JP2955189B2 - Reactor used guide tube cutting 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 reactor used guide tube cutting apparatus for cutting a control rod guide tube taken out of a reactor core for processing.

[0002]

2. Description of the Related Art In a nuclear power plant, equipment for directly monitoring the presence of core water and a gas phase in the core has been studied, and a device for detecting the water level in a reactor vessel to directly monitor the core water level has been installed. Has been requested.

For this purpose, a control rod guide tube (hereinafter, referred to as a G / T tube) in a core is taken out and processed.
It is necessary to cut the G / T tube at appropriate lengths. Apparatuses suitable for cutting such high radiation dose G / T tubes are:
Not in the past.

[0004]

The reason for this is that, although the cutting accuracy does not matter, the processing can be performed quickly without affecting the surroundings, the cut pieces can be easily collected, and the apparatus is contaminated by exposure. It is required that the number of exposures is small and that the exposure of workers is taken into consideration. However, there is no device that satisfies this requirement.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a reactor used guide tube cutting device most suitable for cutting a control rod guide tube.

[0006]

According to a first aspect of the present invention, there is provided a pedestal having a recovery container having a receiving port on an upper portion thereof, and the pedestal is mounted on the pedestal from a reactor core. A clamp device for holding the taken-out control guide tube in the vertical direction above the receiving port of the collection container is provided, and an annular rail is provided outside the collection container supported by the pedestal body. And a drive truck on which a robot arm device is mounted is provided.The drive truck is connected to the drive truck via a connecting member, and a driven truck is provided so as to be able to run freely on a rail at a predetermined distance from the drive truck. At the tip of the robot arm device, a plasma torch for cutting the peripheral wall at the cutting position of the held control guide tube along the horizontal direction by the operation of the robot arm device is provided, and is supported by the driven truck. Work with a plasma torch A reflection plate is provided so as to cover the cutting position of the control guide tube from the outside, excluding the parts, and a driving means for rotating the driving bogie around the control guide tube by a predetermined amount every time the control guide tube is cut by the plasma torch is provided. And a remote control means for remotely controlling a clamp device, a robot arm device, a plasma torch, and a driving means, thereby constituting a reactor used guide tube cutting device.

[0007]

According to the first aspect of the present invention, first, the cutting device is installed at a place suitable for cutting the control guide tube. Then, the control guide tube taken out of the reactor core is suspended near the center of the recovery vessel by a suspending device such as a hoist (not shown), and guided to the reactor used guide tube cutting device.

The cutting device operates the clamp device by remote control to clamp the control guide tube vertically in the vicinity of the center of the collection container. Then, the robot arm device is operated to guide the plasma torch to the cutting position of the control guide tube, and the plasma torch is displaced in the horizontal direction to cut the peripheral wall at the cutting position.

At this time, the periphery of the control guide tube on the opposite side of the plasma torch is always covered with a reflector having a predetermined positional relationship with the plasma torch in conjunction with the driving bogie. The spark of the plasma torch has no adverse effect such as scattering around.

[0010] Then, after cutting a predetermined amount, the driving bogie is rotated by a remote operation together with the driven bogie around the control guide tube by a predetermined amount, and again, the plasma torch is continuously connected to the cut portion. To cut off the peripheral wall of the control guide tube.

By repeatedly performing the cutting using the plasma torch, the entire circumference of the control guide tube is cut, and the cut pieces are naturally dropped into the lower collecting container. After cutting, release the holding of the clamp device, after lowering the control guide tube, again holding the control guide tube with the clamp device, repeat the above-described cutting operation, and sequentially control the control guide tube, Disconnect.

The cutting process of the control guide tube does not affect the surroundings by using the plasma torch and the reflector together, and the cutting is completed in a short cutting time. Moreover, the cut pieces are
When the cutting is finished, the cut pieces fall naturally and are stored in the collection container, so that the cut pieces can be easily collected and the cut pieces can be easily processed.

