JP2016080580A - Remote work system and remote work method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote work system capable of efficiently executing decontamination work to all floors of a nuclear power facility.SOLUTION: A remote decontamination system comprises: a work vehicle 1 mounted with a multi-joint arm unit formed of a multi-joint arm to the tip end of which a work head 7 is attached, a remote coupler 16 and a monitor camera; a transport vehicle 2 traveling on a rear side of the work vehicle 1, and mounted with a work unit 10; flexible first fluid transport hoses 8a, 9a connected to the remote coupler 16 and the work head 7, and capable of transporting a fluid; flexible second fluid transport hoses 8b, 9b connected to the work unit 10 and the remote coupler 16 and capable of transporting a fluid. The remote coupler 16 is disposed on a rear end of the work vehicle 1, and enables attachment and detachment of a socket 17 attached to tip ends of the first fluid transport hoses 8a, 9a to/from a plug 18 attached to tip ends of the second fluid transport hoses 8b, 9b, by a remote operation.SELECTED DRAWING: Figure 3

Description

  Embodiments described herein relate generally to a remote work system and a remote work method.

  When an accident occurs at a nuclear power generation facility, radioactive materials may be released into the facility, and equipment or buildings in the facility may be contaminated with floating or sticky radioactive materials. However, since the nuclear power generation facility is in a high radiation environment and entry of workers is restricted, it is necessary to perform decontamination work of radioactive contaminants remotely.

  Blast decontamination methods using a blast material are known as remote operation means for performing such decontamination work (Patent Documents 1 and 2). This blast decontamination means ejects a blast material from the decontamination head to the decontamination object, and removes the contaminants fixed on the surface. Blast materials include shot blast decontamination using metal particles and dry ice blast decontamination using dry ice pellets. In any decontamination method, a decontamination head with a built-in injection nozzle is brought close to the construction surface and moved at a constant speed parallel to the construction surface for decontamination.

  Such blast decontamination means is widely used because it can peel only radioactive contaminants without destroying the paint layer or coating layer on the surface of the object to be decontaminated, but the contaminants become fine particles. Therefore, there is a possibility that the air dust concentration increases and the air dose temporarily increases, and means for sucking and collecting fine particles in the decontamination head simultaneously with blast injection has been proposed.

  Such a decontamination head is generally attached to the tip of an articulated arm mounted on a self-propelled carriage, and while the self-propelled carriage is running in the nuclear power generation facility, the floor surface and wall surface in the nuclear power generation facility Remote decontamination work for structures, etc. is being carried out.

Japanese Patent Laid-Open No. 11-58242 Japanese Patent No. 4656601

  By the way, in general, the interior of a nuclear power generation facility is narrow, the moving space is wide and high enough to allow people to pass through, and the remote decontamination apparatus needs to be miniaturized. However, the remote decontamination device is composed of an articulated arm unit to which a decontamination head is attached and a decontamination unit equipped with a blast material, a collection container, a compressor and the like. It is difficult to mount on one truck. For example, in a remote decontamination apparatus using dry ice blast, the size of the decontamination unit alone is about 700 mm in width and about 1000 mm in length and height, and when an articulated arm unit is added to this, It becomes difficult to travel freely in the moving space in the nuclear power generation facility.

  Therefore, it is conceivable that the articulated arm unit and the decontamination unit are separated and mounted on another cart to form a two-unit configuration. In this case, a cable for supplying power is connected between the two trucks, and a blast hose for supplying blasting material and a fluid supply hose such as a suction hose for collecting decontaminated materials are connected. Since the lengths of these fluid supply hoses are limited, it is necessary to move the two carriages in close proximity.

  On the other hand, facilities such as nuclear power generation facilities consisting of reactor buildings, etc. have a structure of multiple floors, and it is required to perform decontamination work not only on a single floor but also on multiple floors of the facility. ing.

  Therefore, it is necessary to move two trolleys to the upper and lower floors. However, when the power is lost, the existing elevator system in the facility cannot be used, and the temporary lifter accommodates two trolleys at the same time due to restrictions on the installation environment. In many cases, it is difficult to secure a possible area. Furthermore, in such a nuclear power generation facility or the like, there are many narrow passage portions, and it may be difficult to pass two carts in close proximity.

