JP5090260B2 - Method and apparatus for processing rod-shaped long member - Google Patents

Description

  TECHNICAL FIELD The present invention relates to a method and apparatus for processing a rod-shaped long member, and in particular, the length of a rod-shaped member in a remote / underwater reactor structure necessary for maintenance of a reactor structure in a nuclear power plant. The present invention relates to a method and apparatus for processing a bar-shaped long member suitable for performing a follow-up process on a scale member.

  In recent years, existing nuclear power plants have been designed to maintain and continue safe operation and extend the life of future plant operations. Many large-scale preventive or post-maintenance technologies have been applied in mind, and the construction is being promoted rapidly.

  In promoting the maintenance technology of the reactor internal structure, the reactor internal structure has a high radiation dose and high radioactivity concentration, and it is impossible for people to work close to it. The environment is filled with pure water in the reactor well and the reactor well formed at the top of the reactor, blocking radiation and radioactive materials from the reactor internal structure, and aiming at objects below the surface of the water from the top. Remote and underwater work is required.

  As an example of remote / underwater work, a long pipe is known which performs a cutting work by underwater electric discharge machining remotely (see, for example, Patent Document 1).

JP 2003-175421 A

  As a maintenance technique for the structure inside the nuclear reactor, in addition to cutting the pipe described in Patent Document 1, for the purpose of removing damage to an existing structure or avoiding interference with another structure, a rod-shaped long member is used. On the other hand, there is processing (follow-up processing) from the outer periphery of the rod to the center direction of the rod.

  As a follow-up machining method for the rod-shaped long member, a method of machining a plate-like electric discharge machining electrode in the radial direction of the rod by using electric discharge machining can be considered.

  At this time, if the machining range in the longitudinal direction of the rod-shaped long member is smaller than the electrode for electric discharge machining, the range can be covered by a single additional machining, but the additional machining range of the rod-shaped long member is the electrode for electric discharge machining. If it is longer than the above dimension, it is necessary to divide the longitudinal processing of the rod-shaped long member and repeat the follow-up processing a plurality of times. As an example of a case where the follow-up processing range of the rod-shaped long member is longer than the dimension of the electrode for electric discharge machining, there is a case where an existing long member interferes by adding another structure in the nuclear reactor. In this case, in order to prevent the existing long member from interfering with other structures to be added, it is necessary to perform a follow-up process on the existing long member below the interference position of both. Become. In addition, when a plurality of scratches or the like are found in the lower part of an existing long member, the follow-up processing range of the rod-shaped long member is also the same as that of the electrode for electric discharge machining. It becomes longer than the dimension.

  In such a case, if the machining in the longitudinal direction is divided and repeated a plurality of times, a discontinuous surface is generated at the joint between the previous follow-up process and the next follow-up process. This occurs due to factors such as a slight difference in the amount of follow-up between the previous machining and the next machining, and variations in the degree of wear of the electrode for electric discharge machining, and it is difficult to eliminate this discontinuous surface. The discontinuous surface of the processed surface cannot be polished at the stepped portion in the polishing operation after the follow-up process, and if excessive stress is concentrated on the stepped portion, there is a possibility that a new scratch or the like may occur.

  The objective of this invention is providing the processing method and apparatus of a rod-shaped elongate member which can obtain a continuous and uniform process surface in the follow-up process of an elongate member.

To achieve (1) above object, the present invention is a rod-shaped elongated member reactor internal structure, a processing method of drive-processed to bar-shaped elongated member by electric discharge machining in the underwater remote, processing Gripping and fixing the equipment to the rod-shaped long member to be processed using the first gripping and fixing mechanism provided at two locations in the longitudinal direction of the target rod-shaped long member. In the state where the cylindrical electric discharge machining electrode is rotationally driven around a rotation axis substantially orthogonal to the longitudinal direction of the rod-shaped long member, the radial shape of the rod-shaped long member is The machining is performed, and then the machining in the radial direction is continuously continued in the axial direction by the electric discharge machining electrode.
By this method, a continuous and uniform processed surface can be obtained in the follow-up processing of the long member.