Further, since the cutting by the plasma torch can be performed without touching (non-contacting) the control guide tube, there is little contamination of the apparatus. Moreover, since the cutting work is done remotely,
Consideration is also given to the prevention of worker exposure. Therefore, a cutting process suitable for the control guide tube is performed.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to one embodiment shown in FIGS. FIG. 1 is an external view of a reactor used guide tube cutting device to which the present invention is applied, and FIGS. 2 to 8 show the structure of each part of the cutting device. In FIG. 1, 1 is a floor surface 2 (shown in FIG. 4). It is a pedestal body installed in.

The pedestal 1 is provided with a disk-shaped substrate 4 mounted on the floor 2 in a horizontal direction on the lower outer peripheral surface of a cylindrical body 3 arranged at the center as shown in FIG. It has a two-layer structure in which a disk-shaped rail plate 5 facing the substrate 4 is provided on the surface.

At the lower part of the cylindrical body 3 and on the outer peripheral side of the substrate 4, there are provided feet 6 for height adjustment with a height adjusting function, so that the entire pedestal body is adjusted to be horizontal. I can do it.

Utilizing the height adjustment of the legs 6, the entire pedestal 1 is installed horizontally on the floor 2. At the upper end of the cylindrical body 3, a drum support 7 made of, for example, a ring-shaped plate is attached.

A drum 8 for collection (corresponding to a collection container) having an open upper end is placed on the upper surface of the drum support 7. On the left side of the substrate 4, there are provided uprights 9 supported by both the substrate portion and the floor 2. Reference numeral 9a denotes a leg that supports the lower end of the column 9.

The support 9 has a dimension higher than the height of the drum 8 on which the support 9 is placed, and a clamp device is provided on the upper end of the support 9 via a support arm 10 which can rotate around the axis of the support 9. 11 are supported. 10a is the supporting arm 10
2 shows a knob for fixing the in position.

As shown in FIG. 1, the clamp device 11 has a control rod guide tube 12 (hereinafter, referred to as a simple square) suspended near the center of the drum 8.
A structure for holding a front surface 12a and a rear surface 12b of the G / T 12 tube is used.

The structure will be described in detail. As shown in FIGS. 2 and 3, the supporting arm 10 is provided at the lower end of the supporting arm 10 via a linear bearing 13 such as a linear way module. The clamp plate 14 is slidably supported in a direction perpendicular to the direction.

The clamp plate 14 protrudes from the support arm 10 toward the drum 8 and has a triangular plate portion 15 formed at the front end portion, which expands toward the front end.

The support arm 10 and the clamp plate 14 are movably connected to each other by an air cylinder 14a disposed between the distal end of the support arm 10 and the clamp plate 14. The plate portion 15 can be moved toward the center of the receptacle 8a formed by the upper opening of the drum 8 or can be moved outward from the same position.

At the center of the upper end of the upper surface of the plate portion 15, a clamp claw 16 for holding the front portion of the G / T tube 12 is protruded. The crank pawl 16 has a pair of steps 16a, 16a at a portion facing the G / T tube 12 so as to restrain a corner portion of the front surface 12a of the G / T tube 12.

Thus, if the air cylinder 14a is extended until the steps 16a, 16a are fitted to the front surface 12a of the G / T tube 12 suspended toward the receiving port 8a, the G / T The front side of the tube 12 is clamped.

On both sides of the upper surface of the plate portion 15, a clamp arm having a pair of inward clamp claws 17,
Are supported so as to be openable and closable. Crank claw 1
Reference numerals 7 and 17 both face inward at a right angle to the clamp arm 18 and have a rear end 1 of the G / T tube 12 at a tip end.
A substantially trapezoidal concave portion 17a for restraining the corner portion 2b
Is formed.

At the base of each of the clamp arms 18, 18, a pair of air cylinders 19, 19 mounted on both sides of the upper surface of the plate portion 15, are rotatably connected with the forward and backward shaft tips. As shown by the two-dot chain line in FIG.
Can be opened and closed.

