JP2856616B2 - Robot shielding device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shielding device for a robot installed in a containment vessel, and relates to the soundness and reliability of monitoring robots and working robots under high radiation dose and high temperature environment conditions. The present invention relates to a shielding device of a robot for ensuring the safety.

[0002]

2. Description of the Related Art In a nuclear power plant, a reactor pressure vessel for generating high-temperature and high-pressure steam and primary reactor equipment such as recirculation equipment are installed in a reactor containment vessel (hereinafter referred to as PC).
V), so that even if a radioactive substance leaks from the primary reactor system due to an accident, the radioactive substance is confined in the PCV so as not to go outside.

The inside of the PCV is exposed to high radiation and high temperature environment conditions, and the work environment is poor.
Cannot perform patrol inspection work in a good working environment.

[0004] For this purpose, a surveillance robot travels on a traveling trajectory provided in the PCV, and replaces equipment such as a reactor pressure vessel installed in the PCV and abnormalities of its piping and valves with a maintenance person. While monitoring and checking, the work robot is performing maintenance work.

[0005]

SUMMARY OF THE INVENTION However, PCV
Because of the high radiation and high temperature environment, the lens of the surveillance camera mounted on the surveillance robot may deteriorate and reduce the amount of transmitted light, or a malfunction of the electric circuit may occur, resulting in a decrease in the monitoring ability .

In addition, structural members of the working robot may be deteriorated, or a malfunction of an electric circuit may occur, resulting in a reduction in working capacity.

The present invention has been made in consideration of the above circumstances, and has as its object to provide a robot shielding apparatus for protecting a monitoring robot or a working robot from high radiation.

Another object of the present invention is to provide a robot shielding apparatus for protecting a monitoring robot or a working robot from high temperatures.

[0009]

According to a first aspect of the present invention, there is provided a robot shielding apparatus for solving the above-mentioned problems.
As described in the above, a cylindrical robot shield that movably accommodates a robot that traverses a trajectory provided in the reactor containment vessel is fixed separately from the robot in the reactor containment vessel. However, this robot shield is provided with a radiation shield means for reducing the radiation dose to the robot.

Further, in order to solve the above-mentioned problems, the robot shielding apparatus according to the present invention has an air duct for guiding cooling air to the inside of the robot shield, and the air duct. Air distributing means for distributing the cooling air sent from the apparatus.

[0011]

According to the present invention having the above-described structure, a robot that traverses a traveling orbit provided in the reactor containment is movably accommodated, and is fixed separately from the robot in the reactor containment. Since it has a cylindrical robot shield provided and radiation shielding means provided on this robot shield to reduce the radiation dose to the robot, it is possible to protect the monitoring robot and the work robot from high radiation, Improve the reliability of the robot and maintain the working ability for a long time.

Further, since the air duct for guiding the cooling air to the inside of the robot shield and the air distribution means for distributing the cooling air sent from the air duct are provided, the robot can be efficiently cooled, and the monitoring robot and the working robot can be cooled. Can be protected from high temperatures, and dust such as dust can be prevented from being sprayed on the robot.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a reactor containment vessel (PCV) of a nuclear power plant equipped with a robot shielding device according to the present invention.
FIG.

FIG. 2 is an external view showing an embodiment of a robot shielding apparatus according to the present invention, FIG. 3 is a plan view of the robot shielding apparatus, and FIG. 4 is a cross section taken along line XX of FIG. FIG. 5 is a sectional view taken along line YY of FIG.

As shown schematically in FIG. 1, the nuclear power plant has a reactor pressure vessel 2 housed in a reactor containment vessel (PCV) 1 and a traveling track 3 provided in the PCV 1. The monitoring robot 4 is provided so as to be able to run freely.

The surveillance robot 4 is accommodated in a cylindrical robot shield 5 at the robot home position so as to be able to run, and the robot shield 5 prevents the function of the monitor robot 4 from deteriorating. It can be operated for a long time while maintaining soundness.