(2) Moreover, in order to achieve the said objective, this invention is a processing apparatus of the rod-shaped elongate member which carries out the follow-up process of the rod-shaped elongate member of a reactor internal structure by electric discharge machining remotely in water. First, gripping and fixing two longitudinal portions of the rod-shaped long member to be processed as a reference for follow-up processing by gripping and fixing the equipment to the rod-shaped long member to be processed And a second gripping and fixing mechanism, a rotating mechanism for continuously rotating and driving the cylindrical electrode for electric discharge machining, and the cylindrical electric discharge machining by the rotating mechanism in the radial direction of the rod-shaped long member. In a state where the electrode for rotation is driven to rotate about a rotation axis substantially orthogonal to the longitudinal direction of the rod-shaped long member, the radial drive mechanism for moving the rotation mechanism in the radial direction, and the electric discharge machining electrode, Continuous machining in the axial direction in the radial direction Subeku, in which the rotation mechanism so as to include an axial drive mechanism that moves in the axial direction of the rod-shaped elongate member.
With this configuration, a continuous and uniform processed surface can be obtained in the follow-up processing of the long member.

  (3) In the above (2), preferably, the function is divided into a gripping and fixing mechanism section for gripping and fixing the apparatus equipment to the rod-shaped long member to be processed and an electric discharge machining mechanism section on which an electric discharge machining electrode is mounted. The structure for electric discharge machining can be remotely separated and reattached to the holding and fixing mechanism.

  (4) In the above (3), preferably, the holding and fixing mechanism portion is a polishing mechanism portion for polishing a machining surface by electric discharge machining, or for dimension measurement after repair processing, instead of the electric discharge machining mechanism portion. A mechanism part can be mounted.

  According to the present invention, a continuous and uniform processed surface can be obtained in the follow-up processing of a long member.

Hereinafter, the configuration and operation of a processing apparatus for a rod-shaped long member according to an embodiment of the present invention will be described with reference to FIGS.
First, the working environment of the maintenance technical construction of the reactor internal structure using the rod-shaped long member processing apparatus according to the present embodiment will be described with reference to FIG.
FIG. 1 is an explanatory diagram of a working environment for maintenance technology construction of a reactor internal structure using a rod-shaped long member processing apparatus according to an embodiment of the present invention.

  In promoting the maintenance technology of the reactor internal structure 1, the nuclear reactor internal structure 1 has a high radiation dose and a high radioactivity concentration, and it is impossible for a person to work closely. Therefore, the working environment is such that the reactor 2 and the reactor well 3 formed on the top thereof are filled with pure water, the radiation and radioactive materials from the reactor internal structure 1 are blocked, and the work is performed from above. Remote and underwater work using a cart 4 aiming at an object at a depth of about 25 m is required.

  In the maintenance technology of the reactor internal structure 1, repair processing is performed for various parts of the nuclear reactor internal structure 1 for the purpose of removing damage to existing structures or avoiding interference with other structures. One of them is a rod-shaped long member 7. The rod-shaped long member 7 is subjected to remote / underwater work in a radiation environment by using the follow-up device 10. The detailed configuration of the tracking device 10 will be described with reference to FIG.

Next, with reference to FIG. 2, the concept of follow-up processing by the processing apparatus for the rod-shaped long member according to the present embodiment will be described.
FIG. 2 is an explanatory view of the concept of follow-up processing by the processing apparatus for the long bar-shaped member according to one embodiment of the present invention.

  In the present embodiment, while rotating the cylindrical electric discharge machining electrode 9 arranged in a direction orthogonal to the longitudinal direction of the rod-shaped long member 7, in the radial direction (arrow L1 direction) of the rod-shaped long member 7. Follow-up processing with specified depth. After the radial follow-up process, the electrical discharge machining electrode 9 is shifted to the longitudinal machining (arrow L2 direction) of the rod-shaped long member 7 while maintaining the follow-up machining depth of the electrical discharge machining electrode 9.