Thus, the air cylinders 19, 19
The concave portion 17a of each clamp claw 17, 17 is
When the contraction operation is performed until it fits into the corner portion of the rear surface 12b, the rear surface side of the G / T tube 12 is clamped.

These clamp claws 16 and clamp claws 1
The G / T tubes 12 suspended by a hoist or the like toward the receiving port 8a can be held in a predetermined position by using a hoist or the like.

The clamp claws 16 (for holding the front surface) and the clamp claws 17 and 17 (for holding the rear surface) are interchangeably mounted, and the cross-sectional shape of the G / T tube 12 (perpendicular to the axial direction). (The G / T tube 12 has a different size and shape depending on the type of reactor.) Of course, a clamp claw that matches the cross-sectional shape of the G / T tube 12 is used. It goes without saying that it is being prepared.)

A pair of inverted L-shaped outer rails 21 are provided on the outer peripheral side of the rail plate 5 so that the wheel engaging projections 20 formed by short portions are directed outward. Inside ray
Are laid annularly along the circumferential direction. For example, of the rails 21 and 22, for example, the inner rail 22
On the side opposite to the wheel engaging projection 20, the rack 23 is turned over the entire circumference to the tooth side toward the outer rail 21.
G / T is provided on the upper surface of the inner rail 22.
Therefore, four positioning holes 24 are provided at intervals of, for example, 90 ° (as shown in FIG. 6).

The outer rail 21 and the inner rail 22 are provided with a driving carriage 25a which moves on the rails 21 and 22. The drive cart 25a has a base plate 26 arranged on the rails 21 and 22, as shown in FIG. A pair of guide wheels, which are engaged with the wheel engaging projections 20 of each of the rails 21 and 22, are provided on the lower surfaces of the front and rear portions of the base plate 26 which are the front and rear portions which are the front and rear portions.
Are rotatably suspended, respectively.

Thus, the guide wheels 27, 27
Are the wheel engaging projections 20 of the outer rail 21 and the inner rail.
The base plate 26 is configured to roll along the wheel engaging projections 20 of the wheel 22, and supports the base plate 26 so as to be able to run along the rail direction.

A driving device 28 is provided on one side of the upper surface of the base plate 26 in the traveling direction. The driving device 28 includes, for example, a motor 3 on a base plate 26 as shown in FIG.
0, a clutch 31, and a rotary encoder 32 are integrally incorporated into a power transmission unit 29.

More specifically, the power transmission unit 29 has a casing 33 extending in the width direction of the base plate 26. A gear 34 is rotatably supported and housed downward. In addition, a driven gear 35 having an output shaft 36 rotatably penetrated through an axis thereof is provided near the inner rail in the casing 33.
Are rotatably housed downward. The driving gear 34 and the driven gear 35 mesh with each other.

A motor 30 connected to the driving gear 34 is installed vertically on the upper surface of the casing 33 near the outer rail, and the rotation (output) of the motor 30 is controlled by the driven gear. 35.

Further, a clutch 31 for intermittently connecting between the driven gear 35 and the output shaft 36 is provided on the upper surface of the casing 33 near the inner rail. The rotation is transmitted to the output shaft 36.

The front end of the output shaft 36 is provided with a casing 3
3, through the base wall 26 and the outer rail 21.
And between the inner rail 22. At the end of the output shaft 36, a pinion gear 38 that meshes with the rack 23 on the inner rail 22 is provided.
By the rotation of the pinion gear 38 driven by the output of 0,
The drive cart 25 is moved along the rails 21 and 22 to the drum 8
It is made to turn outside of.

That is, the drive bogie 25 travels on the rails 21 and 22 using the motor 30 as a travel source and the clutch 31 as an operation switching section for starting and stopping travel. .

