JP4316919B2 - In-furnace inspection device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an apparatus for inspecting the inside of a nuclear reactor by remote control of a television camera, and in particular, the inside of a nuclear reactor in which a structure under the reactor can be inspected while maintaining a water level inside. It relates to inspection equipment.
[0002]
[Prior art]
There are various in-core structures in a nuclear reactor in a nuclear power plant. For example, FIG. 17 shows an example of a boiling water reactor in Japan, in which the upper structure is removed and the pressure vessel is opened. In this case, the reactor (reactor pressure vessel) 100 is shown. There is a shroud 111 at the bottom as a large structure.
[0003]
Here, the shroud has a function of accommodating the fuel assembly and the control rod inside and rectifying the recirculated water upward, but the shroud 111 shown in FIG. The shroud support 113 is attached to the nuclear reactor 100.
[0004]
However, the shape of the shroud support varies depending on the power plant. In the example of FIG. 17 described above, the cone type shroud support 111 is used. However, in the example of FIG. 18, the shroud support 111 is a leg type. It has a structure with a generally prismatic foot called. However, the functions are the same.
[0005]
In the case of the cone type shroud support 111 of FIG. 17, a cylindrical flow baffle 113 for adjusting the flow of circulating water entering from the recirculation water inlet nozzle is attached to the lower part of the shroud 111.
[0006]
By the way, in the case of a nuclear reactor that is operated in a state where water is filled in the reactor in this way, even during the visual inspection inside the reactor, the visual inspection of the reactor internal structure is performed while maintaining the water level inside the reactor as it is. It is extremely advantageous if can be implemented.
[0007]
For this reason, a method has been used in which a video camera (television camera) is used to image the inside of the furnace and the image is inspected by an image monitor. It was lowered and moved to a predetermined position by operating the rope.
[0008]
However, when inspecting the bottom of the furnace, such as the furnace bottom 112, the furnace bottom structure 112A, the flow baffle 113, and the shroud support 114, the shroud 111 and the internal structure interfere with it. The operation of the video camera is extremely difficult.
[0009]
Therefore, in recent years, a method called a ROV (remote control vehicle) that can be freely moved underwater by remote control is used, and a video camera is mounted on the device so as to approach the inspection site. However, at this time, in the prior art, the ROV alone is directly brought close to the furnace bottom (see, for example, Patent Document 1).
[0010]
On the other hand, there is also a known method of using a predetermined launcher to bring the ROV closer to the inspection site. In this case, a container having a predetermined function is separately used to store the ROV. A method is known in which this is moved and moved closer to the lower part of the reactor using a launcher (see, for example, Patent Document 2).
[0011]
The predetermined function at this time is a function to move while holding the ROV to the vicinity of the part to be inspected, and a function to guide the ROV cable that increases resistance and affects the swimming performance when the underwater moving distance becomes long. Or it is a holding function for winding and a function for monitoring ROV.
[0012]
Here, in the case of the cone type shroud support 111 shown in FIG. 17, it is only necessary to suspend the underwater camera from the upper side, so that it can be relatively easily inspected. Once settled to the bottom of the furnace, it must be moved past the lower end of the flow baffle 113, and then lifted and approached. In this case, it is necessary to use ROV.
[0013]
However, since the water depth to the bottom of the furnace is considerable (for example, 25 m) at this time, the ROV sinks to that point, passes through the lower side of the flow baffle, and then floats to approach the lower surface side of the shroud support 1141. It is difficult to rely only on the function of the ROV. At this time, it is preferable to use the above-described launcher.
[0014]
[Patent Document 1]
Japanese Patent Laid-Open No. 11-14784
[0015]
[Patent Document 2]
Japanese Patent No. 3146101
[0016]
[Problems to be solved by the invention]
The above prior art does not give consideration to the point that the ROV performance is limited, and there is a problem in operability.
[0017]
First, since the launcher itself works as a sinking weight, the launcher itself can sink the ROV stably up to the vicinity of the inspection site, and then can send out the cable only within the movement range of the ROV. In the narrow part in the furnace described above, after the ROV leaves the launcher, it is difficult to move and approach it to the target inspection part.