  Thereby, since it is not necessary to divide the processing range in the longitudinal direction, there is no connection between the electrodes for electric discharge machining, and a continuous and uniform processed surface can be formed.

Next, with reference to FIG. 3, the overall configuration of the follow-up device 10 that is a processing apparatus for the rod-shaped long member according to the present embodiment will be described.
FIG. 3 is an overall configuration diagram of a follow-up device that is a processing apparatus for a rod-shaped long member according to an embodiment of the present invention. 3A is a left side view, and FIG. 3B is a front view.

  The follow-up device 10 for the rod-shaped long member 7 includes gripping and fixing mechanisms AA1 and AA2 that grip the rod-shaped long member 7 to be processed, a rotating mechanism BB that continuously rotates the electric discharge machining electrode 24, With respect to the rod-shaped long member 7, the radial drive mechanism CC that drives the rotation mechanism BB along the longitudinal axis (LM guide 21) that is the radial drive shaft with respect to the target rod-shaped long member 7. An axial drive mechanism DD that drives the rotation mechanism BB along the vertical axis (LM guide 18) that is an axial drive shaft.

Next, the configuration of the holding and fixing mechanisms AA1 and AA2 of the follow-up device according to the present embodiment will be described with reference to FIG. Note that the gripping and fixing mechanisms AA1 and AA2 shown in FIG. 3 have the same configuration, and therefore will be described here as the gripping and fixing mechanism AA.
FIG. 4 is a front view of the holding and fixing mechanism of the driving device according to the embodiment of the present invention. In addition, the same code | symbol as FIG. 3 has shown the same part.

  The follow-up device 10 shown in FIG. 3 needs to be set so that its posture is parallel to the long rod-shaped member 7 to be processed. Therefore, the holding and fixing mechanism AA includes a fixed clamp 13 having a V-shaped pad at the tip and a cylinder-driven movable clamp 14 having a V-shaped pad at the tip. Furthermore, the cylinder 15 which uses air or water as a drive source is provided, and the rod-shaped long member 7 to be processed is held and fixed by the fixed clamp 13 and the movable clamp 14 by the thrust of the cylinder 15.

  With this structure, the rod-shaped long member 7 can be held and fixed so that the V-shaped surface at the tip of the fixed clamp 13 is in contact with the outer periphery of the rod-shaped long member 7 to be processed. It is possible to adjust relative to the axis.

  Even if the diameter of the rod-shaped long member 7 varies, since the tip of the clamp is V-shaped, it can be gripped so that there are always three or more contact points. The apparatus 10 can be rigidly fixed to the rod-shaped long member 7.

  By holding and fixing two points sandwiching the longitudinal processing range of the rod-shaped long member 7 with the gripping and fixing mechanism AA, the follow-up device 10 is set in parallel and stably with respect to the shaft of the rod-shaped long member 7. Is possible.

Next, the configuration of the rotation mechanism BB and the radial drive mechanism CC of the follow-up device according to the present embodiment will be described with reference to FIG.
FIG. 5 is a configuration diagram of a rotation mechanism and a radial drive mechanism of a follow-up device according to an embodiment of the present invention. FIG. 5A is a plan view, and FIG. 5B is a side view. In addition, the same code | symbol as FIG. 3 has shown the same part.

  First, the configuration of the rotation mechanism BB of the follow-up device 10 will be described.

  The electric discharge machining method in the present embodiment is a rotary type that can reduce the influence on the machined surface due to variations in wear and that has a good electric discharge machining efficiency, whereby the electric discharge machining electrode 24 has a cylindrical shape.

  At this time, the diameter of the electrode 24 for electric discharge machining is better if the diameter of the electrode 24 for electric discharge machining is larger in consideration of the consumption amount and polishing in the next step. An appropriate diameter is determined in consideration of the balance between the deflection due to the eccentricity of the electrode 24 and the rigidity of the apparatus.

