JP3137508B2 - Refueling machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a refueling machine for transferring fuel in a nuclear power plant and related facilities.

[0002]

2. Description of the Related Art Generally, in a nuclear power plant, exchange of fuel loaded in a nuclear reactor is performed using a refueling machine. Of these fuels, the positions of the fuel to be taken out for replacement, the fuel to be repositioned, and the newly loaded fuel are determined in advance, and several hundreds of fuels are densely loaded. Have been. For this reason, the fuel exchanger has been particularly required to have horizontal positioning accuracy.

A conventional example of a refueling machine will be described with reference to FIGS. FIG. 3 is a conceptual diagram showing a device configuration of the fuel exchanger. In FIG. 3A, the refueling machine 19 is provided on a reactor well 23 above the reactor 21. As shown in FIG. 3 (b), on both sides of the reactor well 23, a fuel pool 24 for storing spent fuel and equipment for accommodating equipment in the nuclear reactor 21 during a periodic inspection of the nuclear power plant. A pool 25 is provided. Running rails 11 are laid on the refueling operation floor 41 along both sides of the reactor well 23, the fuel pool 24 and the equipment pool 25. A bridge 15 is mounted on the traveling rails 11, and the traversing rail 1 laid on the bridge 15 is mounted on the bridge 15.
A trolley 16 traversing the upper side of the trolleys 2 and 12 is mounted thereon. The bridge 15 and the trolley 16 run on a bridge roller (not shown) and a trolley roller 26b, respectively. A bridge rack rail 13 a is laid in parallel with the traveling rails 11, 11.
Is engaged with a bridge pinion 18a provided on the side of the vehicle.
The bridge pinion 18a is connected to the bridge sync transmitter 1a, and can detect rotation of the bridge pinion 18a.

A trolley rack rail 13b is also laid in parallel with the traversing rails 12 and 12 and meshes with a trolley pinion 18b installed below the trolley 16. Similarly, the rotation of the trolley pinion 18b can be detected by the trolley synchro transmitter 1b. Further, on the trolley 16 is mounted a fuel gripper 17 which grips the fuel 22 at the time of refueling.

[0005] The configuration of the fuel gripper 17 will be described with reference to FIG. A wire rope 42 is connected to the lowermost stage of the fuel gripper 17, and the lowermost stage of the fuel gripper 17 moves up and down by winding the wire rope 42 by a hoisting machine 43. The hoist 43 is a hoist motor 5c.
In this case, the rotation of the hoisting machine 43 can also be detected by the hoisting machine synchro transmitter 1c provided on the rotating shaft of the hoisting motor 5c.

FIG. 5 is a block diagram showing the configuration of a control system of the refueling machine. Of the fuel gripper 17, the bridge 15, and the trolley 16, the positioning accuracy is particularly important for the bridge 15 and the trolley 16, as described above. These positions are detected by a position detector 31 which converts the signals detected by the bridge sync transmitter 1a and the trolley sync transmitter 1b into digital signals by the signal converter 2, as shown in FIG.

The digital signals of the positions of the bridge 15 and the trolley 16 detected by the position detector 31 are
And the motor control device 4. The control device 32 controls the position of the bridge motor 5a,
A drive current is supplied to the trolley motor 5b.

[0008] In the fuel exchanger 19 configured as described above, the rotation of the bridge pinion 18a and the trolley pinion 18b is converted into a digital signal by the signal converter 2 provided in the position detector 31, and the digital signal is converted into a control device. The position is calculated by processing in the computer 3 provided in the computer 32. Based on the calculated position, the motor control device 4 adjusts the position while controlling the drive current of the bridge motor 5a and the trolley motor 5b, and performs a fuel exchange operation by automatic operation.

[0009]

In the above-described conventional fuel exchanger, the reliability of the position control mainly depends on the reliability of computer processing performed by the controller. The reliability of the computer processing depends on an error generated in the calculation of the current position sequentially executed by the software of the computer.

Although this error is so small that it can be ignored in one position calculation, the error once generated is accumulated for each operation of the refueling machine. At the time of refueling, more than one hundred fuels are usually moved to the fuel pool or reloaded, so the accumulated error may not be negligible. Further, when the rack rail or the pinion teeth are damaged or the like, the error may be further increased.

Further, with respect to fuel loading, it is necessary to load the fuel at a position determined by a predetermined procedure so that the loaded fuel does not reach criticality for safety management. Therefore, at the time of fuel loading, the reliability of the position control based on the computer processing of the refueling machine is maintained, and it has been necessary for the field worker to always confirm whether the fuel is loaded in the specified position and in the specified order.

