JP3357766B2 - Remote maintenance device for fusion reactor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote maintenance device for maintaining equipment disposed inside a torus-shaped hollow structure such as a tokamak-type fusion device, and more particularly, to a remote maintenance device for securing heavy equipment in a lateral direction. It relates to a device for moving.

[0002]

2. Description of the Related Art In-reactor equipment of a fusion reactor for performing a DT reaction is directly opposed to a high-temperature plasma and directly receives a high-energy particle load. Therefore, maintenance work such as periodic replacement is required. Have been. In addition, since the furnace after operation is activated, all maintenance work on the furnace equipment must be performed by a remote device.

FIG. 7 is a diagram showing a longitudinal section of an example of a tokamak-type fusion reactor. The tokamak-type fusion reactor has a toroidal space 100 having a hollow donut shape having an outer diameter of about 24 m and a height of about 12 m. It has a container 101, and the entire container is housed in a shield (not shown) having a thickness of several meters. The diverter 102 for discharging impurities generated during the operation of the fusion reactor among the large in-furnace devices to be replaced is fixed to the lower end of the torus-like space 100 in a radial manner. The length of one piece is about 5 m in the radial direction of the torus space, and the width in the circumferential direction is about 0.3 m on the inner diameter side, about 0.6 m on the outer diameter side, and about 2 m in height, It is said to weigh about 16 tons. The blanket 103 is configured to cover the entire inner surface of the torus-shaped space 100 except for the lower part where the diverter is installed. In addition, this torus-shaped space 10
0, the toroidal magnetic field coil 104 and the poloidal magnetic field coil 10 in an annular shape around the central axis c of the torus.
5a to 105f are arranged in a complicated manner. Therefore,
In order to replace the in-furnace equipment such as the diverter 102 and the blanket 103, use the central port 106 and the lower port 107 provided radially around the torus-shaped space 100 so as to avoid the equipment around them. Must.

Particularly useful as a remote maintenance device which is excellent in work efficiency and reliability in a tokamak type fusion device, is disclosed in Japanese Patent Application Laid-Open Nos. 4-212091 and 6-328373.
FIGS. 8 and 9 show the proposal proposed in the above-mentioned publication. The remote maintenance device is a device disposed inside a container 111 connected to the outside of a plurality of maintenance ports 110 extending radially from an internal torus-like space 100,
A track 112 formed of a plurality of arc-shaped links rotatably connected to each other and extending in a continuous semicircular shape in the torus-shaped space 100, and moving along the track 112; a vehicle 114 equipped with a telescopic manipulator 113 for handling, the container 111
Orbit storage means 1 arranged to accommodate the track 112
15 and the track 11 stored in the track storage means 115
2 is sequentially sent out from one maintenance port 110 into the space 100 along the circumferential direction, and a track 112 is extended concentrically with the space.
Track deployment means 116 supporting the rearmost link of the twelve
And a track support device 118 that is inserted from another maintenance port 117 adjacent to the one maintenance port 110 and supports an intermediate portion of the track 112 extending into the space 100.

As shown in FIG. 9, a pinion gear (not shown) for engaging with a sector gear 120 provided on the inner peripheral surface of the track 112 and moving along the track 112 and a driving mechanism for the vehicle 114 are provided on the vehicle 114. 121 and orbit 1
A fixing ring 122 having an opening for preventing interference with the track supporting device 118 when moving on the fixing ring 122, and being mounted movably along the circumferential direction of the fixing ring 122; A movable ring 123 having an opening similar to the fixed ring 122;
Drive 124 for moving 3 relative to fixed ring 122
And are provided.

The telescopic manipulator 113 is a telescope type manipulator which can be provided with an end effector (not shown) at the tip thereof.
3 and is adapted to rotate about the orbit 112, and extend to a length of about 6 m to allow access to furnace equipment at the bottom of the furnace. The remote maintenance device performs maintenance work on equipment in the entire furnace by operating the telescope type manipulator 113 and the vehicle 114. In addition, the replacement of the equipment in the furnace is performed by using the track support device 11 in the maintenance port 117 at the center.
8 using the lower space.