The rotary encoder 32 is installed above the clutch 31 and is connected to the output shaft 36 via a shaft 39 protruding from the clutch 31 so as to detect the traveling distance of the drive cart 25. , The rotation of the output shaft 36 is detected.

At the center of the upper surface of the base plate 26, for example, a general-purpose robot arm device 40 is mounted. The robot arm device 40 includes, for example, three arms 41a to 41
In combination with b, an arm device capable of moving the arm tip in a three-dimensional direction of up, down, front, rear, left and right is adopted. A plasma torch 42 is attached to the end of the arm of the robot arm device 40 with the end directed forward.

As a result, the point at which the plasma torch 42 is separated from the clamp position of the G / T tube 12 clamped in a predetermined state by the clamp device 11 (shown only in FIG. 8, the tip of the torch is kept at a predetermined distance (interval) from one surface of the G / T tube 12 (the object to be cut) as shown in FIG. Robot arm device 4 so as to move in a straight line (moving one side) along the horizontal direction from the other to the other corner.
By operating 0, one side (partial peripheral wall) of the G / T tube 12 can be cut by plasma.
Of course, not limited to this, one corner from one side middle,
Even if the tip of the torch is moved to the other corner, the G / T tube 12
Is cut off on one side (one side).

The robot arm device 40 has a learning function of learning and storing the contents of the operation performed once, and when learning the operation required for cutting, the learned contents are thereafter obtained. The cutting operation is automatically performed according to the following.

At the rear of the upper surface of the base plate 26, a fixing device 43 for fixing the driving carriage 25a at a predetermined position is mounted. The fixing device 43 has a vertical air cylinder 44 installed on the upper surface of the base plate 26 as shown in FIG. The reciprocating shaft 44a of the air cylinder 44 penetrates through the base plate 26 and protrudes downward toward a rail position where the positioning holes 24 are arranged. A pin 45 is formed at the end of the advancing / retreating shaft 44a so as to be detachable from the positioning hole 24. The pin 45 is inserted into or pulled out of the positioning hole 24 by the air-cylinder 44. As a result, the entirety of the drive cart 25a is set to G /
The position directly facing each surface of the T tube 12, that is, the plasma
The tip of the hook 42 can be fixed at a position directly facing each surface of the G / T tube 12.

With the power transmission unit 29 and the fixing device 43, the drive cart 25a is turned around the G / T tube 12 by 90 ° in order for every one side cut of the G / T tube 12 (drive means). ).

On the other hand, a driven truck 25b is provided so as to be able to travel freely at a portion of the rails 21 and 22 which is separated from the driving truck 25a by a predetermined distance, for example, at a portion which is 180 ° shifted from the driving truck 25a.

The driven truck 25a also has a base plate 46 disposed on the rails 21 and 22, as shown in FIG. 4, similarly to the case of the driving truck 25a. This base plate 46
A pair of guide wheels 4 meshing with the wheel engaging projections 20 of each of the rails 21 and 22 are also provided on the lower surfaces of the front and rear portions.
7 and 47 are rotatably suspended, respectively,
As in the case of a, the wheels of the guide wheels 47, 47
By the rolling following the rail engaging projections 20, the entire driven truck is supported so as to be able to run along the rail direction.

The base plate 46 of the driven truck 25b is connected to the base plate 26 of the drive truck 25a via an arc-shaped connecting plate 48 following the rail shape. 2
Interlocking (synchronizing) with the movement of 5a, the vehicle travels on the rails 21 and 22 while maintaining the same interval, that is, it turns around the drum 8 with the driving carriage 25a by about 300 °.

On the upper surface of the driven carriage 25b, a column 49 having, for example, a U-shaped cross section is provided upright. Prop 4
In 9, the opening is arranged outward and the tip extends upward to a position corresponding to the cutting position of the G / T tube 12,
A reflection plate device 50 is attached to the tip via a bracket 50a.