As one of the solutions for eliminating the need for the position calculation error and the confirmation of the on-site worker, as described in JP-A-63-269097, the moving range of the bridge and the trolley is disclosed. A method is conceivable in which a large number of contacts are installed in the device, and the absolute position is always obtained by ON / OFF signals. However, in order to secure the position control accuracy of a device having a large inertia by this method, it is necessary to make the interval between the contacts sufficiently small, and there is a problem that many contacts are required. Therefore, the position control device having a position detection device or a computer for calculating the position calculation is not preferable because of a large scale.

The present invention has been made in view of the above circumstances, and has as its object to compare position errors obtained by executing software by detecting a specific position by mechanical means. • To provide a position monitoring device that calculates and monitors the position.

[0014]

According to a first aspect of the present invention, there is provided a refueling machine which is mounted on a traveling rail laid on a refueling platform and controlled by a motor control device. A bridge running by a bridge motor, a trolley mounted on a traversing rail laid on the bridge and traversing by a trolley motor controlled by a motor control device, and a bridge rack rail laid on a side of the running rail A bridge pinion that rotates in mesh with the bridge rack rail, a trolley rack rail laid on the side of the traversing rail, a trolley pinion that meshes with the trolley rack rail and rotates, and the trolley pinion A position detector for detecting a position by detecting rotation of the bridge pinion; A refueling machine having a computer which processes a signal from a position detector to calculate a position and generate a position signal, wherein a position detecting means provided on the bridge for detecting a specific position; A position indicating means installed at a position of the position detecting means, and a position signal generated from the position detecting means is detected and compared with a position signal generated from the computer to calculate an error and generate an error signal. And a refueling machine having a position monitoring device.

According to the second aspect of the present invention, there is provided a bridge mounted on a traveling rail laid on a refueling platform and driven by a bridge motor controlled by a motor control device, and a traversing rail laid on the bridge. A trolley mounted on the trolley and traversed by a trolley motor controlled by a motor control device, a bridge rack rail laid on the side of the traveling rail, a bridge pinion that meshes with the bridge rack rail and rotates, and a traversing rail A trolley rack laid on the side of the trolley rack, a trolley pinion that meshes with the trolley rack rail and rotates, a position detector that detects the rotation of the trolley pinion and the bridge pinion and detects a position, Calculation to process the signal from the position detector to calculate the position and generate the position signal In the refueling machine having a door,
Position detecting means provided on the trolley for detecting a specific position; position indicating means installed at a predetermined position near the traversing rail and detected by the position detecting means; and a position signal generated from the position detecting means And a position monitoring device for calculating an error by comparing the detected position signal with a position signal generated from the computer and generating an error signal.

According to the third aspect of the present invention, the position monitoring device compares the error signal with an allowable error setter that sets an allowable error value in advance, and compares the error signal with the allowable error given from the allowable error setter. 3. A refueling machine according to claim 1, wherein the position monitoring device has a comparator that sends a warning signal for stopping the motor to the motor control device when is larger than an allowable error. Is what you do.

According to a fourth aspect of the present invention, the computer processes the signal from the position detector and replaces the calculated position signal with a position signal generated from the position detecting means. Item 2 provides a refueling machine according to Item 2.

According to a fifth aspect of the present invention, there is provided a display device for displaying a position signal generated from the computer or an error signal or a warning signal generated from the position monitoring device. It provides a refueling machine as described.

[0019]

In the fuel exchanger having the above construction, according to the first aspect of the present invention, a position signal relating to a specific position detected by using the position detecting means and the position indicating means provided on the bridge, and a calculation by the position detector and the computer. The error can be calculated by comparing the calculated position signal of the bridge.

According to the second aspect of the present invention, a position signal relating to a specific position detected by using the position detecting means and the position indicating means provided on the trolley, and the position of the trolley calculated by the position detector and the computer. The error can be calculated by comparing with the signal.

Further, in the invention according to claim 3,
An error is calculated by comparing a position signal relating to a specific position detected by using the position detecting means and position indicating means provided on the bridge or the trolley with the position signal of the bridge or the trolley calculated by the position detector and the computer. Furthermore, a warning signal for stopping the motor can be transmitted to the motor control device when the error is larger than the allowable error value set in advance in the allowable error setting device.

According to the fourth aspect of the present invention, the position signal of the bridge or the trolley calculated by the position detector and the computer is related to a specific position detected by the position detecting means and the position indicating means provided on the bridge or the trolley. It can be replaced with a position signal.