As shown in FIG. 7, since the diverter 102 is longer and larger than the radial interval at the lower end of the blanket 103, it cannot be lifted up and replaced from the central port 106. Therefore, the diverter 102
Will be performed using the lower port 107.

Here, a procedure for removing the diverter 102 will be described below. FIG. 10 shows the divertors 102 arranged radially as viewed from above. First, the shield (not shown) installed in the lower port 107 is removed, the lower port 107 is opened, and the cooling pipe 109 (see FIG. 7) of the moving diverter 102 is cut off. Then, the diverter 102a in front of the lower port 107 is drawn out in the radial direction. Next, the adjacent diverter 102b is moved in the circumferential direction to the position in front of the lower port as indicated by the arrow in the figure, and thereafter, it is pulled out in the radial direction in the same manner. By repeating this operation, the diverter 102 is sequentially removed from the lower port to the outside of the furnace. Installation of a new diverter 102 is performed in the reverse order.

[0009]

In order to move the diverter 102 in the circumferential direction as shown in FIG. 10, a driving force corresponding to "weight of the diverter" .times. "Coefficient of friction between the diverter and the floor" is required. And the weight of one diverter is 16
If the friction coefficient is 0.2, the required driving force in the circumferential direction is
16ton · f × 0.2 = 3.2ton · f. When trying to generate this driving force with the telescope-type manipulator as described above, a 3.2ton · f lateral load is applied to the tip of the telescope-type manipulator that extends vertically about 6m in length. At the same time, at the base of the manipulator, 3.
2ton · f × 6m = 19.2ton · f · m, a large moment is applied.

It is mechanically very difficult to apply such a large load to the telescope type manipulator 113 mounted on the track 112 as shown in FIG.
That is, it is very difficult to directly move the diverter in the circumferential direction using the telescope type manipulator.

[0011] Even if a device for generating a driving force in the circumferential direction is formed by using the space after the diverter is removed, the space in the circumferential direction and the space in the radial direction are limited, which is not easy. In particular, when only one diverter in front of the port is removed, there is only a space for one diverter, and if this space is used, the diverter cannot be moved to that space. is there. Further, the reaction force of the driving force acts on the device that generates the driving force as a falling force. For example,
When a driving force of 3.2 ton · f acts at a height of 0.5 m from the floor, a moment of 3.2 ton · f × 0.5 m = 1.6 ton · f · m is applied around the point of contact with the floor. Works. Therefore, an excessive supporting force is required at a contact portion with the floor surface, and it is difficult to stably move the diverter while supporting the overturning force within a limited width in the circumferential direction. There is a point. If a mechanism for supporting the overturning force cannot be configured, the support may be insufficient and the vehicle may fall over and become unable to move. Similarly, there is a problem in that it is difficult to move the diverter that receives the driving force in a stable manner because the tipping force acts on the diverter.

As described above, there are many technical problems in exchanging a diverter, which is a heavy equipment, in a limited space.

[0013] The present invention has been made in view of such a point, and can be moved even in a state where space is limited only by removing one device to be moved, and an excessive lateral load is applied to the tip of the manipulator. No need to apply excessive force to the base of the manipulator or apply excessive force to the base of the manipulator, and it is not necessary to support the floor surface with excessive force. An object of the present invention is to provide a remote maintenance device for a fusion reactor.

[0014]

SUMMARY OF THE INVENTION A remote maintenance device for a fusion reactor according to the present invention applies a driving force to a side surface of a device to be moved arranged on the floor substantially in parallel with the floor surface. A moving arm for moving the device, a lateral load supporting means for engaging with an insertion portion provided on the floor surface to support a reaction force of a driving force of the moving arm with respect to a device to be moved, and moving to one end. Arm is supported by the support arm and the other end is rotatably supported about an axis substantially perpendicular to the floor surface, and the moment by the driving action of the moving arm applied to the lateral load supporting means is applied to the other end in a substantially vertical direction. And a balance arm that cancels out due to the load.