The surveillance robot 4 is mounted on a traveling track 3 provided in the PCV 1 so as to be able to travel in a suspended state as shown in FIG.

A robot shielding body 5 for accommodating the monitoring robot 4 at the robot home position is formed in a cylindrical shape by a lead shielding part 6 as a radiation shielding means and a stainless steel plate 7, and includes a support member 9 having a support flange 8. P
It is suspended from a structure (not shown) in the CV1.

The cylindrical robot shield 5 is opened forward and backward in the traveling direction and accommodates the monitoring robot 4 so as to be able to travel. A lead shield 6 is provided on the side of the robot shield 5 on the side of the reactor pressure vessel 2. The lead shield 6 reduces the radiation dose from the reactor core side.

The air-conditioning duct 1 is provided on the bottom wall of the robot shield 5.
The cooling air is supplied to the robot shield 5 through the air conditioning duct 10. A cooling air dust 12 is provided at a cooling air outlet 11 of the air conditioning duct 10 as air distribution means. The cooling air dust 12 distributes cooling air to the right and left so as to reach the entire area inside the robot shield 5.

The cooling air dust 12 guides the cooling air blown into the robot shield 5 so that dust such as dust contained in the cooling air is not blown to the monitoring robot 4.

The monitoring robot 4 is equipped with a temperature calibrating device 13, and the temperature calibrating device 13 adjusts the devices mounted in the monitoring robot 4 in the PCV1 so as not to be affected by radiation and temperature in the PCV1. doing.

A reference temperature source (not shown) is provided in the PCV 1, and a reference temperature source calibration window 14 is provided on the stainless steel plate 7 so that the reference temperature source can be observed from inside the robot shield 5.

The robot shield 5 is provided with the bolt and nut 1
5 and is suspended from a structure (not shown) in the PCV1.

Next, the operation of this embodiment will be described.

The lead shielding part 6 and the stainless steel plate 7 and the support member 9 constituting the robot shielding body 5 are assembled integrally by using bolts and nuts 15. The assembled robot shield 5 is hung on a structure (not shown) in the PCV 1 through the support flange 8 using the bolt nut 15.
Bolt and nut 15 for assembling and mounting the robot shield 5
The reason why is used is that the robot shield 5 can be removed and disassembled at the time of periodic inspection of a nuclear power plant or the like.

The robot shield 5 does not interfere with the traveling trajectory 3 provided in the PCV 1 and the monitoring robot 4
Is suspended on the traveling track 3 so that it can travel in a suspended state, and the front and rear of the traveling direction are open.

The robot shield 5 has an air-conditioning duct 1
0 is connected and connected to an air conditioner (not shown) through the air conditioning duct 10. Then, in order to prevent the cooling air from the air-conditioning duct 10 from reaching the entire area inside the robot shield 5, and to prevent the dust contained in the cooling air from being directly blown to the monitoring robot 4, the cooling air outlet 11 of the air-conditioning duct 10 is provided. The cooling air dust 12 is provided, the cooling air blown by the cooling air dust 12 is distributed, and the blowing direction is guided.

The monitoring camera (not shown) mounted on the monitoring robot 4 transmits the reference temperature source calibration window 14 before starting the monitoring operation.
, A reference temperature source (not shown) provided in the PCV 1 is observed, and calibration is performed using the temperature calibration device 13 provided in the monitoring robot 4 based on the observation of the reference temperature source. You have set the time.

The surveillance robot 4 that has completed the calibration of the surveillance camera
Circulates inside the PCV 1 in a suspended state on the traveling track 3 to monitor and inspect equipment such as the reactor pressure vessel 2 and the piping and valves thereof. When the temperature of the monitoring robot 4 becomes equal to or higher than a certain value, the monitoring robot 4
Is returned and stored, and the monitoring robot 4 is cooled.

By repeating the above method, the PCV
Even when the temperature in the device 1 is higher than the steady operating temperature of the device mounted on the monitoring robot 4, the mounted device operates safely and the PCV 1 can be monitored and inspected within a range that does not adversely affect the PCV1.