  Embodiments of the present invention have been made to solve the above problems, and a plurality of trolleys of a remote work system such as a remote decontamination system that requires supply and recovery of fluid in addition to a power source between a plurality of trolleys. To provide a remote work system and a remote work method capable of efficiently carrying out work even when the work space is narrow by making the fluid transfer hose provided between them movable and detachable by remote control. With the goal.

  In order to solve the above-described problems, a remote work system according to an embodiment of the present invention includes a work cart equipped with a multi-joint arm unit including a multi-joint arm, a remote coupler, and a surveillance camera, each having a work head attached to the tip. A transport carriage that travels behind the work carriage and is equipped with a work unit; a flexible first fluid transport hose that is connected to the remote coupler and the work head and can transport fluid; and the work unit; A flexible second fluid transport hose connected to the remote coupler and capable of transporting the fluid, the remote coupler being installed at a rear end of the work carriage, The socket attached to the tip of the first fluid transfer hose and the plug attached to the tip of the second fluid transfer hose can be detachable by remote control. The features.

  Furthermore, the remote operation system according to the embodiment of the present invention includes a work cart equipped with a work head, a transport cart that runs behind the work cart and is equipped with a work unit, and the work cart and the transport cart. A cable for performing at least one of power supply and communication, fluid transport hose for exchanging fluid between the work carriage and the transport carriage, and remote attachment / detachment means for remotely attaching / detaching the fluid delivery hose; It is characterized by providing.

  According to the present embodiment, work can be performed efficiently even when the work space is narrow or spans multiple floors.

The block diagram of the remote decontamination system which concerns on 1st Embodiment of the remote work system of this invention. (A) is a schematic diagram of the socket of the remote coupler which concerns on 1st Embodiment of the remote work system of this invention, (b) is a schematic diagram of a plug. The figure which shows the process of moving a remote decontamination system to the upper floor to 1st Embodiment of the remote work system of this invention. The block diagram of the remote decontamination system which concerns on 2nd Embodiment of the remote work system of this invention. The figure which shows the process of attaching or detaching a remote coupler in the remote decontamination system which concerns on 2nd Embodiment of the remote work system of this invention. (A) is a top view of the remote coupler which concerns on 3rd Embodiment of the remote work system of this invention, (b) is the sectional view on the AA line of a socket plate, (c) is the sectional view on the AA line of a plug plate. . The figure which shows the process of attaching or detaching a remote coupler in the remote decontamination system which concerns on 3rd Embodiment of the remote work system of this invention. The block diagram of the remote decontamination system which concerns on 4th Embodiment of the remote work system of this invention.

  Hereinafter, embodiments of a remote work system and a remote work method according to the present invention will be described with reference to the drawings, taking a remote decontamination system and a remote decontamination method as examples.

[First Embodiment]
A remote decontamination system and a remote decontamination method according to a first embodiment of the remote operation system of the present invention will be described with reference to FIGS.

(Constitution)
The remote decontamination system of this embodiment is composed of two carts, a work cart 1 and a transport cart 2.

  The work carriage 1 includes an articulated arm 3 having a decontamination head 7 attached to the tip, a remote coupler 16 provided at the rear end of the work carriage 1, a monitoring camera 4 for monitoring the posture of the articulated arm 3, a removal An articulated arm unit including a monitoring camera 5 for monitoring a dyeing location and a gripping position of a remote coupler 16 to be described later, and monitoring cameras 6a and 6b for monitoring a running state is mounted.

Inside the decontamination head 7, there are provided an ejection nozzle for ejecting a decontamination material made of a blast material and the like, and a recovery nozzle for sucking and collecting the decontamination material and the like separated by the decontamination material injection together with the decontamination material (not shown). These are connected to a flexible decontamination material hose 8a and a suction hose 9a, which are fluid transfer hoses capable of transporting fluid and exchanging fluid between the work carriage and the carriage.
The other ends of the decontamination material hose 8a and the suction hose 9a are connected to the remote coupler 16.