  The rotating mechanism BB of the electric discharge machining electrode 24 includes a motor 22 as a driving source, a timing belt 25, a pulley 23, and a pulley 26. The power from the motor 22 is transmitted to the electric discharge machining electrode 24 by the pulley 26, the timing belt 25, and the pulley 23, and the electric discharge machining electrode 24 is continuously rotated.

  The rotation of the electric discharge machining electrode 24 is a rotation about an axis parallel to the axis orthogonal to the two axes of the radial direction and the axial direction of the rod-shaped long member 7 to be processed. By rotating the electric discharge machining electrode 24, the outer peripheral surface of the electric discharge machining electrode 24 is uniformly discharged and consumed, so that a uniform machining surface can be formed.

  Further, by eliminating the secondary product of electric discharge machining generated between the electric discharge machining electrode 24 and the machining surface of the rod-shaped long member 7 to be machined by the flow of water generated by the rotation of the electric discharge machining electrode 24. In addition to increasing the processing efficiency, it is possible to reduce the consumption of the electric discharge machining electrode 24.

  Power supply to the electric discharge machining electrode 24 is performed by connecting a cable to a mechanism portion electrically connected to the electric discharge machining electrode 24.

  The electric discharge machining electrode 24 and the mechanical portion electrically connected to the electric discharge machining electrode 24 are insulated from other structural portions of the driving device 10 by the insulator 27 and the timing belt 25, and are connected to the electric discharge machining electrode 24. A structure in which power feeding does not conduct to the main body of the driving device 10 is adopted.

  Next, the configuration of the radial drive mechanism CC of the follow-up device 10 will be described.

  The radial drive mechanism CC of the follow-up device 10 is a drive mechanism for processing the rod-shaped long member 7 in the radial direction. The radial direction drive mechanism CC includes a motor 19 that is a drive source, a ball screw 20, and an LM guide 21. The radial drive mechanism CC operates the rotating mechanism BB of the electric discharge machining electrode 24 in the radial direction of the rod-shaped long member 7.

  The position control in the radial drive mechanism CC of the follow-up device 10 uses the core of the rod-shaped long member 7 as a relative reference by the function of the above-described gripping and fixing mechanism AA. Processing in the radial direction of the scale member 7 is possible.

Next, the configuration of the axial drive mechanism DD of the follow-up device according to the present embodiment will be described with reference to FIG.
FIG. 6 is a configuration diagram of the axial drive mechanism of the driving device according to the embodiment of the present invention. 6A is a left side view, and FIG. 6B is a front view. In addition, the same code | symbol as FIG. 3 has shown the same part.

  The axial drive mechanism DD of the tracking device 10 is a drive mechanism for processing the rod-shaped long member 7 in the axial direction. The axial direction drive mechanism DD includes a motor 16 that is a drive source, a ball screw 17, and an LM guide 18. The axial drive mechanism DD is a structure that allows the rotating mechanism BB of the electrode 24 for electric discharge machining to operate in the axial direction of the rod-shaped long member 7.

  The axial drive mechanism DD of the follow-up device 10 is arranged in parallel with the axis of the long bar member 7 to be processed by the function of the above-described gripping and fixing mechanism AA. It is possible to continue the processing at a certain depth in the axial direction of the rod-shaped long member 7.

  As described with reference to FIG. 2, the radial direction driving mechanism CC and the axial direction driving mechanism DD of the follow-up device 10 described with reference to FIGS. 5 and 6 initially process the rod-shaped long member 7 in the radial direction. The shaft is changed to the axial direction of the rod-shaped long member 7 while maintaining the radial addition depth, and the rod-shaped long member 7 is processed in the radial direction. By continuing in the axial direction of the elongated shape member 7, it is possible to form a continuous processed surface.

  Next, returning to FIG. 3, a description will be given of a processing direction in which a continuous and uniform processing surface can be formed using the mechanism described in FIGS. 4 to 6.

  First, the bar-shaped long member 7 to be processed is held by the holding and fixing mechanism AA, the follow-up device 10 is fixed in parallel to the axis of the bar-shaped long member 7, and the processing reference is performed.