Further, the remote maintenance device for a fusion reactor of the present invention is formed so that the installation width in the moving direction is less than half of the device to be moved, and the space created by removing one of the devices to be moved. Is inserted into the newly created space, moved into the newly created space, pushed in, and pushed into the adjacent object to be moved. Of a fusion reactor configured to enable a series of operations to move moving equipment
Remote maintenance device, equipment to be moved placed on the floor
Drive force almost parallel to the floor against the side of
A moving arm for moving the device to be moved, and the floor surface
The moving arm is engaged with an insertion portion provided in the
Lateral load support that supports the reaction force of the driving force to the moving target device
Holding means, the moving arm being supported at one end, and
End can be freely rotated around an axis almost perpendicular to the floor with the support arm
Supported by the horizontal load supporting means
The motor by the driving action of the arm on the movement target device
With a substantially vertical load on the other end.
And a balance arm that cancels out .

[0016]

Further, in the remote maintenance device for a fusion reactor of the present invention, in the above configuration, the moving arm comprises two links rotatably connected to each other, and each of the links has an unconnected end. It is characterized in that it is slidably supported substantially parallel to the floor on a plane substantially perpendicular to the driving direction of the moving arm.

Further, the remote maintenance device for a fusion reactor of the present invention, in the above-mentioned configuration, includes an engaging portion which is swingably supported by a tip of the moving arm and is engageable with the structure on the side of the device to be moved. It is characterized by being.

In the remote maintenance device for a nuclear fusion reactor according to the present invention, the support arm is a manipulator , and the other end of the balance arm is pivotally supported at the tip of the manipulator.
The manipulator applies a load to the other end in a direction substantially perpendicular to the floor surface.

[0020]

In the remote maintenance device for a fusion reactor of the present invention, the other end of the balance arm and the tip of the manipulator are configured to be detachable, and the balance arm supporting the moving arm is provided inside the furnace. It is characterized by being attached to the tip.

[0022]

The remote maintenance device for a fusion reactor according to the present invention drives the moving arm to expand and contract with respect to the side surface of the device to be moved, such as a diverter, to move the device to be moved in the lateral direction, and to provide the lateral load supporting means. Engage with the insertion part such as a groove or hole provided on the floor surface to support the reaction force of the driving force of the movement arm, and at one end, rotatably support the movement arm around an axis perpendicular to the floor surface A substantially vertical load is applied to the floor surface by a support arm that supports the other end of the balance arm around an axis perpendicular to the floor surface, and is generated by the lateral driving force of the moving arm. The moment is balanced to prevent the moving arm device from overturning.

[0023]

In the remote maintenance device for a fusion reactor of the present invention, the space after one of the moving target devices is removed is provided with a space approximately half of the moving target device between adjacent moving target devices. And the lateral load support means is installed so as to engage with an insertion portion such as a groove or a hole provided on the floor surface, and the distal end portion of the transfer arm is hooked on a structure on the side surface of the adjacent device to be moved. The target device is moved by approximately half the width of the target device. Then, after the moving arm is inverted and inserted into approximately half of the newly generated space, and the lateral load supporting means is installed so as to engage with the insertion portion on the floor surface, this time, the adjacent movement is performed. By pushing the side of the target device by the moving arm, the adjacent target device is moved to the space where the first target device has been removed. Thus, the moving target device can be easily moved to the front of the port only with the space for one moving target device, and the moving target device can be sequentially taken out of the fusion reactor through the port.

In the remote maintenance device for a nuclear fusion reactor according to the present invention, the moving arm is composed of two links rotatably connected to each other, and the other end is slidable in the same direction, By controlling the angle and position of the link by arbitrarily controlling the sliding position, the position of the tip of the moving arm, which is the link connecting portion, is controlled, and the angle of the link is increased by increasing the angle of the link. And can be stored compactly.

Further, the remote maintenance device for a fusion reactor of the present invention controls the engaging portion such as a hook provided at the tip of the moving arm so as to be swingable, and provides a pin or the like provided on the device to be moved. By engaging with the above structure, the device to be moved can be easily pulled or pushed. When not in use, the distal end of the moving arm and its engaging portion can be stored compactly.

[0027]

[0028]

Further, in the remote maintenance device for a fusion reactor of the present invention, the manipulator and the balance arm mounted on the tip thereof are detachably configured to support the moving arm.
The balance arm is placed in the vicinity of the target device via a different path from the manipulator, is attached to the tip of the manipulator, is separated from the manipulator after moving the target device, and follows a different path from the manipulator. After being removed from the fusion reactor.

