JP2796468B2 - Equipment for maintenance work - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is applicable to maintenance work such as internal inspection, repair, and dismantling of cells in nuclear fuel reprocessing facilities, vacuum vessels of fusion reactors, tanks and tanks of large tankers, and the like. The present invention relates to a maintenance work device.

[0002]

2. Description of the Related Art FIG. 7 is an explanatory view of a cell in a conventional nuclear fuel reprocessing facility. In the figure, in a nuclear fuel reprocessing facility, a large container 90 of several meters in both diameter and height for processing, storing and storing highly radioactive materials such as fission products is confined in a room called a cell 1 surrounded by thick concrete. Have been. Once the nuclear fuel reprocessing facility has been put into operation, the large container 90 is placed in a high radiation environment and cannot be accessed by workers or the like. For this reason,
The large container 90, piping, and the like are manufactured by carefully examining and managing the material, design, processing, and the like so that maintenance is not required.

[0003]

As described above, in the nuclear fuel reprocessing facility, large vessels 90 for processing, storing, and storing highly radioactive materials such as fission products, and pipes are made of materials such that maintenance is unnecessary. , Design, processing, etc. are carefully studied and managed, but during the operation period of the nuclear fuel reprocessing facility, problems such as leakage of solutions containing highly radioactive substances from these large vessels and pipes occurred. In such a case, a worker cannot enter the cell 1 unless thorough decontamination is performed and a part of the side wall 91 and the ceiling wall 92 of the cell 1 is destroyed. And a great deal of labor is required.

[0004]

SUMMARY OF THE INVENTION An object of the present invention is to provide a maintenance work device which is inserted from the outside into a first opening formed in a ceiling of a room and is closed for maintenance. A first plug for lifting a gondola equipped with a tool and performing maintenance work by remote control via a cord so as to be able to move up and down freely, and is fitted from the outside into a second opening formed in the ceiling of the chamber. A second plug that pulls the gondola in the lateral direction through the closing cable.

[0005]

That is, in the maintenance work device according to the present invention, the first plug is inserted from the outside into the first opening formed in the ceiling of the room, and the first plug is lifted up and down via the closing cord. A gondola that is equipped with maintenance tools to carry out maintenance work by remote control is laterally inserted through a second plug inserted from the outside into a second opening formed in the ceiling of the room, and plugged. The first plug suspends and raises and lowers the gondola equipped with maintenance tools, and the second plug pulls the gondola to any maintenance location in the room. Maintenance work can be performed by remote control while keeping the room indoors and outdoors closed.

[0006]

1 to 6 are explanatory views of a maintenance work apparatus according to an embodiment of the present invention. In the figure, the maintenance work device according to the present embodiment is applied to maintenance work such as inspection, repair, dismantling, etc. inside the cell of the nuclear fuel reprocessing facility. Several meters in both diameter and height for processing, storing and storing materials
Large container is confined in a room called cell 1 surrounded by thick concrete. Once the nuclear fuel reprocessing facility has been put into operation, the large container is placed in a high radiation environment and cannot be accessed by workers or the like. For this reason, this apparatus moves on the whole area of the cell 1 on behalf of the worker, approaches the location to be maintained, and performs maintenance work by remote control. There is no need for impact, little increase in construction cost, and no need to install equipment such as manipulators and rails that require maintenance in the cell 1. Therefore, there is no need to change the arrangement of equipment in the cell 1. is there.

[0007] That is, as shown in FIG.
Openings 15 and 16 are provided one at each of the four corners near the two corners, and the openings 15 and 16 are provided with radiation shielding plugs 93 and 94, respectively. One of the openings 15 is used to suspend the work gondola 2 and the other three openings 1 having a diameter of about 200 mm.
6, the diameter of the plug 93 is large, and the other plug 94 is small in diameter. However,
These dimensions vary depending on the purpose and method of operation and are not necessarily limited. Hanging tools 9 are provided above the plugs 93 and 94 to move and install the plugs 93 and 94 themselves.
5, and a lower part of the wire 3 is attached with a stopper 86 for attaching and fixing one end of the wire 3. One end of each wire 3 is attached to the stopper 86 of each small-diameter plug 94, and the other ends are all large-diameter. Is loosely attached to the stopper 86 of the plug 93 of FIG.