The decontamination material hose 8a and the suction hose 9a may be bundled together as a hose bundle 13a.
The decontamination material hose 8a and the suction hose 9a mounted on the work carriage 1 are also referred to as “first fluid transfer hose”.

A decontamination unit 10 including a decontamination material container, a recovery container, a compressor (not shown), monitoring cameras 6 a and 6 b and the like is mounted on the transport carriage 2. Further, one end of the flexible decontamination material hose 8b and the suction hose 9b is connected to the decontamination material container and the collection container, and the other end is connected to the remote coupler 16.
The decontamination material hose 8b and the suction hose 9b mounted on the transport carriage 2 are also referred to as “second fluid transport hose”.

  A wire 11 (first wire) through which a plurality of suspension fittings 12 are inserted is suspended between the work carriage 1 and the transport carriage 2, and a coil in which the decontamination material hose 8b and the suction hose 9b are bundled together. A hose bundle 13b is supported by a plurality of suspension fittings 12.

  In the present embodiment, an example in which the decontamination material hoses 8a and 8b and the suction hoses 9a and 9b are used as hoses has been described. However, the type and number of hoses can be changed or omitted as appropriate.

  One end of the wire 11 is fixed to a metal fitting 14 provided at the rear end portion of the work carriage 1, and the other end is wound around a wire take-up device 15 provided at the front end portion of the transport carriage 2 so as to be fed out and taken up. ing. The wire winding device 15 has a function of pulling back the wire 11 with a constant tension using a spring-shaped spring-type winding mechanism (not shown) or the like.

  In addition, cable take-up devices 19a and 19b are provided at the rear ends of the work cart 1 and the transport cart 2, and necessary power and communication control signals are sent to the carts 1 and 2 via the power and communication cables 20a and 20b, respectively. To be supplied. Each of the cable winding devices 19a and 19b has a rotating drum structure capable of winding a cable of several tens of meters, and the power supply / communication cables 20a and 20b are fed out and wound up by remote operation or automatically. .

  A slip ring, an optical rotary joint, or the like is used to connect the power / communication cables 20a, 20b to the equipment on each carriage. Further, an electric motor, a spring or the like is used as a drive source for the cable winding devices 19a and 19b.

(Configuration of remote coupler)
In the present embodiment, a remote coupler 16 which is a remote attachment / detachment means is installed at the rear end of the work carriage 1 to convey the decontamination material hose 8a and suction hose 9a (first fluid conveyance hose) on the work carriage 1 side. The decontamination material hose 8b and suction hose 9b (second fluid transfer hose) on the cart 2 side are configured to be detachable by remote control.

  More specifically, the remote coupler 16 is fixedly provided with a socket 17 attached to the tip of the first fluid transfer hose (the decontamination material hose 8a and the suction hose 9b on the work carriage 1 side). A plug 18 attached to the tip of the second fluid transfer hose (contamination hose 8b and suction hose 9b on the transport carriage 2 side) is detachably fitted.

(Function)
In the remote decontamination system configured as described above, when the remote decontamination system is moved to the upper floor by the lifter 21, the decontamination material on the transport carriage 2 side fitted in the socket 17 of the remote coupler 16. The plugs 18 at the distal ends of the hose 8b and the suction hose 9b are pulled out from the socket 17 by remote control and separated. A work robot or the like (not shown) is used for the separation operation.

  Next, each of the working carriage 1 and the transport carriage 2 is operated to pass through the narrow portion. At this time, the power supply / communication cables 20a and 20b are connected between the work carriage 1 and the transport carriage 2 and can be operated separately.

  For example, when moving the work cart 1 and the transport cart 2 to the upper floor, first, the work cart 1 is placed on the lifter 21 and the lifter 21 is raised to the upper floor, and the work cart 1 is moved to the upper floor as shown in FIG. Move. Next, the lifter 21 that has been emptied is lowered, the transport carriage 2 is placed on the lifter 21, the lifter 21 is raised to the upper floor, and the transport carriage 2 is moved to the upper floor. At this time, since the power / communication cables 20a and 20b and the wire 11 are configured to be stretchable by the cable winding devices 19a and 19b, respectively, the distance between the work carriage 1 and the transport carriage 2 temporarily increases. Even so, you can follow the movement. Then, after the work cart 1 and the transport cart 2 are moved to the upper floor, or after the work cart 1 and the transport cart 2 have passed through the narrow part, the decontamination material hose 8b and the suction hose 9b on the transport cart 2 side are moved to the front ends. The attached plug 18 is fitted into the socket 17 by remote control.