A lead shielding part 6 as a radiation shielding means
Therefore, the monitoring robot 4 can be protected from high radiation while the monitoring robot 4 is waiting or cooling in the robot shield 5.

In the above embodiment, for example, the robot shield 5
Although an example in which an air conditioning duct 10 for supplying cooling air to the inside is provided, instead of providing the air conditioning duct 10, an electronic cooling device is provided in the robot shield 5 and a current is supplied to the semiconductor thermoelectric element so that the robot shields the robot. The inside of the body 5 may be cooled.

The monitoring robot 4 of the robot shield 5
By installing openable doors at openings provided before and after in the traveling direction of the vehicle, the degree of sealing inside the robot shield 5 can be increased and the cooling effect can be improved.

Further, as a mechanism for opening and closing the openable door, a structure is provided in which the monitoring robot 4 contacts and opens and closes the door when traveling, and a position detecting sensor or the like is provided on the traveling track 3 to open and close the door with a motor. The structure which makes it do.

In the above embodiment, the robot shield 5 is formed in a rectangular cylindrical shape. However, the robot shield 5 may be a hollow cylinder.

As shown in FIG. 6, the running track 23 is formed in a duct shape while cooling the inside of the robot shield 25, and the air conditioner 30 is connected to the running track 23 via the duct. If the cooling air is blown out from the outlet 31 provided on the lower surface, the monitoring robot 24 can be cooled even during monitoring traveling, and the monitoring robot 24 can be protected from the high temperature in the PCV1.

Although the present embodiment has been described with respect to the shielding device of the monitoring robot 4, it can be applied to a work robot having a robot home position in the PCV1.

[0040]

As described above, according to the robot shielding apparatus of the present invention, a robot that traverses a traveling trajectory provided in a reactor containment is movably accommodated and separate from the robot described above. The robot has a cylindrical robot shield fixed to the inside of the reactor containment vessel and radiation shielding means provided on the robot shield to reduce the radiation dose to the robot. Can be protected from high radiation, the reliability of the robot can be improved, and the working ability can be maintained for a long time.

Further, since the air duct for guiding the cooling air into the robot shield and the air distributing means for distributing the cooling air sent from the air duct are provided, the robot can be cooled efficiently and the monitoring robot and the working robot can be cooled. Can be protected from high temperatures, and dust such as dust can be prevented from being sprayed on the robot.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a reactor containment vessel (PCV) of a nuclear power plant provided with a robot shielding device according to the present invention.

FIG. 2 is an external view showing an embodiment of a robot shielding apparatus according to the present invention.

FIG. 3 is a plan view of a shielding device of the robot.

FIG. 4 is a sectional view taken along line XX of FIG. 3;

FIG. 5 is a sectional view taken along the line YY of FIG. 4;

FIG. 6 is an external view showing another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Reactor containment vessel (PCV) 2 Reactor pressure vessel 3 Running trajectory 4 Monitoring robot 5 Robot shield 6 Lead shield 7 Stainless plate 8 Support material 9 Support plate 10 Air conditioning duct 11 Cooling air outlet 12 Cooling air dust 13 Temperature calibration Equipment 14 Reference temperature source calibration window 15 Bolt and nut

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A 53-157296 (JP, U) JP-A 3-113199 (JP, U) (58) Fields surveyed (Int. Cl. ⁶ , DB name) G21C 17/013 B25J 5/02

Claims (2)

(57) [Claims] 1. A cylindrical robot shield, which movably accommodates a robot traversing a traveling orbit provided in a reactor containment vessel, is fixed separately from the robot in the reactor containment vessel. And a robot shielding device comprising a radiation shielding means for reducing a radiation dose to the robot. 2. The robot shielding apparatus according to claim 1, further comprising an air duct for guiding cooling air into the robot shield, and an air distribution unit for distributing cooling air sent from the air duct.