Further, as shown in FIGS. 3 and 6, temporary plugs 19 and 20 inserted into the openings 15 and 16 are provided in place of the plugs 93 and 94.
The plug 20 is inserted into the small opening 16 instead of the small-diameter plug 94, and its outer shape and dimensions are the same as those of the small-diameter plug 94. This temporary small-diameter plug 2
Reference numeral 0 denotes a double cylinder structure, and the inner rotation cylinder 25 has a bearing 26 mounted and fixed above and below an outer cylinder 32.
It is rotatably supported by. A flange 24 is attached to an upper portion of the rotary cylinder 25, and a wire drum 23 and a driving unit 22 for rotating the wire drum 23 are attached to an upper surface thereof. The drive unit 22 includes a motor, a brake, and a detector for detecting the rotational position and speed of the wire drum 23, which are not shown. Wire drum 2
The wire 40 wound around 3 is rotatably supported by a box 28 attached to the lower part of the rotary cylinder 25.
The pulleys 30 and 31 are loosely sandwiched between the pulleys 30 and 31 and are guided so as not to come off the rolling surfaces of the pulleys 30 and 31. One end of two springs 29 is attached to the box 28, and the other ends of the springs 29 are attached to opposing outer cylinders 32, respectively. The outer cylinder 32 is made of lead or steel and has a radiation shielding ability, so that the radiation dose rate on the outer upper surface of the ceiling wall 92 can be suppressed with a minimum increase. A hanging ring 21 for moving and installing the plug 20 itself is attached to the top of the plug 20. The plug 19 is inserted into the large opening 15 instead of the large-diameter plug 93, and its structure, mechanism, and the like are different from those of the temporary small-diameter plug 20.
However, a slip ring (not shown) is attached to the drive unit 22a for signal and power transmission with the gondola 2.

As shown in FIG. 4, a visual camera 5 for disassembling and repairing a large container is attached to the gondola 2, and a pair of manipulators 4 having six degrees of freedom are provided. A transmission device 11 for transmitting to an external controller 49, a tool 14 for performing cutting, welding, and other operations necessary for maintenance work are attached. Further, a storage container 12 for storing cut pieces after disassembly is provided in the center of the gondola 2. The winding drum 9 can be moved up and down by the suspending wire 13.
And a drive unit 10 for rotating the winding drum 9 and the like. The manipulator 4 is swung upward to be in a contracted state, so that the manipulator 4 is formed in a shaft shape so as to be housed in a circle having a size smaller than the outer dimensions of the plug 19 inserted into the large opening 15.
Can pass up and down without interference. At the top of the gondola 2, a hanging portion 8 is provided.
9 and a number of wires 40 are connected and fixed, and a turning mechanism 7 is attached so as to be able to turn with respect to the wires 39 and 40. The wire 39 is a wire cable in which power lines and signal lines necessary for the gondola 2 for controlling the manipulator 4, for the drive unit 10, for the tool 14, and the like are different from the other wires 40.

Normally, during operation of the nuclear fuel reprocessing facility, plugs 93 and 94 for shielding radiation are attached to the openings 15 and 16, however, a solution containing a highly radioactive substance is supplied from a large container or piping. When a trouble such as leakage occurs, as shown in FIGS. 2 and 5, the greenhouse 41, which is provided with a radiation shield 51 and is shielded from the outside, is provided so as to cover around the openings 15 and 16. Install. A rail 42, a carriage 43 guided and guided by the rail 42, a master-slave type manipulator 52, a shielding window 48 for internal observation, and the like are attached to the green house 41. The carriage 43 is provided with a drum 44 on which a hook 47 is attached at the tip and winds up a wire 46 and a motor 45 for driving the drum. Green House 41
In advance, a base for the temporary large-diameter plug 19 and a base 50a for the large-diameter plug 93 are previously installed at opposing positions on a straight line passing through the center of the large opening 15. The rail 42 is arranged to pass through. This is because the carriage 43 that moves in one direction using only one rail 42 in the green house 41 is used.
A rail for movement if a slight enlargement of 1 is allowed,
A carriage or the like may be arranged in two directions, and use of any of them is not limited. Further, a power line and a signal line for the drive unit 22 a of the gondola 2 and the temporary large-diameter plug 19 are drawn out of the green house 41 and connected to an external controller 49.