Finally, according to the present invention, a position signal calculated by the position detector and the computer, or an error signal or a warning signal generated from the position monitoring device can be displayed.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of a refueling machine according to the present invention will be described below with reference to FIGS. FIG. 1 is a conceptual diagram showing a device configuration of a fuel exchanger, and FIG. 2 is a block diagram showing a system configuration of an embodiment of the fuel exchanger of the present invention.

In FIG. 1, the same parts as those in FIG. Refueling machine 19
A bridge rack rail 13a and a trolley rack rail 13a for position detection are provided beside the traveling rail 11 of the bridge 15 and
b is arranged. The rotation of the bridge pinion 18a and the trolley pinion 18b attached to the bridge 15 and the trolley 16 are converted into electric signals by the bridge sync transmitter 1a and the trolley sync transmitter 1b, respectively, and the signals are converted into digital signals by the signal converter. The current position is obtained by conversion and processing by a computer.

Separately, limit switches 6a and 6b are provided on the bridge 15 and the trolley 16, and strikers 14a and 14b are arranged at predetermined positions beside the traveling rail 11 and the traversing rail 12 as reference points. Has been established. The strikers 14a and 14b move the bridge 15 and the trolley 16 to the limit switch 6 at the reference point.
a and 6b arrive at the limit switches 6a and 6b.
b is a projection for operating b.

In FIG. 2A, digital signals 43a and 43b of the positions of the bridge 15 and the trolley 16 transmitted from the position detector 31 are processed by the computer 3, and the position signals 44a and 44b are constantly transmitted to the position monitor 33. Has been transmitted. The position monitoring device 33 includes a differentiator 35, a comparator 36, and an allowable error setting device 37.

The position monitoring device 33 will be described with reference to FIG. When the refueling machine 19 moves for refueling and the limit switches 6 and 6 provided with the bridge 15 and the trolley 16 pass the reference point, the striker 1
The limit switches 6 and 6 are turned on by the switches 4 and 14. The ON signals 45a of the limit switches 6 and 6,
The signal 45 b transmits to the differentiator 35 position signals 46 a and 46 b which are transmitted to the signal converter 34 and indicate the reference point position. In the differentiator 35, the position signals 44a and 44b output from the computer 3 and the position signals 46a and 46b indicating the reference points are provided.
Is calculated. The difference is output to the comparator 36 as error signals 47a and 47b of the position signals 44a and 44b calculated by the computer 3. The comparator 36 compares the error signals 47a and 47b with the permissible errors 48a and 48b input to the permissible error setting device 37 in advance. If the error signals 47a and 47b are larger, the motor control device 4 detects an error. Signals 49a and 49b are transmitted. The motor control device 4 that has received the abnormal signals 49a and 49b can forcibly stop the refueling machine 19 by stopping the bridge motor 5a and the trolley motor 5b.

At this time, the comparator 36 outputs an abnormal signal 49
a and 49b are converted into a reference point position signal 46 by the signal converter 34.
a and 46b are transmitted to the computer 3. When receiving the data 49a and 49b, the computer 3 replaces the position signals 44a and 44b obtained up to that time with the position signals 46a and 46b output from the signal converter 34. In other words, the position signals 44a and 44b calculated by the computer 3 can be calibrated using the reference point position signals 46a and 46b.

Further, the error signals 47a and 47b and the abnormal signals 49a and 49b are displayed on the display device 38. At the time of this abnormality detection, an error signal 47a between the position by the computer processing obtained by the position monitoring device 33 and the position of the actual reference point,
47b is sent to the computer 3, and a large error may exist regardless of whether the computer 3 is operating normally. In this case, the bridge rack rail 13 of the bridge 15
It can be seen that an abnormality has occurred in the mechanical system from a to the bridge synchro oscillator 1a. In particular, when the magnitude of the error is proportional to the width of the teeth of the bridge rack rail 13a, it can be detected that there is a defect in the teeth of the bridge rack rail 13a or the bridge pinion 18a, and an abnormal state can be confirmed. In the case of the trolley 16, an abnormal state can be similarly confirmed.

As described above, in this embodiment, the limit switch 6 and the position monitoring device 33 of the hardware are used for the computer 3.
The position obtained by the processing of (1) is monitored, and the error signals 47a, 47
b and the abnormal signals 49a, 49b are displayed, so that fuel loading management by the refueling machine, erroneous loading prevention and abnormality diagnosis can be performed, thereby reducing on-site workers' exposure to radiation, reducing work load,
Effects such as shortening of working time can be obtained.