  In addition, although this embodiment demonstrated the example which moves a remote decontamination system to an upper floor, when moving to a lower floor, it is performed in the same procedure.

(effect)
According to the present embodiment, the remote decontamination system is configured with two units of a work cart 1 equipped with an articulated arm unit and a transport cart 2 equipped with a decontamination unit 10, so that the work space of a narrow nuclear power generation facility Can be easily moved.

  Further, the decontamination material hoses 8a and 8b and the suction hoses 9a and 9b on the working carriage 1 side and the transportation carriage 2 side, which are fluid transfer hoses between two carriages, can be attached and detached by the remote coupler 16 to perform the decontamination work. When moving the remote decontamination system without carrying out the operation, the working carriage 1 and the transportation carriage 2 can be individually moved to the upper and lower floors by disconnecting the fluid transportation hose or the two lifters 21 even if the lifter 21 is small. Narrow passages and the like that are difficult to pass with the carts close to each other can also be passed separately.

  In particular, fluid transport hoses such as the decontamination material hose 8a and suction hose 9b on the work cart 1 side and the decontamination material hose 8b and suction hose 9b on the transport cart 2 side connect the work cart 1 and the transport cart 2 to each other. Since it is less flexible than the power / communication cables 20a, 20b, the fluid transport hose is disconnected by disconnecting the fluid transport hose while the power / communication cables 20a, 20b between the work cart 1 and the transport cart 2 are connected. It is possible to pass through the narrow portion much more easily than when the are connected.

  Furthermore, the power / communication cables 20a and 20b and the wire 11 are configured to be stretchable by the cable winding devices 19a and 19b, respectively, so that the work cart 1 and the transport cart 2 can be separated and moved to the upper and lower floors. Even if the distance between the carriage 1 and the transport carriage 2 temporarily increases, the power / communication cables 20a, 20b and the wire 11 can follow the movement and interrupt the power supply and information communication. It is possible to carry out the moving work without any problems.

  Thereby, decontamination work can be efficiently carried out over a wide area such as a large number of floors such as nuclear power generation facilities.

[Second Embodiment]
A remote decontamination system and a remote decontamination method according to the second embodiment will be described with reference to FIGS.
In the second embodiment, as shown in FIG. 4, a detachable tool 22 capable of operating the remote coupler 16 is attached to the tip of the articulated arm 3.

When the plug 18 fitted in the socket 17 of the remote coupler 16 is disconnected, the detachable tool 22 is moved immediately above the remote coupler 16 by appropriately rotating and bending the multi-joint arm 3 as shown in FIG. Then, the plug 18 is removed from the socket 17 by pulling it out while holding it. At that time, since the monitoring camera 5 is installed in the vicinity of the attaching / detaching tool 22, the remote attaching / detaching operation can be performed steadily in a short time.
According to the present embodiment, it is possible to perform remote attachment / detachment work of the remote coupler 16 by the remote decontamination system itself without using human power or other remote work equipment.

[Third Embodiment]
A remote decontamination system and a remote decontamination method according to the third embodiment will be described with reference to FIGS.

(Plate configuration)
In this embodiment, as shown in FIGS. 6A to 6C, the remote coupler 16 is fixed to a plug plate 23 a on which a plurality of plugs 18 are fixed, and a plurality of sockets 17 corresponding to each plug 18. The socket plate 23b is provided.

  The socket plate 23b is attached to the rear end portion of the work carriage 1, for example, in an upright state, and the plug plate 23a is detachably fitted to the socket plate 23b by a remote attachment / detachment device 29 described later.