The reflecting plate device 50 has a structure that covers the cutting position of the G / T tube 12 from the outside. Specifically, a support arm 51 is rotatably supported on the upper end of the column 49 in a vertical direction. This support arm 51 is
A plasma transistor regulated by a stopper 52 shown in FIG.
7 and a retracted position B standing upright (standing) above a column 49 as shown by a two-dot chain line in FIG. 7 retracted upward from the position. It has become.

At the tip of the support arm 51, as shown in FIG. 8, except for the portion to be cut by the plasma torch 42,
A reflector 53 covering the periphery of the G / T tube 12 is connected. That is, the reflecting plate 53 has a substantially C-shape such that a portion to be worked by the plasma torch 42 is opened at the working position A, and the periphery of the other cutting position of the G / T tube 12 is covered by a wall. It consists of a strip.

Thus, during the cutting operation, the spark of the plasma torch 42 is prevented from scattering around. At the base end of the support arm 51, a link 54 projecting rearward is provided. At the end of the link 54, a reciprocating shaft 55a of an air-cylinder 55 installed vertically inside the support arm 51 is provided.
Is rotatably connected, and when the air-cylinder 55 expands and contracts, the reflector 53 is disposed at the work position A during the cutting operation, and there is a possibility that the reflector 53 will interfere with other members or equipment. Can be moved from the work position A to the standby position B retracted.

In this way, the cutting device is capable of performing operations required for cutting the G / T tube 12 by remote control. Specifically, as shown in FIG.
A column 5 that rises upward from a portion adjacent to the support arm 51
7 is provided, and a television camera 58 for monitoring the state of the cutting operation is provided at the upper end of the column 57.
As shown in FIGS. 7 and 8, a television camera 59 for monitoring the state of the cutting operation is provided on the side of the support arm 51 via a bracket 59a.

The television cameras 58 and 59 are electrically connected to, for example, a monitor device 60 in a work room located in a place different from the place where the cutting device is located, so that the work situation can be displayed.

Each device of the cutting device is provided with a controller 6.
1 is electrically connected to a remote control unit 62 located in the same room. By operating the respective devices of the cutting device in accordance with a predetermined work procedure by operating the remote operation unit 62, the entire circumference of the G / T tube 12 is cut. At the same time, the cut pieces (not shown) after cutting fall naturally into the drum 8 and can be collected by the drum 8 as it is.

FIG. 9 shows the operation procedure of the G / T tube 12. Next, the operation of the cutting device thus configured will be described with reference to the flow shown in FIG.

That is, first, at a place suitable for cutting the G / T tube 12, a cutting device in which the drum 8 is placed is installed. Next, the operation for holding the G / T tube 12 is started.

At this time, the clamp claws 16 are retracted, and the clamp claws 17, 17 are turned to the open side.
The reflection plate 53 is also retracted to the retreat position B, and the G / T tube 1
Stand up so as not to interfere with the set of 2.

Next, the G / T tube 1 taken out of the reactor core using a suspending device such as an existing hoist (not shown).
2 is suspended near the center of the drum 8 in a predetermined direction.

When the operator determines that the G / T tube 12 has been suspended to a predetermined position while watching this situation through the monitor device 60, the operator operates the remote control unit 62 to enter the clamp.

For this, first, for example, the air cylinder 1
4a is extended, and the clamp claw 16 is moved to the G / T tube 12.
Forward until it comes into contact with the front surface 12a of the vehicle. This allows
As shown in FIG. 2, the corners of the front surface 12a of the G / T tube 12 fit into the steps 16a, 16a, and the front portion of the G / T tube 12 is clamped.

Then, the air cylinders 19, 19 are contracted, and the clamp arms 18, 18 are moved in the closing direction. 12 until it comes into contact with the rear surface 12b.

As a result, as shown in FIG.
The corners of the rear surface 12b of the tube 12 fit into the concave portions 17a of the clamp claws 17, 17, and the rear surface of the G / T tube 12 is clamped.