[0018]
This is the same as in the case of the prior art in which a container is used, the ROV is started from this container, moved to the inspection site, and approached. In a narrow part in the furnace, the ROV that has come out of the storage container is It takes considerable skill to move and approach the target inspection site while keeping the underwater movement resistance of the cable being dragged to a minimum.
[0019]
After that, in order to perform the inspection work stably, it is necessary to keep the ROV stationary while monitoring the movement of the ROV, and therefore requires a higher degree of skill, and thus operability. Will cause problems.
[0020]
An object of the present invention is to provide an in-reactor inspection apparatus that can easily move and approach a ROV even in a narrow place in a nuclear reactor.
[0021]
[Means for Solving the Problems]
An object of the present invention is to provide an in-furnace inspection apparatus equipped with a remote control vehicle that is equipped with a television camera for swimming and moving underwater, and a launcher that transports the remote control vehicle to the vicinity of the inspection target. A stand, a cable handling unit, and a monitoring camera, and the vehicle cradle mounts the remote control vehicle, and the mounted remote control vehicle can be moved from the launcher to the side of the launcher. The cable handling unit is configured to assist in handling a tether cable connected to the remote control vehicle when the remote control vehicle is swimming, and the monitoring camera is connected to the launcher from within the launcher. Move outside and take a picture of the remote control vehicle while swimming It is made.
[0022]
At this time, the remote control vehicle is provided with a thruster for turning and moving forward and backward, and a thruster for raising and lowering and traversing, and the above object is achieved even if a television camera is mounted therein. The object can be achieved even if the vehicle pedestal moves linearly to the side of the launcher by remote control.
[0023]
Similarly, at this time, the cable handling unit includes a roller installed on the vehicle cradle and a float attached to the tether cable. The roller The tether cable is sandwiched and rotated to feed and collect the cable, and to prevent the collected cable from sagging, the cable has a function of generating buoyancy and generating tension. Even if you have The above objective is achieved.
[0024]
Similarly, at this time, when the remote control vehicle is housed in the launcher, the surveillance camera is also housed in the launcher, and is pulled out to the side of the launcher while swimming. The above object is also achieved by the above, and at this time, when the surveillance camera is moved outside the launcher, the above object is also achieved by operating the imaging direction.
[0025]
Similarly, at this time, even if the launcher is provided with a seating detection function for detecting that the launcher is seated at the bottom of the furnace, the above object can be achieved. Similarly, at this time, the vehicle operation table is recovered by the remote operation vehicle. The above object can be achieved even if a means for detecting this is provided.
[0026]
Similarly, at this time, the cable handling unit includes means for collecting the remote operation vehicle to the vehicle cradle when the cable handling unit is defective, and the vehicle cradle is manually operated when the vehicle cradle is defective. The above-mentioned object can be achieved even if the surveillance camera has means for manually storing it in the launcher when the surveillance camera malfunctions.
[0027]
In the present invention, a conventional launcher includes a ROV pedestal capable of releasing the ROV after moving to the side surface, a monitoring camera for monitoring the operation of the ROV located above, a detection seating pin for detecting seating on the furnace bottom, and a pedestal for the ROV By installing a ROV seating detector that detects seating on the head, inspection with a cone-type shroud support, which has been difficult in the past, is approached to the target site with the resistance of the tether cable minimized, and the situation is displayed on the surveillance camera. It becomes possible to carry out while confirming.
[0028]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the case where the in-furnace inspection apparatus according to the present invention is applied for the inspection of the shroud support will be described in detail and specifically by the illustrated embodiment.
[0029]
First, FIG. 1 shows a main body 101 of an in-furnace inspection apparatus according to one embodiment of the present invention and a ROV 1 combined therewith, and FIG. 2 shows a furnace according to one embodiment of the present invention. The state where the internal inspection device is applied to the inspection of the shroud support in the nuclear reactor (reactor pressure vessel) 100 is shown.