[0030]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a remote maintenance device according to one embodiment of the present invention. In particular, in a tokamak type fusion reactor as shown in FIG.
1 shows a diverter moving device attached to the tip of a manipulator to move the diverter. In FIG. 7, reference numeral 107 denotes a lower port for carrying the diverter 102 in and out, and 108 denotes a rail provided on the floor surface for moving the diverter 102 in the circumferential direction of the torus. Rollers (not shown) that roll along 108 are assembled. Also,
109 is a cooling pipe of the diverter 102. In this example, the size of one diverter is the torus-like space 1
In the radial direction of 00, the length is about 6 m, the height is about 2 m, the width is about 0.3 m on the inner diameter side and about 0.6 m on the outer diameter side, and the weight is about 16 m.
Tons.

In FIG. 1, one end of a balance arm 1 is attached to the distal end of the telescope type manipulator 113 so as to be rotated around an orthogonal m-axis and n-axis by an actuator (not shown).
A frame 3 is attached to the other end of the drive unit 2 so that the drive unit 2 can rotate around the p-axis. The width of the frame 3 is less than half the width of one diverter.

The frame 3 has ribs 4a, 4b,
4c, 4d are provided in parallel, and ribs 4a, 4b,
4c, 4d, linear guide rails 5a, 5
b, 5c and 5d are attached. The linear guide blocks 6a, 6b sliding along the rails 5a, 5b, 5c, 5d of these linear guides are connected by a support plate 7a.
c and 6d (the 6d linear guide block is hidden by the front part) are connected by the support plate 7b. The support plates 7a, 7b are respectively slid by ball screws 9a, 9b, which are rotationally driven by drive units 8a, 8b composed of a servomotor and a speed reducer, respectively. Fig. 1
(Not shown), and are independently slidably driven. Further, the support plates 7a and 7b rotatably support the base ends of the links 11a (the links corresponding to 11b are not shown in FIG. 1 because they are behind the components drawn in front). ing. The two links 11a and 11b are rotatably connected around the q-axis, and the hook 12a is swung about the q-axis by a hook drive unit 13a including a servomotor and a speed reducer on the q-axis portion. It is attached to. The hook 12a can be hooked on a pin (not shown) provided on the side surface of the diverter 102.

The lower ribs 4c and 4b are also provided with linear guide rails, linear guide blocks,
Support plates 7c, 7d, drive unit, ball screw,
A similar mechanism including the links 11c and 11d, the hook 12b, and the hook drive unit 13b is configured. The hook 12b swings around the r-axis symmetrically with the hook 12a.

On the other hand, positioning pins (not shown in FIG. 1 because of the shadow of the frame 3) are provided at two lower surfaces of the frame 3 immediately below the hooks 12 a and 12 b.
Reference numerals 14a and 14b) are provided so as to protrude downward.

FIGS. 2 and 3 show the four links 1 described above.
It is a schematic diagram which shows the relationship between the position of the base end part of 1a, 11b, 11c, 11d and the position of the hook drive units 13a, 13b, when the frame 3 is seen from above. In FIG. 2, links 11a, 11b, 11c,
The swing center axes at the base end of 11d are sa, sb,
The axis connecting the links 11a and 11b and the axis connecting the links 11c and 11d at the positions of sc and sd are located at the positions of q1 and r1, respectively.
a and 12b are drawn into the frame 3 in an open state.

FIG. 3 shows links 11a, 11b, 11c,
The base end of 11d is slid to the positions of ea, eb, ec and ed, and the shafts connecting the links are moved to the positions of q2 and r2, and the hooks 12a and 12b are rotated thereat to the side of the diverter 102. Pins 20a, 20b provided
Shows a state where it is hooked.

As described above, each link 11a, 11
By independently sliding the base ends of b, 11c, and 11d, the positions of the hooks 12a and 12b can be freely controlled two-dimensionally.

A procedure for removing the diverter 102 by the remote maintenance device having the diverter moving device having the above configuration will be described.