[0032]

As described above, in the refueling machine according to the present invention, the error of the position signal obtained by the computer processing is calculated, and the drive control of the refueling machine can be automatically performed with high accuracy. Work reliability can be improved.

[Brief description of the drawings]

FIG. 1A is a perspective view of a fuel exchanger according to a first embodiment of the present invention, and FIG. 1B is a diagram of FIG.

FIGS. 2A and 2B are a system block diagram and a detailed block diagram of a position monitoring device according to a first embodiment of the refueling machine of the present invention.

3A and 3B show a conventional example of a refueling machine, and FIG.
(B) is a view in the direction of arrow B in (a).

4A and 4B show a conventional example of a fuel gripper, and FIG.
(B) is a view in the direction of arrow C in (a).

FIG. 5 is a system block diagram of a conventional example of a refueling machine.

[Explanation of symbols]

1a: Bridge Synchro Transmitter 1b ... Trolley Synchro Transmitter 1c ... Hoist Synchro Transmitter 2 ... Signal Converter 3 ... Computer 4 ... Motor Control Device 5a ... Bridge Motor 5b ... Trolley Motor 5c ... Hoisting Motor 6 ... Limit Switch 11 ... running rail 12 ... traversing rail 13a ... bridge rack rail 13b ... trolley rack rail 14 ... striker 15 ... bridge 16 ... trolley 17 ... fuel gripping machine 18a ... bridge pinion 18b ... trolley pinion 19 ... fuel exchanger 21 ... nuclear reactor 22 ... Fuel 23 ... Reactor well 24 ... Fuel pool 25 ... Equipment pool 26a ... Bridge roller 26b ... Trolley roller 31 ... Position detector 32 ... Control device 33 ... Position monitoring device 34 ... Signal converter 35 ... Differentiator 36 ... Comparator 37 … Tolerance setting device 41… Refueling Bae Configuration floor 42 ... wire rope 43 ... hoist 44a, 44b ... position signal 45a, 45b ... on signal 46a, 46b ... position signal 47a, 47b ... error signal 48a, 48b ... tolerance 49a, 49b ... abnormal signal

Claims (5)

(57) [Claims] 1. A bridge mounted on a traveling rail laid on a refueling platform and driven by a bridge motor controlled by a motor control device, and a motor control device mounted on a traversing rail laid on the bridge. A trolley that is traversed by a trolley motor controlled by a trolley, a bridge rack rail laid on the side of the traveling rail, a bridge pinion that meshes with the bridge rack rail and rotates, and is laid on the side of the traversing rail. A trolley rack rail, a trolley pinion that meshes with the trolley rack rail and rotates, a position detector that detects the rotation of the trolley pinion and the bridge pinion to detect a position, and a signal from the position detector. And a computer that calculates the position by generating a position signal and generates a position signal. A position detecting means provided on the bridge for detecting a specific position; a position indicating means installed at a predetermined position near the traveling rail and detected by the position detecting means; A position monitoring device that detects a position signal to be generated, compares the position signal with the position signal generated by the computer, calculates an error, and generates an error signal. 2. A bridge mounted on a traveling rail laid on a refueling platform and driven by a bridge motor controlled by a motor controller, and a motor controller mounted on a traversing rail laid on the bridge. A trolley that is traversed by a trolley motor controlled by a trolley, a bridge rack rail laid on the side of the traveling rail, a bridge pinion that meshes with the bridge rack rail and rotates, and is laid on the side of the traversing rail. A trolley rack rail, a trolley pinion that meshes with the trolley rack rail and rotates, a position detector that detects the rotation of the trolley pinion and the bridge pinion to detect a position, and a signal from the position detector. And a computer that calculates the position by generating a position signal and generates a position signal. A position detecting means provided on the trolley for detecting a specific position; a position indicating means installed at a predetermined position near the traversing rail and detected by the position detecting means; A position monitoring device that detects a position signal to be generated, compares the position signal with the position signal generated by the computer, calculates an error, and generates an error signal. 3. The position monitoring device according to claim 1, wherein said position monitoring device compares a permissible error set by said permissible error setter with a permissible error set by said permissible error setter and said error signal. 3. The refueling machine according to claim 1, further comprising: a position monitoring device having a comparator for transmitting a warning signal for stopping the motor to the motor control device. 4. The fuel according to claim 1, wherein the computer processes the signal from the position detector and replaces the calculated position signal with a position signal generated from the position detecting means. switch. 5. A display device for displaying a position signal generated by the computer or an error signal or a warning signal generated by the position monitoring device.
Or the refueling machine according to claim 2.