[0030]
First, the in-furnace inspection apparatus main body 101 (hereinafter abbreviated as the apparatus main body 101) supports the launcher 2 that houses and holds the ROV 1 therein as shown in FIG. A lower stay 3, an upper stay 4 for extending the lower stay 3 to be attached to the upper grid plate 110, and a float 6 for extending and holding the tether cable 5 connected to the ROV 1 so as not to loosen are provided. ing.
[0031]
In FIG. 1, the ROV 1 is illustrated in an enlarged manner as compared with the apparatus main body 101 including the launcher 2. This also applies to FIG. 3 described later.
[0032]
Then, as shown in FIG. 2, the apparatus main body 101 is moved into the reactor 100 together with the ROV 1 while being upright, and submerged in the water in which the water surface W is maintained at a predetermined height. Is done.
[0033]
Further, as shown in FIG. 2, the apparatus main body 101 controls a control device 7 for remotely controlling the launcher 2, a ROV controller 8 for controlling the movement of the ROV1, and a video camera 55 mounted on the ROV1. The camera controller 9 is provided, and these are installed outside the upper part of the nuclear reactor 100 as shown in the figure.
[0034]
At this time, the auxiliary hoist 115 and the fuel changer 116 are attached on the reactor 100 whose upper end is opened, and the tether cable 5 of the ROV 1 and the cable 117 of the apparatus main body 101 are respectively connected to the control device 7. .
[0035]
Therefore, at the time of inspection, the apparatus main body 101 is suspended by the wire 115A of the auxiliary hoist 115 together with the ROV 1 while standing upright, passes through the upper lattice plate 110 and the shroud 111, and is submerged in the water until it is seated on the reactor bottom 112. It is done.
[0036]
Therefore, the auxiliary hoist 115 is controlled so that a projection 2A (not shown: described later) at the tip of the apparatus main body 101 is a reactor bottom structure 112A (only one is drawn in this figure) at the reactor bottom 112. The control device 7 is then operated to release the ROV 1 so that the lower end of the flow baffle 113 can be bypassed and freely moved outward. To.
[0037]
The ROV 1 thus discharged from the apparatus main body 102 is remotely operated by the inspector 102 using the ROV controller 8, approaches the inspection site of the shroud support 114, and is inspected by the video camera 55 mounted on the ROV 1.
[0038]
The operation of the video camera 55 at this time is executed by the inspector 103 using the ROV controller 9. Here, the launcher 2 of the apparatus main body 101 has at least a monitoring camera 13 (described later) for monitoring the swimming state of the ROV 1. And a function of feeding out the cable.
[0039]
Next, as shown in FIG. 3, the launcher 2 includes a ROV cradle 11 that holds the ROV 1, a slider 12 that linearly moves the ROV cradle 11 laterally from the launcher 2, and is moving and inspecting A monitoring camera 13 for monitoring the condition of the ROV 1, a cable handling unit 14 for feeding and unwinding the tether cable 5 connected to the ROV 1, a guide roller 15 for guiding the tether cable 5 to be pulled into the launcher 2, and the apparatus main body It comprises a seating pin 16 for detecting that the bottom of 101 is seated on the furnace bottom, and a ROV seating detector 17 for confirming that ROV1 is seated on the ROV cradle 11.
[0040]
Here, the details of the ROV cradle 11 will be described with reference to FIG. 4. The ROV cradle 11 is held by the arm 21 as shown in the figure. The arm 21 is pivotally supported by an arm support shaft 22 and is configured to be rotationally driven by an air cylinder 23. Further, an emergency recovery wire rope 36 is attached thereto.
[0041]
Next, the details of the cable handling unit 14 will be described with reference to FIG. 4. The cable handling unit 14 includes a main driving roller 25 and a driven roller 26 that are rotatably attached to the ROV cradle 11. At this time, an air cylinder 27 is attached to the driven roller 26 so as to push the main driving roller 25, and acts as a pinch roller.
[0042]
On the other hand, the main driving roller 25 is provided with a timing belt 28, and this timing belt 28 is wound around a pulley 29 that is driven to rotate by a motor unit 30 with the arm support shaft 22 as a rotation shaft.