As described above, the green house 41 is connected to the opening 1.
After being installed so as to cover the circumferences of the plugs 5 and 16, the manipulator 52 attaches the hooks 4 to the hanging members 95 of the small-diameter plug 94.
7, the plug 94 is lifted, and in this state, one end of the wire 3 attached to the stopper 86 below the large-diameter plug 93 from the stopper 86 below the small-diameter plug 94 is manipulator 52. Remove, stand 50b
It is connected to the other end of the wire 40 of the temporary small-diameter plug 20 above. Then, after the small-diameter plug 94 is stored in the gantry 50c, the hook 47 is removed by the manipulator 52, and the small opening 1 is hung on the hanging ring 21 of the temporary small-diameter plug 20.
Hang it down to 6. Since the gantry 50b is open on the opening 16 side, the wires 3, 40 move without winding around the gantry 50b. After setting the three temporary small-diameter plugs 20 into the small openings 16 in this manner,
In the same manner, the large diameter plug 93 is used for the green house 41.
The three wires 3 attached to the stopper 86 below the plug 93 are lifted by the manipulator 52 in a state of being lifted inside. At this time, the drive unit 22 of each temporary small-diameter plug 20 is operated, and the wire 40 is sent out by the amount of the wire 3 approaching sequentially. In this way, the wire 40 from each temporary small-diameter plug 20 is fixed to the suspension 8 at the top of the gondola 2 by the manipulator 52. And
After the large-diameter plug 93 is installed on the gantry 50a, the temporary large-diameter plug 19 is suspended from the large opening 15. Further, the wire 40 of each temporary small-diameter plug 20 is wound up and the wire 40 is stretched, and this state is defined as the origin of the working coordinates of the gondola 2.

As described above, the plugs 19 and 20, the wire 40
After completion of preparations such as the above, the gondola 2 is moved to a place where maintenance work is required. For example, when the gondola 2 is moved horizontally in the direction of the small-diameter plug 94a, the gondola 2 is installed instead of the small-diameter plug 94a. Temporary small diameter plug 2
Only the wire 40a is wound, and the wire 39 of the temporary large-diameter plug 19 is sent out by the same amount as the wound amount. The wires 40 of the other two temporary small-diameter plugs 20 are also wound in accordance with the movement of the gondola 2. At this time, as the gondola 2 moves, the pulleys 30, 31
As a result, the rotating cylinder 25 is rotated, the twist of the wire 40 and the pulleys 30 and 31 are prevented from coming off the rolling surface, and the movement of the gondola 2 is stabilized by preventing the wire 40 from becoming loose on the way. it can. In other words, the movement control of the gondola 2 knows the work coordinates with the initial position of the gondola 2 as the origin, so that the coordinate position of the target to be moved is simply given by the coordinates with the openings 15 and 16 as the reference. The amounts of winding and rewinding of the wires 39 and 40 are all automatically calculated and controlled by the controller 49. In addition, the movement control of the gondola 2 in the vertical direction is possible only by giving the same movement coordinates.

In this way, the gondola 2 can be made to approach all over the inside of the cell 1, and the turning mechanism 7
The maintenance work inside the cell 1 can be performed by remotely controlling the manipulator 4, the tool 14, and the like mounted on the gondola 2. In particular, even at the time of disassembly, the cut pieces are
Can be stored in the storage container 12 and can be continued without taking it outside, so that the work time is shortened and the efficiency is good. In addition, when the inside of the storage container 12 is full,
Storage container 12 from cell 1 to green house 41 as appropriate
Can be moved and replaced with a new storage container by the manipulator 52. Further, after the maintenance work is completed, it is possible to easily return to the original state in a procedure reverse to the above procedure. When the temporary small-diameter plug 20 is pulled out, the box 28 is returned to the same position as at the time of insertion by the two springs 29 while the wire 40 is loosened.
The plug 20 can be pulled out without interfering with the small opening 16.