Thus, the G / T tube 12 is connected to the drum 8
Near the center of the receiving port 8a. Next, the drive cart 25a is positioned at a predetermined position.

For this purpose, the motor 30 of the driving carriage 25a is operated. For example, the clutch 31 of the drive truck 25a is intermittently operated based on the movement of the drive truck 25a from which the output signal of the rotary encoder 32 can be obtained. 12a
(The surface located at a position sandwiched between the rear surface 12b and the rear surface 12b).

Next, the driving carriage 25a is stopped at the same point, the air cylinder 44 of the fixing device 43 is extended, and the pin portion 45 at the tip is previously provided at a predetermined position on the inner rail 22. Insert into positioning hole 24.

As a result, the driving cart 25a is locked at the same point (positioning of the driving cart 25a). Then
The cutting operation of one side (one surface) of the G / T tube 12 is started.

This is shown in FIG. 8 by operating the robot arm device 40 to determine, for example, the position below the clamp position as the cutting position of the G / T tube 12 and to operate the plasma torch 42. G / T
While keeping a constant interval with respect to the side surface 12c of the T tube 12, move from one corner to the other corner of the side surface 12c in a straight line along the horizontal direction along the side shape (one side movement).
It is performed by letting it do. Of course, the plasma torch 42 may be moved from the intermediate portion on one surface to the corners on both sides.

By this operation, the side 1 of the G / T tube 12
2c is cut. At the time of this cutting, the plasma torch 4
Since the periphery of the G / T tube 12 on the opposite side of 2 is covered with the reflector 53, the spark of the plasma torch 42 does not scatter around.

The cutting operation so far is learned using the learning function of the robot arm device 40. Then
After the cutting is completed, the driving cart 25a is remotely operated.
Are sequentially turned by 90 °, for example, directly facing the front surface 12a, similarly facing the side surface 12d, and also facing the rear surface 12b of the G / T tube 12, and locked at the same position. The operation of cutting (three sides) according to the contents learned by the robot arm device 40 is repeated.

Thus, the entire circumference of the G / T tube 12 is cut. The cut pieces are naturally dropped into the drum 8 below. After finishing this cutting, the clamping device 1
1 is released, the G / T tube 12 is lowered by a predetermined amount, the G / T tube 12 is again held by the clamp device 11, and the above-described cutting operation is repeated to remove the G / T tube 12. If the cutting is performed sequentially from the lower side, the processing of the G / T tube 12 is performed.

The G / T tube 12 is cut by using the plasma torch 42 and the reflection plate 53 in a short time without using the plasma torch. Twelve cuts can be made.

Further, when the cut pieces have been cut, they fall naturally directly and are accommodated in the drum 8 so that the cut pieces can be easily collected and the cut pieces can be easily processed. In addition, the cutting by the plasma torch 42 is G /
Since it can be performed without touching (non-contacting) the T tube 12, contamination of the apparatus can be reduced.

In addition, since the cutting operation is performed by remote control, consideration is given to preventing the worker from being exposed to radiation. Therefore,
A cutting device suitable for the cutting process suitable for the G / T tube 12 can be provided.

Further, by employing the robot arm device 40 having a learning function, the same operation can be repeated many times as long as the movement of the plasma torch 42 is first learned. There is also an advantage that the cutting operation can be greatly reduced.

In addition, the clamp pawl 16 and the clamp pawl 1
With the adoption of the clamp device 11 in which the parts 7 and 17 can be exchanged,
Even if the size and shape of the G / T tube 12 differ (depending on the type of reactor), it can be dealt with immediately.

Further, by employing the fixing device 43 for fixing the driving carriage 25a at a predetermined position, the G / T tube 12 can be reliably cut using the plasma torch 42. In addition, the device 43 connects the pin portion 45 to the inner rail 2.
Since the structure is such that it can only be inserted into and removed from the positioning hole 24 provided in the device 2, it is simple.