[0043]
Next, operations of the ROV cradle 11 and the cable handling unit 14 shown in FIG. 4 will be described with reference to FIG. Now, assuming that the air cylinder 23 is operated by operating the control device 7 (FIG. 1), the arm 21 is tilted to the left in the figure, and in response to this, the ROV cradle 11 and the mounting on it. The ROV 1 is sent out from the apparatus main body 101 to the side as the slider 12 extends.
[0044]
At this time, the operation of the ROV controller 8 causes the ROV 1 to move away from the ROV cradle 11 and start swimming movement. The cable 5 is sandwiched, and the main driving roller 25 is rotationally driven by the motor unit 30 so that the tether cable 5 is sent out.
[0045]
On the other hand, when the tether cable 5 is collected, the main driving roller 25 is rotated in the reverse direction. At this time, the pulled tether cable 5 is pulled up by the buoyancy of the float 6, and the tether cable 5 is slackened. It is to be prevented.
[0046]
Therefore, according to this embodiment, even if the ROV1 becomes inoperable due to a failure or the like during the inspection / inspection work, the main driving roller 25 is rotated in the reverse direction, the tether cable 5 is drawn in, and the ROV1 is drawn and collected. It can be collected on the ROV cradle 11.
[0047]
Further, even when the air (compressed air) to be supplied to the cylinder 23 cannot be supplied by cutting the hose or the like, the ROV cradle 11 can be retracted by pulling the wire rope 36.
[0048]
Further, even when air cannot be supplied to the cylinder 27 and the roller 26 is not pressed against the main driving roller 25 and the tether cable 5 cannot be retracted, the tether cable 5 is retracted by the buoyancy of the float 6. Can be recovered.
[0049]
In this embodiment, the timing belt 28 is used to rotate the main driving roller 25. However, an extendable drive shaft or the like may be used instead of the timing belt 28.
[0050]
Next, the details of the ROV seating detector 17 in FIG. 4 will be described. First, the ROV seating detector 17 is mounted on the ROV cradle 11 as shown in FIG. Acts when seated correctly on the top, and generates a seating signal. In FIG. 6, the left and right sides of FIG. 4 are interchanged.
[0051]
The ROV seating detector 17 includes a ROV stopper 120, a plate 121, a base 122, a spring 123, and a limit switch 124 as shown in FIG.
[0052]
First, the ROV stopper 120 is held so as to be linearly movable with respect to the plate 121, and the base 122 is held by the ROV stopper 120 so that the base 122 can be linearly moved.
[0053]
A limit switch 124 is attached to the base 122, and the ROV stopper 120 and the base 122 are pressed against the plate 121 by the spring 123 to the left in the figure.
[0054]
Therefore, as shown in FIG. 6, if the ROV 1 is seated on the ROV cradle 11, the rear part of the ROV 1 comes into contact with the ROV stopper 120, and as a result, the ROV stopper 120 and the base 122 are close to the plate 121. Move in the direction against the elasticity of the spring 123.
[0055]
Then, the limit switch 124 comes into contact with the plate 121 to generate a seating signal, which is supplied to the control device 7, and as a result, the control signal of the motor unit 30 that rotates the main driving roller 25 is turned off. Will not be drawn more than necessary.
[0056]
Here, FIG. 8 shows another example of the ROV seating detector 17, which is a case where the limit switch 124 is a lever-operated type. When the rear portion of the ROV1 contacts the ROV stopper 120 and the base 122 is moved. The lever 124A of the limit switch 124 is pushed and a seating signal is generated.
[0057]
Next, the details of the surveillance camera 13 shown in FIG. 3 will be described with reference to FIG. 9. This surveillance camera 13 includes an underwater video camera 41 for monitoring and a light 42 for illumination as shown in FIG. These are attached to the camera arm 44 via an actuator 43.
[0058]
The camera arm 44 is pivotally supported on the launcher 2 by a camera arm support shaft 45 and is rotated by an air cylinder 46.