First, as shown in FIG. 8, an arc-shaped trajectory 112 connected by a joint is developed in a furnace, and a vehicle 114 having the above-described telescope type manipulator 113 can travel on the trajectory 112. So that A diverter moving device shown in FIG. 1 is mounted on the distal end of the telescope type manipulator 113.

On the other hand, in FIG. 7, the shielding plug (not shown) of the lower port 107 is removed, and the cooling pipe 109 of the moving diverter 102 is removed. Next, as shown in FIG. 10, the diverter 102a in front of the lower port 107 is withdrawn from the lower port 107 in the radial direction of the torus-shaped space.

The diverter moving device shown in FIG. 1 is moved by the telescope type manipulator 113 to the space formed by pulling out the diverter 102 in this manner. At this time, the hooks 12a and 12b are shifted so as to leave a space of half the width of the diverter 102 before the hooks 12a and 12b.
The positioning pins provided on the lower surface of the frame 3 are inserted into holes provided on the floor.

Next, as shown in FIGS. 2 and 3, the bases of the links 11a, 11b, 11c and 11d are slid to extend the two hooks 12a and 12b in the circumferential direction. Is rotated so that the hooks 12a, 12b are attached to the pins 20a, 20b on the side surfaces of the diverter 102b (see FIG. 10) adjacent to the diverter 102a.
hook b. FIG. 4 shows the state as viewed from above, and FIG. 5 shows the state as viewed from the circumferential direction.

In FIG. 5, reference numeral 112 denotes a cross section of a trajectory developed concentrically with the center of the torus in the furnace, and reference numeral 114 denotes a vehicle moving along the trajectory 112. The telescope type manipulator 113 rotates around a track 112 and is slid with respect to a vehicle 114. The hatched portion is the diverter moving device shown in FIG.

In FIG. 4, the diverter 1 is changed from this state.
Pulling 02b by half the width of the module creates a new space half the width of the module behind diverter 102b.

Then, the telescope type manipulator 11
3. Withdraw the diverter moving device shown in FIG.
By rotating the frame 3 around the p axis by 180 °, the hook 12a,
After the direction of 12b is reversed, it is moved to a newly created space, and the positioning pins 14a on the lower surface of the frame 3 are moved.
14b is inserted into a hole provided on the floor.

This time, the hooks 12a and 12b are pushed over a pin (not shown) on the opposite side of the diverter 102b, and then pushed to push out the half of the width of the diverter 102.

By the above series of operations, the lower port 1
The entire diverter 102b adjacent to the diverter 102a at the front of 07 can be moved to the front of the lower port 107.

Here, the operation of the positioning pins 14a and 14b provided on the lower surface of the frame 3 and the operation of the balance arm 1 will be described with reference to FIG. FIG. 6 is an explanatory diagram of the force acting when the adjacent diverter is drawn by the remote maintenance device of the present embodiment viewed from the radial direction.

In FIG. 6, positioning pins 14a, 14b on the lower surface of the frame 3 are provided with holes 21a,
21b. Hooks 12a, 12
When the diverter is pulled by b, hooks 12a,
12b has a leftward pulling force Fh1 in this drawing,
Fh2 acts, and a downward pressing force Fv acts on one end of the balance arm 1 from the distal end of the telescope type manipulator 113 connected thereto. A lateral reaction force Nh balanced with Fh1 + Fh2 acts on the side surfaces of the positioning pins 14a and 14b, and a reaction force corresponding to the sum of the pressing force Fv and the weight Mg of the remote maintenance device is applied to the lower surface of the frame 3. The force Nv is acting upward. Hook 1
The heights from the floor of 2a and 12b are h1 and h2, respectively. The position where the downward pressing force Fv is applied from the tip of the telescope type manipulator 113 to the tip of the balance arm 1 and the position of the positioning pins 14a and 14b. Is defined as d, the positioning pins 14a,
Around the 14b, a moment M _pin represented by the following equation
Works.

[0051]

M _pin = Fh1 · h1 + Fh2 · h2−Fv · d Here, the load expressed by Fv = (Fh1 · h1 + Fh2 · h2) / d is applied to the balance arm 1 from the telescope type manipulator 113. Then, M _pin = 0 can be set, and the moment acting to overturn the device by the lateral force acting on the hook can be canceled. As described above, the moment can be balanced by the load in the direction of expansion and contraction which can be easily generated by the telescope type manipulator 113, and the fall can be prevented.