  Next, the electric discharge machining electrode 24 is continuously rotated by rotational drive, and a follow-up process in the radial direction of the rod-shaped long member 7 is performed using the front and rear axes as machining axes.

  After carrying out the follow-up process in the radial direction of the rod-shaped long member 7 to a predetermined depth, the machining axis is switched to the vertical axis while maintaining the machining position of the front and rear shafts, and the axial direction of the rod-shaped long member 7 is radial. Continue to pursue.

  As described above, according to the present embodiment, there is no step even when the longitudinal repair of the rod-shaped long member 7 is performed remotely and underwater by the above-described processing method and processing device. It is possible to form a continuous and uniform processed surface.

  Further, the gripping and fixing mechanism AA enables the position of the machining reference to be set simultaneously with the setting of the apparatus, and the function of the rotating mechanism BB of the electric discharge machining electrode 24 suppresses the wear of the electric discharge machining electrode 24 and is used for electric discharge machining. Since it is possible to minimize the number of replacement and resetting of the electrode 24, a part of the work can be simplified. Therefore, human error can be reduced and the process can be shortened.

  Next, in FIG. 5 and FIG. 6, in the follow-up device according to the present embodiment, an electrical discharge machining equipped with an electric discharge machining electrode 24 and a mechanism portion for gripping and fixing the equipment to the rod-shaped long member 7 to be machined. The structure of the apparatus facility is divided into a mechanism unit for use, and a structure in which each can be individually separated and reattached will be described.

  FIG. 6 shows the configuration of the cradle 11. The cradle 11 is a mechanism unit for gripping and fixing the above-described apparatus equipment to the long rod-shaped member 7 to be processed. The gripping and fixing mechanism AA, the vertical axis (LM guide 18), and the vertical axis are driven vertically. And a table 28 that moves up and down.

  The cradle 11 needs to be set such that its posture is parallel to the long bar-shaped member 7 to be processed. Therefore, the holding and fixing mechanism AA has the configuration described with reference to FIG. 4. By holding and fixing two points sandwiching the processing range in the longitudinal direction of the rod-shaped long member 7, the rod-shaped long member 7. It is possible to set the cradle 11 in parallel and stably to the axis.

  FIG. 5 shows a configuration example of an EDM (Electrical Discharge Machining) actuator 12.

  The EDM actuator 12 is an electric discharge machining mechanism portion on which the electric discharge machining electrode 24 is mounted, and has a rotating mechanism BB of the electric discharge machining electrode 24 and a longitudinal axis (LM guide 21).

  The front / rear axis of the EDM actuator 12 is a drive mechanism for machining the rod-shaped long member 7 in the radial direction, and has a structure that enables the radial operation of the rod-shaped long member 7 of the electrode 24 for electric discharge machining. is there. Since the position control of the EDM actuator 12 on the front and rear axes is based on the core of the rod-shaped long member 7 by the function of the gripping and fixing mechanism AA of the cradle 11 described above, the radial direction of the rod-shaped long member 7 Can be processed with accurate follow-up depth.

  The cradle 11 and the EDM actuator 12 have an attachment / detachment mechanism for performing remote combination in addition to the functions of the above-described follow-up device 10.

  The cradle 11 has a guide pin 30 and a bolt hole 29 for fixing the EDM actuator 12. The EDM actuator 12 has a guide pin insertion hole 32 and a remote bolt head 31.

  The guide pin insertion hole 32 of the EDM actuator 12 is used to position the EDM actuator 12 by inserting the guide pin 30 of the cradle.

  As shown in FIG. 1, the remote bolt head 31 of the EDM actuator 12 includes a socket pole 6 for engaging with the remote pole head 31 and an operation pole 5 for extending the socket pole 6 to the work carriage 4 disposed in the air. It can be used and manually rotated to tighten or loosen bolts for remote attachment or removal operations. That is, when the operation pole 5 is operated and the socket pole 6 is rotated, the bolt head 31 is rotated. When the bolt head 31 rotates, the tip of the bolt projects downward in the figure and is screwed into the hole 29. Further, when the bolt head 31 is rotated in the reverse direction, the bolt head 31 is dissociated from the hole 29.