  Further, positioning of the plurality of sockets 17 and the plugs 18 is performed by providing positioning pins 24 on the plug plate 23a and providing guide holes 25 on the socket plate 23b into which the positioning pins 24 are inserted. For example, a push-pull type attachment / detachment mechanism is used for the socket 17 and the plug 18, and the socket 17 and the plug 18 are attached / detached by pushing or pulling the plug plate 23 a into or out of the socket plate 23 b by the remote attachment / detachment device 29.

  When the number of sockets 17 and plugs 18 is large, or when a high-pressure connection specification is used, the push-pull type attachment / detachment mechanism may be difficult to attach / detach. In that case, a tool changer such as a tool changer may be attached to the plug plate 23a or the socket plate 23b to perform the attaching / detaching operation (not shown).

(Configuration of remote attachment / detachment device)
FIG. 7 is a configuration diagram of a remote attachment / detachment device 29 that remotely attaches / detaches the socket plate 23a to / from the plug plate 23b. The remote attachment / detachment device 29 includes a gripping portion 26 for gripping the socket plate 23a with a gripper 26a, a buffer member 27 including a shock absorber for buffering and supporting the gripping portion 26, and a slide base 28 for slidably supporting the gripping portion 26. And attached to the tip of the transport carriage 2.

(Function)
In the third embodiment configured as described above, when the plug plate 23 a is connected to the socket plate 23 b using the remote attachment / detachment device 29, the transport carriage 2 is brought close to the work carriage 1 to connect the remote attachment / detachment device 29. Proximity to remote coupler 16. Next, the plug plate 23a gripped by the gripping portion 26 is brought close to the socket plate 23b, and the plug plate 23a is connected to the socket plate 23b while positioning with the positioning pins 24. Finally, each socket 17 is connected to each plug 17b. 18 is fitted and connected.
At that time, even if there is a slight misalignment between the work cart 1 and the transport cart 2, the misalignment can be absorbed by the movement of the buffer member 27 and the slide table 28.

On the other hand, when the plug plate 23a and the socket plate 23b in the connected state are disconnected, the above procedure is reversed. At that time, the disconnected plug plate 23 a is held in a state of being gripped by the gripping portion 26 of the remote attachment / detachment device 29.
Note that the driving force of the transport carriage 2 is used as the pushing force and the separating force of the plug plate 23a.

  In this embodiment, the example in which the socket plate 23b is installed at the rear end of the work carriage 1 has been described. However, the plug plate 23a is installed at the rear end of the work carriage 1 and the socket plate 23b is gripped by the remote attachment / detachment device 29. However, the attaching / detaching operation may be performed.

(effect)
According to the present embodiment, the use of the plug plate 23a and the socket plate 23b makes it possible to attach and detach the plurality of sockets 17 and the plug 18 with a single operation. Can be done efficiently in time.

  Further, since the separated plug plate 23a is held in a state of being gripped by the gripping portion 26 of the remote attachment / detachment device 29, the reconnection work of the plug plate 23a and the socket plate 23b can be performed efficiently.

[Fourth Embodiment]
A remote decontamination system and a remote decontamination method according to the fourth embodiment will be described with reference to FIG.
In the present embodiment, as shown in FIG. 8, one end of the wire 30 (second wire) is connected to the socket 17 or the socket plate 23 b, and the other end is connected to the wire winding device 15 via the plurality of suspension fittings 12. (See FIG. 1).

  Since the wire winding device 15 has a function of pulling back the wire 30 with a constant tension using a spring-type spring-type winding mechanism or the like, the plug 18 or the plug plate 23a is connected to the socket 17 or the socket plate 23b. When the plug 18 or the plug plate 23a is cut off, the decontamination material hose 8b and the suction hose 9b are pulled back to the vicinity of the wire winding device 15.

  Thereby, the disconnected plug 18 or plug plate 23a or the decontamination material hose 8b and the suction hose 9b are not scattered on the equipment on the transport carriage 2 or the floor surface of the nuclear power generation facility, or contact with other equipment. Since it is pulled back to the vicinity of the wire take-up device 15, it does not hinder the traveling of each carriage or induce equipment failure. Thereby, a movement operation | work to the upper and lower floors of a remote decontamination system can be implemented efficiently.