The magnitude of Fv does not necessarily have to be exactly equal to the value of the above equation. Even if there is a certain error, the reaction force Nv from the floor surface changes depending on the position, and the magnitude of Fv at the base of the manipulator may vary. There is no problem, only a slight lateral load will occur.

On the other hand, when pushing the diverter with the hooks 12a and 12b, the balance arm 1 is rotated by 180 ° about the p-axis, and if a downward load is applied to the tip of the balance arm 1, the diverter falls like the case where the diverter is pulled. The moment acting to cause the offset can be easily canceled.

As described above, this embodiment has the following effects.

(1) A hook for pulling or pushing the diverter is provided at the joint for rotatably connecting the two links, and the positions of the base ends of the links are independently controlled to slide. The position and orientation can be controlled arbitrarily. In particular, the diverter can be easily moved in the circumferential direction around the central axis of the torus-shaped space. Furthermore, by separating the two base ends,
The link can be compactly stored in the circumferential direction of the torus-shaped space, and the device can be made small and lightweight.

(2) The width of the diverter moving device is less than half of the diverter, and one diverter is inserted into the space formed by the removal, and the adjacent diverter is drawn by half the width to newly generate the diverter. The diverter moving device is moved to the space where the diverter is pushed out by half the width, so that the diverter can be moved only in a limited space where one diverter can be pulled out.

(3) The moment generated by the lateral force on the hook is canceled by applying a vertical load to the tip of the balance arm. In addition, in the case of a manipulator that is elongated vertically, a longitudinal load that can be easily generated is sufficient, and a lateral load at the tip, which is difficult to generate in terms of rigidity and strength, is not required. For this reason, it is not necessary to generate an excessive supporting force, so that the device can be made small and lightweight, and a large moment can be balanced in a limited space, and the device can be stably moved while preventing a fall. .

In the above-described embodiment, a method is adopted in which the track, the vehicle, and the manipulator are carried into the furnace with the diverter moving device, which is the core of the present invention, mounted on the tip of the manipulator. The tip of the manipulator and the upper part of the diverter moving device are configured to be detachable, and after removing the diverter in front of the lower port, the diverter moving device is carried into the furnace from the lower port, and the tip of the manipulator is moved. You may make it attach to.

In this case, since there is no need to carry the diverter moving device together with the vehicle and the manipulator into the furnace through the central port, the size and shape of the diverter moving device are less restricted. In particular, even when the central port is small or when it is difficult to carry the manipulator into the furnace with the large device attached to the tip of the manipulator, the remote maintenance device of the present invention can be implemented.

[0060]

As described above, according to the remote maintenance device for a fusion reactor of the present invention, it is necessary to support the floor surface with an excessive force without applying an excessive lateral load to the tip of the support arm. There is no need to stably move and replace heavy equipment.

[Brief description of the drawings]

FIG. 1 is a perspective view showing one embodiment of a remote maintenance device for a fusion reactor of the present invention.

FIG. 2 is a diagram showing a relationship between a position of a base end of a link and a position of a hook of the remote maintenance device of FIG. 1;

FIG. 3 is a diagram showing a relationship between a position of a base end of a link and a position of a hook, similarly to FIG. 2;

FIG. 4 is a top view of a state where a hook is hooked on a pin on a side surface of an adjacent diverter.

FIG. 5 is a view of the state of FIG. 4 as viewed from a circumferential direction.

FIG. 6 is a diagram illustrating the operation of a positioning pin and a balance arm.

FIG. 7 is a longitudinal sectional view showing an example of a tokamak fusion reactor.

FIG. 8 is a perspective view illustrating an outline of the entire configuration of the remote maintenance device.