  As a result, the EDM actuator 12 can be used to replace the EDM actuator 24 when the EDM electrode 24 is consumed, and to recover and re-inject the device due to the failure of the rotating mechanism BB and the front and rear shafts of the EDM electrode 24. Since it is possible to cope only by attaching and detaching and there is no need to reset the cradle 11, the operation can be continued without changing the processing standard.

  In addition, it is possible to further shorten the work time by preparing a plurality of EDM actuators 12 with the electric discharge machining electrodes 24 assembled in advance and replacing the EDM actuators 12 when replacing the electric discharge machining electrodes 24. It is.

  As described above, by dividing the function of the follow-up device 10 into the cradle 11 and the EDM actuator 12, the work can be simplified and the work time can be shortened, and the human error can be reduced and the process can be shortened. Can do.

Next, the configuration of the polishing actuator used in the follow-up device according to the present embodiment will be described with reference to FIG.
FIG. 7 is a configuration diagram of a polishing actuator used in the follow-up device according to the embodiment of the present invention. FIG. 7A is a plan view, and FIG. 7B is a side view.

  In place of the EDM actuator 12 shown in FIG. 5, by setting the polishing actuator EE, which is the equipment for polishing work, shown in FIG. In addition, the polishing surface positioning accuracy can be improved and the positioning operation efficiency can be improved.

  The polishing actuator EE has the same remote attachment / detachment mechanism as the EDM actuator 12 shown in FIG. 5, and includes a guide pin insertion hole 34 and a remote bolt head 35.

  When replacing the brush 36 mounted on the polishing actuator EE, even if the polishing actuator EE is once removed and reinstalled after the brush 36 is replaced, polishing can be continued on the same basis as the previous polishing surface.

  Polishing is performed by pressing the tip of the bristles of the brush 36 against the electric discharge machining surface and rotating it around the axis of the additional machining. Accordingly, the polishing actuator EE includes a brush 36 for polishing, a brush rotation shaft 37 for rotating the brush 36, and a front / rear shaft 38 for pressing the brush against the electric discharge machining surface.

  The brush rotation shaft 37 has a structure in which the brush 39 is continuously rotated by connecting the pulley 39, the timing belt 42 and the pulley 41 with the motor 39 as a drive source. The tip of the brush rotation shaft 37 is a male screw, and the brush 36 is attached to the tip of the brush rotation shaft 37 and fixed with a nut. The brush 36 can be easily replaced.

  The front / rear shaft 38 has a structure in which the brush 36 is pressed against the surface of the electric discharge machining by the thrust of the cylinder 43 using air or water as a drive source, and includes the cylinder 43 and the LM guide 44. The pressing force of the brush 36 on the processing surface can be adjusted by changing the pressure of the driving source of air or water, thereby adjusting the finish of the polished surface.

  Since the polishing is performed by rotating the brush 36, a portion that cannot be polished occurs at the center of rotation. For this reason, by driving the vertical axis of the cradle 11, the center of rotation can be shifted in the vertical direction, and the entire electric discharge machining surface can be polished.

Next, the configuration of the dimension measuring actuator used in the follow-up device according to the present embodiment will be described with reference to FIG.
FIG. 8 is a configuration diagram of a dimension measuring actuator used in the tracking device according to the embodiment of the present invention. FIG. 8A is a plan view, and FIG. 8B is a side view.

  Dimension measurement actuator FF shown in FIG. 8 is set on cradle 11 in place of EDM actuator 12 shown in FIG. 5, so that dimension measurement can be performed based on the same standard as EDM actuator 12 and polishing actuator EE. The accuracy of dimension measurement can be improved.

  The dimension measuring actuator FF has the same remote attaching / detaching mechanism as the EDM actuator 12 shown in FIG. 5, and includes a guide pin insertion hole 46 and a remote bolt head 47.