[0059]
Therefore, when the air cylinder 46 is driven by an operation command from the control device 7, the camera arm 44 is rotated, and the underwater video camera 41 and the light 42 are moved as shown in FIG. 2, the imaging direction is manipulated by the actuator 43, so that the ROV 1 that is swimming outside the flow baffle 113 (FIG. 2) can be imaged.
[0060]
Next, details of the seat pin 16 shown in FIGS. 3 and 4 will be described with reference to FIG. Here, the seat pin 16 detects when the apparatus main body 101 is lowered, and when the protrusion 2A at the lower end of the launcher 2 is pushed in contact with the furnace bottom structure 112A. To work.
[0061]
For this reason, as shown in FIG. 10, a cylindrical case 31 is used, a colored pin 32 is inserted therein, and a spring 33 is provided in a state supported by the pin 32 by a flange 34. Is provided with a stopper 35 so that the pin 32 cannot be removed.
[0062]
Here, if the apparatus main body 101 reaches the furnace bottom 112 of the nuclear reactor 100, the lower end of the pin 32 is pushed up by the furnace bottom structure 112 </ b> A and protrudes into the launcher 2. Therefore, the seating of the apparatus main body 101 can be detected by checking the protruding pin 32 with a video camera (or another video camera not shown) mounted on the ROV 1.
[0063]
Next, ROV1 in this embodiment will be described. First, as shown in FIG. 11, a transparent ring 51 made of a short cylinder is provided with two cases 52 (in the figure, only one of the two is provided with a reference numeral). In other words, the video camera 55 and the light 56 can be mounted inside.
[0064]
Each case 52 is provided with a side thruster 53 and a horizontal thruster 54 so that it can freely swim in water by remote control and can be imaged externally by a video camera 55 through a transparent ring 51. .
[0065]
Here, the side thruster 53 will be described first. As shown in FIG. 12, this includes a propeller 61, which is rotationally driven by a motor 66 to generate a thrust in an oblique direction.
[0066]
Therefore, the motor shaft 65 is coupled to the propeller shaft 62 via the bevel gear 64 so that the rotational force of the motor 66 is transmitted to the propeller 61. At this time, the propeller shaft 62 is connected to the inside. It is drawn into the case 52 through a rotary seal 63 that prevents water from entering.
[0067]
When the propeller 61 is driven to rotate, a water flow is generated. At this time, a thruster guard 67 is installed to rectify the disturbance of the water flow caused by the propeller 61.
[0068]
Next, the horizontal thruster 54 will be described. This is provided with a propeller 71 as shown in FIG. 13 and is driven to rotate by a motor 73. Here, thrust in the front-rear direction is generated. Is.
[0069]
For this reason, the motor shaft 74 is connected to the propeller shaft 72 through a universal joint 75 here, and the rotational force of the motor 73 is configured to be transmitted to the propeller 71. At this time, a rotation seal that prevents water from entering. Similarly, a thruster guard 77 is installed in order to allow the propeller shaft 72 to be pulled into the case 52 through 63 and rectify the disturbance of the water flow caused by the propeller 71.
[0070]
Here, this ROV1 is adjusted in mass and volume so that the mass in water balances with the buoyancy and floats in water. A side thruster 53 and a horizontal thruster 54 are provided on this ROV1. As a result, the side thruster 53 and the horizontal thruster 54 can be used to swim in the water in any direction.
[0071]
The control of the motor 66 and the motor 73 required for the operation of the side thruster 53 and the horizontal thruster 54 at this time is executed by the operation of the ROV controller 8. Control is made so that the absolute values of the respective rotation speeds are always equal.
[0072]
For example, when the ROV 1 is moved forward, the two motors 66 are also rotated in the forward direction, and when moved backward, the two motors 66 are rotated in the reverse direction. When turning, the two motors 66 are rotated in opposite directions.
[0073]
Further, when the ROV 2 is raised, the two motors 73 are rotated in the same forward direction, and when lowered, the two motors 73 are also rotated in the reverse direction. Then, when moving in the lateral direction, the two motors 73 are rotated in opposite directions.