  As mentioned above, although embodiment of this invention was described, this embodiment is shown as an example and is not intending limiting the range of invention. In particular, in each embodiment, a remote decontamination system and a remote decontamination method will be exemplified and described. However, not only cables for exchanging power and signals between a plurality of carriages, but also water, air, and dry ice. Any remote work system that needs to be connected by a fluid transfer hose for supplying / recovering a fluid such as the above can be applied in the same manner, and the same effect of improving work efficiency can be achieved. The novel embodiment can be implemented in various other forms, and various omissions, combinations, replacements, and changes can be made without departing from the spirit of the invention. This embodiment and its modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 1 ... Work trolley, 2 ... Conveyor trolley, 3 ... Articulated arm 4, 5 ... Surveillance camera, 6a, 6b ... Surveillance camera, 7 ... Decontamination head, 8a, 8b ... Decontamination material hose, 9a, 9b ... Suction Hose, 10 ... decontamination unit, 11 ... wire, 12 ... hanging bracket, 13a, 13b ... hose bundle, 14 ... bracket, 15 ... wire winding device, l6 ... remote coupler, 17 ... socket, 18 ... plug, 19a, 19b ... Cable winding device, 20a, 20b ... Power / communication cable, 21 ... Lifter, 22 ... Detachable tool, 23a ... Plug plate, 23b ... Socket plate, 24 ... Positioning pin, 25 ... Guide hole, 26 ... Grip part, 27 ... buffer member, 28 ... slide base, 29 ... remote attachment / detachment device, 30 ... wire.

Claims (11)

A work cart equipped with a multi-joint arm unit comprising a multi-joint arm with a work head attached to the tip, a remote coupler and a surveillance camera; a transport cart running behind the work cart and carrying the work unit; A flexible first fluid transport hose connected to the coupler and the working head and capable of transporting fluid, and a flexible second fluid connected to the working unit and the remote coupler and capable of transporting the fluid A remote operation system having a transfer hose,
The remote coupler is installed at the rear end of the work carriage, and remotely connects a socket attached to the tip of the first fluid transfer hose and a plug attached to the tip of the second fluid transfer hose. Remote work system characterized by being detachable by operation.   A first wire is suspended between a rear end portion of the work carriage and a front end portion of the transfer carriage, and the second fluid transfer hose is supported by a plurality of suspension fittings inserted through the first wire. The remote operation system according to claim 1, wherein:   The remote operation system according to claim 2, wherein a wire winding device capable of feeding and winding the first wire is provided at a front end portion of the transport carriage.   The remote work according to any one of claims 1 to 3, wherein a cable winding device capable of feeding and winding a power / communication cable is provided at a rear end portion of the work cart and the transport cart. system.   5. The remote operation system according to claim 1, wherein a gripping tool is provided at a distal end portion of the articulated arm, and the socket and the plug are attached and detached by the gripping portion.   The remote coupler includes a socket plate to which a plurality of sockets are fixed, and the plug plate to which a plurality of plugs are fixed is detachable from the socket plate by remote control. The remote decontamination system according to claim 1.   The remote operation system according to claim 6, wherein a remote attachment / detachment device is installed at a front end portion of the transport carriage, and the plug plate is attached / detached to / from the socket plate by the remote attachment / detachment device.   One end of a second wire is connected to the plug or the plug plate, and the other end is connected to a second wire winding device provided at the front end of the transport carriage so as to be able to be fed and wound. The remote operation system according to any one of claims 1 to 7.   The remote work system according to claim 8, wherein the second wire is inserted into the suspension fitting. A work carriage equipped with a working head;
A transport carriage that travels behind the work carriage and carries a work unit;
A cable that performs at least one of power supply and communication between the work carriage and the transport carriage;
A fluid transfer hose that exchanges fluid between the work carriage and the transport carriage;
Remote attachment / detachment means for remotely attaching / detaching the fluid transfer hose;
A remote work system comprising:   A remote decontamination method using the remote operation system according to any one of claims 1 to 10, wherein the work carriage and the fluid conveyance hose of the conveyance carriage are separated and moved.

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