  The dimension measurement is obtained from the dimensional difference before and after gripping the target member. Therefore, the dimension measuring actuator FF includes a gripping and fixing mechanism 59 for gripping the object, and a driving mechanism for the front and rear shafts 60 and the left and right shafts 61 for approaching and adjusting the position of the gripping and fixing mechanism 59 to the object.

  The gripping and fixing mechanism 59 includes a gripping member 48 that serves as a reference for gripping and measuring a target object, a cylinder 49 that uses air or water as a drive source, and a measure 50 that reads a dimension in which the cylinder 49 has moved. . The tip of the gripping member 48 is L-shaped so as to come into contact with the object at two points for positioning and dimensional measurement. The measure 50 is attached to the fixed side with respect to the drive of the cylinder 49, and the pointer 51 is attached to the movable side of the cylinder 49. By reading the positional relationship between the measure 50 and the pointer 51 with an underwater camera, the movable position of the cylinder 49 can be measured.

  Accordingly, by grasping in advance the relationship between the opening size of the gripping member 48 and the cylinder 49 when the cylinder 49 is contracted and the measure 50 reading value at this time, the measure 50 reading when the object is gripped is obtained. The dimension of the object is obtained from the value. In addition, when a processing dimension by repair processing is required, it is possible to obtain a processing amount from a dimensional difference before and after processing by measuring the dimension before and after processing.

  Next, the front / rear axis 60 and the left / right axis 61 for approaching and adjusting the position of the gripping and fixing mechanism 59 to the object will be described. The front and rear shafts 60 and the left and right shafts 61 are orthogonal shaft arrangements, and are shafts that can drive the holding and fixing mechanism 59 in the radial direction of the object. The drive mechanism of the front / rear shaft 60 drives the holding and fixing mechanism AA59 via the gear 52, the trapezoidal screw 53 and the LM guide 54 by rotating the remote bolt head 62 remotely remotely using the operation pole 5 and the socket pole 6. To do. The left / right shaft 61 is the same mechanism as the front / rear shaft 60, and the gripping and fixing mechanism 59 is driven via the gear 56, the trapezoidal screw 57, and the LM guide 58 by remotely rotating the remote bolt head 55.

  In the above description, the drive sources of the front and rear shafts 60 and the left and right shafts 61 are set to manual, but other drive sources such as an electric motor may be used.

  As described above, by mounting the polishing actuator EE and the dimension measurement actuator FF on the cradle 11 instead of the EDM actuator 12, a series of operations such as follow-up processing by electric discharge machining, polishing of the processed surface, and dimension measurement is high. It can be performed with positioning accuracy and efficient work.

  As described above, according to the present embodiment, a continuous and uniform processed surface can be obtained in the follow-up processing of the long member.

  Therefore, it can contribute to the improvement of the repair technology of the structure inside the nuclear reactor, which can be expected to expand the scope of application, thereby contributing to the extension of the life of the nuclear power plant.

In addition, since discontinuous surfaces do not occur, additional machining steps aimed at continuation of the machined surface are not required, making it possible to improve work efficiency and contribute to shortening the periodic inspection period. It can contribute to the improvement of power generation efficiency.