As described above, the manipulator 4, the gondola 2 and the like can be inserted into the cell 1 only when necessary, and can be easily taken out of the cell 1, so that maintenance of these devices is possible. Only the wire 3 is placed in the cell 1, but it is easy to replace the wire 3 when necessary. In particular, since the present apparatus can be used as it is in other cells, it is very economical to prepare only one set for a plurality of cells. In addition, the gondola 2 can be moved to the entire area inside the cell 1 only by winding and rewinding the wires 39 and 40, and the existing cell 1 must be provided only with the openings 15 and 16 provided. In addition, since it is usually unnecessary to install equipment for this apparatus in the cell 1, the influence on the structure and mechanism of the cell 1 is extremely small, and the construction cost of the cell 1 is not particularly high. In addition, the present apparatus can be used even when the planar shape of the cell 1 is other than the most standard square shape. Outside the cell 1 of the nuclear fuel reprocessing facility, a vacuum vessel of a fusion reactor, a tank of a large tanker, It can also be used for maintenance work such as inspection, repair, and dismantling of inside large tanks, etc., where workers are difficult to access.

[0015]

The maintenance work apparatus according to the present invention is constructed as described above, and allows a gondola equipped with a maintenance tool to approach an arbitrary maintenance target location in a room to remotely control the interior and exterior of the room. Can perform maintenance work,
Maintenance work is performed safely, quickly and easily without removing beams.

[Brief description of the drawings]

FIG. 1 (a) is a front view of a plug of a maintenance work device according to an embodiment of the present invention, and FIG. 1 (b) is a view on arrow b in FIG. 1 (a).

FIG. 2 (a) is a front view of the temporary large-diameter plug, and FIG. 2 (b) is a view taken along the line bb in FIG. 2 (a).

FIG. 3A is a sectional view of the temporary large-diameter plug, and FIG. 3B is a view taken in the direction of arrow b in FIG. 3A.

FIG. 4 is a perspective view of the gondola.

FIG. 5 (a) is a front view of the temporary small-diameter plug, and FIG. 5 (b) is a view taken along the line bb in FIG. 5 (a).

6 (a) is a sectional view of the temporary small-diameter plug, and FIG. 6 (b) is a sectional view taken along line bb in FIG. 6 (a).

FIG. 7 is a perspective view of a cell of a conventional nuclear fuel reprocessing facility.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 cell 2 gondola 3 wire 4 manipulator 5 visual camera 6 grip 7 turning mechanism 8 hanging part 9 winding drum 10 driving part 11 transmission device 12 storage container 13 hanging wire 14 tool 15 large opening 16 small opening 19 large diameter for temporary construction 20 plug for temporary installation 21 small diameter plug 21 suspension ring 22 drive unit 23 wire drum 24 flange 25 rotating cylinder 26 bearing 28 box 29 spring 30 pulley 31 pulley 32 outer cylinder 39 wire 40 wire 41 greenhouse 42 rail 43 carriage 44 drum 45 drive Motor 46 Wire 47 Hook 48 Shielding window 49 Controller 50 Mount 51 Radiation shield 52 Manipulator 80 Rack 81 Electric manipulator 82 Telescopic tube 83 Carriage 84 Traverse ray 85 travel rail 86 stop 89 in-cell crane 90 container 91 sidewall (shield) 92 ceiling wall (shield) 93 large-diameter plug 94 diameter of the plug 95 crane 96 the slave arm 97 master arm 98 connecting pipe 99 shielding window 100 Manipulator

Claims (1)

(57) [Claims] 1. A gondola that is fitted from the outside into a first opening formed in a ceiling of a room, is equipped with a closing maintenance tool, and performs maintenance work by remote control so as to be vertically movable via a cable body. And a second plug that is inserted from the outside into a second opening formed in the ceiling of the room and pulls the gondola in the lateral direction through a closing cord. A device for maintenance work.