cylinder and the inner cylinder. An articulated manipulator for use in a radiation environment. A joint type manipulator for radiation environment according to any one of claims 1 to 4,
All the components of the joint manipulator are made of metal,
An articulated manipulator for use in a radiation environment. A joint type manipulator for radiation environment according to any one of claims 1 to 5,
The half-moon-shaped portion is configured such that its peripheral portion slides with the upper and lower end portions of the recess, and both side portions thereof slide with both side portions of the corresponding recess.
An articulated manipulator for use in a radiation environment. It is a joint type manipulator for radiation environments according to claim 6,
Provided irregularities on either side of the half-moon part or on both sides of the recess,
An articulated manipulator for use in a radiation environment. A joint type manipulator for radiation environment according to any one of claims 1 to 7,
The wires fixed to the one end are two at different positions, and the two wires are pulled by the same wire driving unit.
An articulated manipulator for use in a radiation environment. A joint type manipulator for radiation environment according to any one of claims 1 to 8,
The movable range of the rotation is divided into a plurality, and the rotation is controlled by being shared by a plurality of the wire driving units,
An articulated manipulator for use in a radiation environment. In fuel debris dismantling equipment in boiling water nuclear power plant,
A box device inserted into the reactor pressure vessel;
The joint type manipulator for radiation environment according to any one of claims 1 to 9, further comprising a dismantling means for disassembling fuel debris at the tip inside the box.
A fuel debris dismantling apparatus comprising: The fuel carry-out and dismantling device according to claim 10,
A radiation-protected surveillance camera and a control unit provided on the operation floor of the reactor containment vessel;
Controlling the joint manipulator for radiation environment based on the image of the previous monitoring camera;
A fuel debris dismantling device characterized by the above.

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