[0074]
Next, the mounting status of the video camera 55 on the ROV 1 and the video camera 55 itself will be described with reference to FIGS. 14 and 15. Here, first, a disc-shaped frame 81 is provided in the case 52.
[0075]
A fixed shaft 82 is attached to the frame 81 so as to coincide with the central axis of the cylinder of the transparent ring 51, and an internal control box 83 is rotatably held on the fixed shaft 82. The video camera 55 is attached to the internal control box 83.
[0076]
Further, the internal control box 83 is provided with a tilt motor 89, and a pinion gear 90 is attached to the shaft of the tilt motor 89. Correspondingly, a rack gear 91 is installed on the inner circumferential surface of the case 52, and a pinion gear 90 is meshed with the rack gear 91.
[0077]
Therefore, when the tilt motor 89 is rotated, the pinion gear 90 rolls and rotates while meshing with the rack gear 91, so that the internal control box 83 rotates about the fixed shaft 82.
[0078]
At this time, when the ROV 1 is suspended in water, as shown in FIG. 11, the position of the center of gravity is adjusted so that the central axis of the cylinder of the transparent ring 51 is kept horizontal, and accordingly, When the internal control box 83 is rotated, the elevation angle direction of the video camera 55 changes, and tilt adjustment can be performed. The tilt angle at this time can be confirmed with a potentiometer (not shown).
[0079]
On the other hand, adjustment of the azimuth angle (pan adjustment) of the video camera 55 is given by changing the direction of the ROV 1 itself by the side thruster 53 and the horizontal thruster 54.
[0080]
Next, the video camera 55 includes a CCD unit 84 and a camera lens 85. At this time, the camera lens 85 is configured to be extendable and contractable with respect to the CCD unit 84 by a lens stay 86.
[0081]
The CCD unit 84 is provided with a lens motor 87. A male screw portion 92 is formed on the shaft of the lens motor 87, and a nut 88 is screwed into the male screw portion 92. The nut 88 is attached to the camera lens 85 via a focus stay 93. .
[0082]
Therefore, by controlling the rotation of the lens motor 87, the nut 88 moves linearly back and forth, whereby the camera lens 85 can also move forward and backward to adjust the focus.
[0083]
At this time, since the camera lens 85 moves linearly by the action of the lens stay 86, there is no fear that the camera lens 85 will rotate due to the rotation of the nut 88, and the camera lens 85 moves forward and backward along the center imaging position of the CCD unit 84. be able to.
[0084]
At this time, the light 56 is attached to the CCD unit 84 via the light stay 92 and rotates together with the tilt rotation of the video camera 55, so that the inspection target site can always be illuminated even during the tilt adjustment. it can.
[0085]
Further, there are two lights 56 above and below the camera lens 85, and these lights 56 are configured such that the illuminance can be independently adjusted by the operation of the camera controller 9. Can be emphasized.
[0086]
Next, a second embodiment of the in-furnace inspection apparatus according to the present invention will be described with reference to FIG.
[0087]
In FIG. 16, reference numeral 200 denotes a guide funnel. In addition, the launcher 2, the tether cable 5, and the float 6 are the same as those in the embodiment described with reference to FIGS. 1 to 15. The same is true for the installation.
[0088]
However, at this time, the lower stay 3 and the upper stay 4 shown in FIG. 1 are removed, and the wire 115 A of the auxiliary hoist 115 (FIG. 2) is directly attached to the launcher 2. Is different.
[0089]
Here, the guide funnel 200 is composed of a tubular member having a predetermined outer diameter and inner diameter having a funnel-shaped portion at one end, and an upper grid in the nuclear reactor 100 as shown in the figure during an inspection operation. It is installed in the nuclear reactor 100 in a form that is inserted from the plate 110 to the reactor bottom 112.
[0090]
Then, after the guide funnel 200 is installed in the nuclear reactor 100 in this way, the auxiliary hoist 115 is operated, and the launcher 2 is inserted into the guide funnel 200 and passes through the launcher 2 to the reactor bottom 112. It is set to settle until 2 is seated.