It is explanatory drawing of the working environment of the maintenance technical construction of the reactor internal structure using the processing apparatus of the rod-shaped long member by one Embodiment of this invention. It is explanatory drawing of the concept of the follow-up process by the processing apparatus of the rod-shaped elongate member by one Embodiment of this invention. It is a whole block diagram of the follow-up apparatus which is a processing apparatus of the rod-shaped elongate member by one Embodiment of this invention. It is a front view of the holding | grip fixing mechanism of the follow-up apparatus by one Embodiment of this invention. It is a block diagram of the rotation mechanism and radial direction drive mechanism of the follow-up apparatus by one Embodiment of this invention. It is a block diagram of the axial direction drive mechanism of the follow-up apparatus by one Embodiment of this invention. It is a block diagram of the grinding | polishing actuator used for the follow-up apparatus by one Embodiment of this invention. It is a block diagram of the actuator for dimension measurement used for the follow-up apparatus by one Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Reactor internal structure 2 ... Reactor 3 ... Reactor well 4 ... Work carriage 5 ... Operation pole 6 ... Socket pole 7 ... Rod-shaped elongate member 9 ... Electrode for electric discharge machining 10 ... Follow-up device 11 ... Receiving base 12 ... EDM actuator 13 ... Fixed clamp 14 ... Movable clamps 15, 43, 49 ... Cylinders 16, 19, 22, 39 ... Motors 17, 20 ... Ball screws 18, 21, 44, 54, 58 ... LM guides 23, 26, 40, 41 ... Pulley 24 ... Electrode for electrical discharge machining 25 ... Timing belt 27 ... Insulator 28 ... Table 29 ... Bolt hole 30 ... Guide pins 31, 35, 47, 55, 62 ... Remote bolt heads 32, 46 ... Guide pin insertion hole 34 ... guide pin insertion hole 36 ... brush 37 ... brush swivel shafts 38, 60 ... front and rear shafts 42 ... timing belt 48 ... gripping member 50 ... measure 51 ... pointer 2, 56 ... Gears 53, 57 ... Trapezoidal screw 59 ... Holding and fixing mechanism 61 ... Left and right axis AA ... Holding and fixing mechanism BB ... Rotating mechanism CC ... Radial direction driving mechanism DD ... Axial direction driving mechanism EE ... Polishing actuator FF ... Dimension measurement Actuator

Claims (4)

A method for processing a rod-shaped long member, in which a rod-shaped long member of a reactor internal structure is subjected to follow-up processing by electric discharge machining remotely in water,
Using the first holding and fixing mechanism and the second holding and fixing mechanism provided at two locations in the longitudinal direction of the long rod-shaped member to be processed, the equipment is held and fixed to the long rod-shaped member to be processed. As a standard for additional processing,
In the state where the cylindrical electrode for electric discharge machining is rotationally driven around a rotation axis substantially orthogonal to the longitudinal direction of the rod-shaped long member, the rod-shaped long member is processed in the radial direction,
Then, the processing method of the rod-shaped long member characterized by continuing the processing in the radial direction continuously in the axial direction by the electric discharge machining electrode. A rod-shaped long member machining apparatus for performing a follow-up machining of a rod-shaped long member of a reactor internal structure by electric discharge machining remotely in water,
The first and second gripping and fixing two longitudinal portions of the rod-shaped long member to be processed as a reference for follow-up processing by gripping and fixing the equipment to the rod-shaped long member to be processed A second holding and fixing mechanism;
A rotation mechanism for continuously rotating and driving the cylindrical electrode for electric discharge machining;
In the radial direction of the rod-shaped long member, the cylindrical electric discharge machining electrode is rotationally driven around a rotation axis substantially orthogonal to the longitudinal direction of the rod-shaped long member by the rotation mechanism, A radial drive mechanism for moving the rotation mechanism in the radial direction;
An axial drive mechanism that moves the rotating mechanism in the axial direction of the rod-shaped long member so as to continuously continue the radial machining in the axial direction by the electric discharge machining electrode. Processing equipment for rod-shaped long members. In the processing apparatus of the rod-shaped long member according to claim 2,
Dividing the function into a gripping and fixing mechanism part for gripping and fixing the equipment to the rod-shaped long member to be processed and an electric discharge machining mechanism part equipped with an electrode for electric discharge machining,
An apparatus for processing a long bar-shaped member, wherein the electric discharge machining mechanism can be remotely separated and reattached to the gripping and fixing mechanism. In the processing apparatus of the rod-shaped elongate member of Claim 3,
The gripping and fixing mechanism portion can be mounted with a polishing mechanism portion for polishing a machining surface by electric discharge machining or a dimension measurement mechanism portion after repair processing, instead of the electric discharge machining mechanism portion. Processing equipment for rod-shaped long members.

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