FIG. 9 is a perspective view illustrating a mounting part of a manipulator of the remote maintenance device shown in FIG. 8;

FIG. 10 is a top view of divertors radially arranged in a tokamak fusion reactor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Balance arm 2 ... Driving unit 3 ... Frame 4 ... Rib 5a-5d ... Linear guide rail 6a-6b ... Linear guide block 7a-7d ... Support plate 11a-11d Link 12a, 12b Hook 13a, 13b Hook drive unit 14a, 14b Positioning pin, 113 Telescope type manipulator

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Kiyoshi Oka 801 Mukaiyama, Naka-machi, Naka-machi, Naka-gun, Ibaraki Prefecture (72) Inventor Mitsunobu Kondo 801 Mukaiyama, Naka-machi, Naka-gun, Ibaraki No. 1 in the Japan Atomic Energy Research Institute Naka Research Institute (72) Inventor Kiyoshi Shibanuma 801 Mukaiyama, Nakamachi, Naka-gun, Naka-gun, Ibaraki Prefecture 1 in the Japan Atomic Energy Research Institute Naka Research Institute (72) Inventor Shin Murakami 1 Address: Toshiba Corporation Fuchu Factory (72) Inventor Tadashi Munakata 1 Toshiba-cho, Fuchu-shi, Tokyo Toshiba Corporation Fuchu Factory (56) References JP-A-7-60672 (JP, A) Eisuke Tada et al. Development of a device for moving equipment in fusion reactors, Abstracts of the Spring Meeting of the 1995 Spring, Japan, Atomic Energy Society of Japan, March 10, 1995, 347 (58) Field (Int.Cl. ^7, DB name) G21B 1/00

Claims (6)

(57) [Claims] 1. A moving arm for moving a device to be moved by applying a driving force to a side surface of the device to be moved arranged on the floor substantially in parallel with the floor, and provided on the floor. Lateral load supporting means for supporting the reaction force of the driving force of the moving arm with respect to the movement target device by engaging with the inserted portion, and the moving arm is supported at one end and the supporting arm is supported at the other end. The moment by the driving action of the moving arm applied to the lateral load supporting means on the movement target device is substantially perpendicular to the floor applied to the other end. A remote maintenance device for a fusion reactor, comprising: a balance arm that cancels out due to a directional load. 2. The installation width in the moving direction is half that of the device to be moved.
It is formed as follows, and one of the moving target devices is
It is inserted into the space created by the removal, and
Attracts elephant equipment and relocates to the newly created space
Push the adjacent device to be moved, and
The adjacent transfer into the space created by the removal of one of the elephant equipment
A remote maintenance device for a fusion reactor configured to enable a series of operations for moving a moving target device, wherein the remote maintenance device is substantially parallel to a floor surface with respect to a side surface of the moving target device arranged on the floor surface. A moving arm for applying a driving force to the moving target device to move the moving target device, and supporting a reaction force of a driving force of the moving arm with respect to the moving target device by engaging with an insertion portion provided on the floor surface. Lateral load supporting means, and the moving arm at one end
And the other end is rotatably supported by a support arm about an axis substantially perpendicular to the floor surface, and the moment by the driving action of the moving arm applied to the lateral load supporting means with respect to the device to be moved is reduced by the other. A remote maintenance device for a fusion reactor, comprising: a balance arm that cancels out due to a substantially vertical load applied to an end portion. 3. A remote maintenance apparatus of a nuclear fusion reactor according to claim 1 or 2, wherein the moving arm is made up of two links that are rotatably connected to each other, are not connected to each link end A remote maintenance device for a fusion reactor, wherein a portion is slidably supported substantially parallel to a floor surface in a plane substantially perpendicular to a driving direction of the moving arm. 4. The remote maintenance system of the fusion reactor of any one of claims 1 to 3, engageable with the structure of the moving target apparatus side is swingably supported on the tip of the moving arm A remote maintenance device for a fusion reactor, comprising an engagement portion. 5. The remote maintenance system of the fusion reactor of any one of claims 1 to 4, wherein the support arm Mani
A fusion device , wherein the other end of the balance arm is pivotally supported at the tip of the manipulator , and the manipulator applies a load on the other end in a direction substantially perpendicular to the floor surface. Remote maintenance device. 6. The remote maintenance device for a nuclear fusion reactor according to claim 5 , wherein the other end of the balance arm and a tip of the manipulator are detachable, and the balance arm supporting the moving arm is provided. A remote maintenance device for a fusion reactor, wherein the remote maintenance device is attached to a tip of the manipulator in the reactor.