[0091]
The subsequent inspection operation is the same as that in the above-described embodiment. The controller 7 is operated to release the ROV 1 so that the ROB controller 8 can freely move outward while bypassing the lower end of the flow baffle 113. Is remotely operated by the inspector 102 to approach the inspection site of the shroud support 114 and inspected by the video camera 55 mounted on the ROV 1.
[0092]
At this time, according to the second embodiment, when the launcher 2 passes through the shroud 111, it passes through the guide funnel 200 installed in advance, so that the shroud 111, the upper lattice plate 110, There is no possibility that the launcher 2 is brought into contact with another in-core structure such as a core support plate (not shown).
[0093]
Therefore, according to the second embodiment, there is no possibility of damaging the structure in the reactor at the time of inspection, the operation can be easily performed, and at this time, the reactor bottom can be smoothly approached in a short time. Therefore, it is possible to reduce the amount of radiation exposure that will be received when passing through the core region, and as a result, deterioration of the inspection apparatus can be minimized.
[0094]
In the above embodiment, the case where the in-furnace inspection apparatus according to the present invention is applied to the inspection of the shroud support as an example has been described, but the present invention is not limited to the shroud support, and for example, the shape of the launcher is an inspection target. It goes without saying that it can also be applied to inspection of other in-furnace structures by applying a predetermined method, such as changing it accordingly.
[0095]
Here, it is as follows if the effect by embodiment described above is enumerated.
[0096]
According to the embodiment of the present invention, in addition to the conventional method of approaching the inspection target site by the launcher, the ROV is moved to the side surface by the ROV cradle and released, so that the narrow portion of the furnace bottom can be formed. However, it is possible to easily approach the inspection site and easily perform inspection inspection.
[0097]
According to the embodiment of the present invention, since the ROV cradle has cable handling means, it becomes possible to perform handling such as sending out and drawing in the cable without interference between the structure at the bottom of the furnace and the cable. The ROV can be easily approached to the examination site. At this time, since the tether cable is provided with a float, the ROV is not loosely entangled and can be reliably pulled in.
[0098]
According to the embodiment of the present invention, since the monitoring video camera can be pulled out to the side of the launcher, it moves upward from the furnace bottom while tilting with the built-in video camera, and when the lower part of the shroud support is inspected. The state of the ROV can be monitored, and as a result, the operation of the ROV becomes extremely easy.
[0099]
According to the embodiment of the present invention, since the seating pin is provided inside the launcher, it can be confirmed by the ROV video camera or another video camera attached inside the launcher that the launcher is securely seated on the bottom of the furnace. This can reduce the possibility of malfunctions due to handling of the apparatus.
[0100]
According to the embodiment of the present invention, it can be surely detected that the ROV has been collected on the ROV cradle, so that the work for collecting the ROV from the bottom of the furnace can be performed efficiently.
[0101]
According to the embodiment of the present invention, even when the remote operation becomes impossible due to a failure of the cable handling means or the ROV cradle, the ROV and the tether cable can be manually collected, so an unexpected situation that occurred during the inspection and inspection. It becomes possible to cope with the occurrence.
[0102]
【The invention's effect】
According to the present invention, the ROV can be easily moved and approached even in a narrow part in the nuclear reactor, so that an in-core inspection device with good operability can be reliably provided.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an embodiment of an in-furnace inspection apparatus according to the present invention.
FIG. 2 is a schematic diagram for explaining inspection work according to an embodiment of the present invention.
FIG. 3 is an explanatory diagram of a launcher and ROV in an embodiment of the present invention.
FIG. 4 is an explanatory diagram of a ROV cradle and a cable handling unit in an embodiment of the present invention.
FIG. 5 is an operation explanatory diagram of a ROV cradle and a cable handling unit in an embodiment of the present invention.
FIG. 6 is an explanatory diagram showing a state in which the ROV is placed on the ROV cradle according to the embodiment of the present invention.
FIG. 7 is an explanatory diagram showing an example of a ROV seating detector according to an embodiment of the present invention.
FIG. 8 is an explanatory diagram showing another example of the ROV seating detector according to the embodiment of the present invention.