In addition, when the reflecting plate 53 is disturbed by the link mechanism (when there is a possibility of interfering with other members or equipment) by using the link mechanism, the retreating position B ( By moving the G / T tube 12 to the erect position, the cutting operation of the G / T tube 12 can be smoothly performed.

In one embodiment, a square G / T tube 12 is used.
However, it is needless to say that the present invention is not limited to this simple square shape, but can be applied to the G / T tube 12 having a complicated shape. Of course, since the G / T tube 12 has a complicated shape but a symmetric shape, the learning function of the robot arm device 40 can also be used (in this case, too, the connection between the object and the torch tip). You just have to learn to keep the interval constant.)

[0080]

As described above, according to the first aspect of the present invention, the cutting can be completed in a short cutting time without affecting the surroundings. Moreover, when the cut pieces are cut, they directly fall naturally and are stored in the collection container, so that the processing of the cut pieces is easy.

In addition, cutting by the plasma torch
Since it can be performed without touching (non-contacting) the control guide tube, there is little contamination of the device. In addition, since the cutting operation is performed by remote control, it is excellent in preventing exposure of workers. Therefore, it is possible to provide a reactor used guide tube cutting device most suitable for cutting the control rod guide tube.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a reactor used guide tube cutting device according to an embodiment of the present invention.

FIG. 2 is a plan view for explaining a configuration of a clamp device of the cutting device.

FIG. 3 is a view for explaining a connection structure between a support arm and a clamp plate as viewed from an arrow P in FIG. 2;

FIG. 4 is a cross-sectional view for explaining a structure around a pedestal body of the cutting apparatus.

FIG. 5 is a cross-sectional view for explaining the structure of a drive system of a drive cart of the cutting device.

FIG. 6 is a cross-sectional view for explaining the structure of a fixing device mounted on the driving bogie.

FIG. 7 is a partially sectional front view for explaining the structure of a reflection device mounted on a driven truck of the cutting device.

FIG. 8 is a plan view of the reflection device.

FIG. 9 is a flowchart for explaining an operation up to cutting processing of a control guide tube of the cutting apparatus.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Pedestal 7 ... Drum receiving stand 8 ... Drum can (collection container) 8a ... Receiving port 11 ...
Clamping device 12: Control rod guide tube 21: Outer rail 22
... Inner rail 23 ... Rack 24 ... Positioning hole 25a
... Driving cart 25b ... Driving cart 28 ... Driving device 40 ... Robot arm device 42
... plasma torch 43 ... fixing device 48 ... connecting plate 50
… Reflector device 53… Reflector plates 58 and 59… TV camera 60
... Monitor device 61 ... Controller 62 ... Remote operation unit.

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification code FI B23K 10/00 501 B23K 10/00 501A G21C 19/37 G21C 19/36 C

Claims (1)

(57) [Claims] 1. A pedestal body provided with a recovery container having a receiving port on an upper part thereof, and a control guide tube supported and provided on the pedestal body and taken out of a core of a nuclear reactor, the receiving pipe being disposed above the receiving port of the recovery container. A clamp device for holding in an up-down direction, an annular rail supported by the pedestal body and provided outside the collection container along a circumferential direction of the collection container, and a robot arm. A drive truck mounted on the rail, mounted on the rail, connected to the drive truck via a connecting member, and provided at a position on the rail at a predetermined distance from the drive truck. The driven arm is supported by the leading end of the robot arm device, and the operation of the robot arm device cuts the peripheral wall at the cutting position of the held control guide tube along the horizontal direction. Plasma torch and A reflector supported by the driven truck and covering the cutting position of the control guide tube from outside, excluding a part to be cut by the plasma torch; and the driving bogie by the plasma torch. A driving means for rotating the control guide tube around a predetermined amount every time the control guide tube is cut off, the clamp device, the robot arm device, and the plasma tor.
And a remote control means for remotely controlling the driving means.