FIG. 9 is an explanatory diagram of a monitoring camera according to an embodiment of the present invention.
FIG. 10 is an explanatory view showing an example of a seating pin in one embodiment of the present invention.
FIG. 11 is an external view of a ROV in an embodiment of the present invention.
FIG. 12 is an explanatory diagram of a side thruster equipped in the ROV in an embodiment of the present invention.
FIG. 13 is an explanatory diagram of a horizontal thruster provided in the ROV in an embodiment of the present invention.
FIG. 14 is an explanatory diagram viewed from one direction of a video camera equipped in an ROV in an embodiment of the present invention.
FIG. 15 is an explanatory view of a video camera installed in an ROV in one embodiment of the present invention as seen from another direction.
FIG. 16 is a cross-sectional view showing another embodiment of the in-furnace inspection apparatus according to the present invention.
FIG. 17 is a cross-sectional view showing an example of a nuclear reactor provided with a cone-type shroud support.
FIG. 18 is a cross-sectional view showing an example of a reactor provided with a leg type shroud support.
[Explanation of symbols]
1 ROV (remote control vehicle)
2 Launcher
3 Lower stay
4 Upper stay
5 Tether cable
6 Float
7 Control device
8 ROV controller
9 Camera controller
11 ROV cradle
12 Slider
13 Surveillance camera
14 Cable handling section
15 Guide roller
16 Seating pin
17 ROV seating detector
100 nuclear reactor (reactor pressurized vessel)
101 In-furnace inspection device body (device body)
110 Upper lattice plate
111 shroud
112 Reactor bottom
113 Flow baffle
114 shroud support
115 Auxiliary hoist
116 Fuel changer
200 Guide funnel

Claims (9)

In the in-furnace inspection device equipped with a remote control vehicle equipped with a television camera that moves underwater and a launcher that transports this remote control vehicle to the vicinity of the inspection target,
The launcher includes at least a vehicle cradle, a cable handling unit, and a surveillance camera,
The vehicle cradle is configured to place the remote operation vehicle and to move the placed remote operation vehicle from the launcher to the side of the launcher.
The cable handling portion is configured to assist in handling a tether cable connected to the remote control vehicle when the remote control vehicle is swimming;
The in-furnace inspection apparatus, wherein the monitoring camera is configured to move from the launcher to the outside of the launcher and take an image of the remotely operated vehicle during swimming. In the invention of claim 1,
The in-furnace inspection apparatus, wherein the remote control vehicle includes a turning / forward / backward thruster and a lifting / traverse thruster, and a television camera is mounted therein. In the invention of claim 1,
The in-furnace inspection apparatus characterized in that the vehicle cradle moves linearly to the side of the launcher by remote control. In the invention of claim 1,
The cable handling unit includes a roller installed on the vehicle cradle and a float attached to the tether cable.
Characterized in that perform delivery and recovery of the cable by rotating sandwiching the tether cable by the rollers, in order to prevent sagging of the recovered cable has a function of remembering buoyancy to the cable, produces tension In-furnace inspection equipment. In the invention of claim 1,
When the remote control vehicle is housed in the launcher, the surveillance camera is also housed in the launcher, and the remote control vehicle is pulled out to the side of the launcher while swimming. Internal inspection device. In the invention of claim 1,
The in-furnace inspection apparatus according to claim 1, wherein when the monitoring camera is moved outside the launcher, an imaging direction is operated. In the invention of claim 1,
The in-furnace inspection apparatus, wherein the launcher is provided with a seating detection function for detecting that the launcher is seated on the furnace bottom. In the invention of claim 1,
The in-furnace inspection apparatus, wherein the vehicle cradle is provided with means for detecting that the remote control vehicle has been collected. In the invention of claim 1,
The cable handling unit includes means for collecting the remote operation vehicle to the vehicle cradle when the cable handling unit is defective.
The vehicle cradle is provided with means for manually collecting in the launcher when the vehicle cradle is defective.
The in-furnace inspection apparatus according to claim 1, wherein the monitoring camera includes means for manually storing the monitoring camera in a launcher when the monitoring camera is defective.

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