JP5202161B2 - In-reactor work equipment - Google Patents

Description

The present invention relates to an in-reactor work apparatus that performs work such as inspection, repair, and preventive maintenance mainly for structures in a reactor of a boiling water reactor.

  The internal configuration of the reactor pressure vessel 101 will be described with reference to FIG. FIG. 18 shows the reactor pressure vessel of the boiling water reactor with the upper lid removed, and the in-reactor structure installed therein.

  Inside the reactor pressure vessel 101, a cylindrical core shroud 102 is supported and installed by a plurality of shroud support legs 103. Inside the core shroud 102, there is an upper part for supporting the fuel assembly. A lattice plate 104 and a core support plate 105 are provided.

  A jet pump 106 for circulating the reactor water is provided between the core shroud 102 and the reactor pressure vessel 101, and a shroud support plate 107 is installed on the lower end surface of the jet pump 106.

  A control rod drive mechanism housing (CRD housing) 108 is forested and welded to the bottom of the reactor pressure vessel 101, and the position of the upper end surface of the reactor pressure vessel 101 is an operation for an operator to perform various operations. It is a floor 109.

  In a commercial nuclear power plant having such a reactor pressure vessel 101, inspections are carried out periodically and in order to maintain the soundness of the plant, focusing on the welded portion of the reactor internal structure. Measures such as crack defect detection, repair, and preventive maintenance are being implemented.

  From the viewpoint of protection against radiation exposure, these operations must be performed with the reactor pressure vessel and reactor well filled with water. It is necessary to operate.

  Conventionally, as an apparatus for performing such work, an installation type apparatus that performs work by fixing the work apparatus on a reactor internal structure, and a swimming type that performs work by swimming the apparatus itself in the reactor water The device is used.

  As an installation type device, an articulated manipulator is suspended from above the reactor water surface and fixedly installed on the reactor internal structure or guide pipe (see Patent Document 1), and is located in the lower mirror part of the nuclear pressure vessel An apparatus (see Patent Document 2) that performs an operation by inserting an articulated manipulator into the CRD housing from the lower end of the CRD housing has been proposed.

On the other hand, as a swimming type device, a plurality of thrusters are used to perform a swimming movement in an arbitrary direction and perform an inspection operation (see Patent Document 3), or a core shroud or the like using a thruster in addition to a swimming function. An apparatus (see Patent Document 4) that performs work while adsorbing to a wall surface and moving on the wall surface has been proposed and used.
JP 2003-337192 A JP 7-35892 A Japanese Patent No. 3011583 JP 2005-188954 A

  In the in-reactor working device described above, the installation type device can be fixed to the in-reactor structure, so that the construction tool can be positioned accurately, and work that generates reaction force such as polishing is performed. There is an advantage that it is easy.

  However, the area that can be constructed at one installation location is limited, and it is necessary to change the installation position of the apparatus as necessary when a wide range is to be constructed. For example, when installing the device in the furnace bottom region, it is necessary to remove the fuel assemblies, control rods, control rod guide tubes, etc. that are arranged along the way when they are inserted into the furnace. Since it takes a lot of time to remove the equipment and install the working device, there is a problem that the construction period becomes long.

  On the other hand, in the case of a swimming-type device, once the device is put into the furnace, it can swim and move by itself, so that there is an advantage that work can be performed over a wide range. However, since the swimming device cannot support and fix the position of the device with respect to the furnace internal structure, it is difficult to maintain the position with respect to the external force, and the work in an environment where there is a flow of reactor water or polishing work is difficult. Not suitable for work where power is generated. Moreover, since the relative positional relationship between the apparatus and the in-furnace structure cannot be rigidly fixed as in the installation type apparatus, there is a problem that it is difficult to absolutely position the construction tool.

The present invention has been made in view of such circumstances, and it is possible to accurately position a construction tool, which is a feature of an installation type device, and is advantageous in that it can receive a large work reaction force, and a feature of a swimming type device. An object of the present invention is to obtain an in-furnace working device that has the advantage that a wide range of construction work is possible with a single introduction of the device.

In order to solve the above-described problems, the present invention provides an in-reactor working apparatus that performs inspection, repair, prevention, maintenance, and related work for structures in a nuclear reactor. A robot arm unit rotatably connected through a shaft, and an installation device installed on a structure in the nuclear reactor, wherein the robot arm unit is provided at each of both ends thereof, and the work A gripper portion that grips a structure to be a target of the gripper. When the gripper portion at one end functions as a fixed side for gripping the structure, the gripper portion at the other end is the robot arm portion. to be fixed so as to function as a hand work, also when the gripper portion of the one end functioning as a hand of work is gripping the structure, its gripping position fixing and installation position of the new the robot arm In addition, the gripper portion at the other end that has gripped the original fixed installation position has a function of releasing the grip of the structure and serving as a hand of the work. It is possible to carry out the work construction while moving, the robot arm part and the gripper part can be freely attached and detached, and the gripper part can be exchanged with a construction tool head equipped with construction equipment. The installation apparatus includes an in-furnace working apparatus having a connection base that is connected to the installation apparatus and the robot arm unit by being held by the gripper unit.

  According to the present invention, it is possible to accurately position a construction tool, which is a feature of a stationary device, and to receive a large work reaction force. The advantage that construction work is possible can be obtained.

Hereinafter, an embodiment of an in-reactor working apparatus according to the present invention will be described with reference to FIG. Note that FIG. 18 is referred to for the internal configuration of the reactor pressure vessel.

[First Embodiment] (FIGS. 1 to 15 and FIG. 18)
FIG. 1 is a cross-sectional view for schematically illustrating main components of the in-reactor working apparatus according to the present embodiment.

  As shown in FIG. 1, the in-reactor work device 1 is configured to be installed in a suspended state on the core support plate 105 shown in FIG. 18 as an example. That is, the in-reactor working apparatus 1 includes a vertically long columnar installation mechanism unit 203 and a work robot arm unit 201 that is supported on the lower end side of the installation mechanism unit 203 and performs work in the reactor. .

  The installation mechanism unit 203 is suspended from the reactor via a suspension wire 814, supported at the upper end by the core support plate 105, and detachably inserted below the core support plate 105. . A ball screw 812 and a linear guide 813 are provided on one side of the installation mechanism 203 along the vertical direction.

  The ball screw 812 and the linear guide 813 are provided with a connecting pedestal 501 that can be moved up and down. A robot arm 201 as a work arm 202 is provided on the connecting pedestal 501 via one of gripper portions 202A and 202B provided at both ends thereof. Are connected.

  The robot arm unit 201 has a configuration in which a plurality of arms, for example, two arms 201A and 201B are connected so as to be three-dimensionally bendable. Among these arms 201A and 201B, an arm 201B on one end side is an installation mechanism unit. 203 is supported via a joint group 204C.

  In the following description, the fixed installation end side that is the connection base 501 side of the robot arm unit 201 is referred to as “base side”, and the opposite side is referred to as “hand side”.

  In FIG. 1, the mechanism is schematically shown, and the seven joints are divided into three joint groups 204A, 204B, and 204C. That is, the joint group 204C includes a three-axis joint of roll rotation, pitch rotation, and roll rotation from the base side, and the joint group 204A has a three-axis joint of roll rotation, pitch rotation, and roll rotation from the hand side. Is included. The joint group 204B represents the remaining pitch rotation axes.

  As described above, the robot arm unit 201 is a mechanism in which seven rotation joints of roll rotation, pitch rotation, roll rotation, pitch rotation, roll rotation, pitch rotation, and roll rotation are combined from the base side.

  With this joint configuration, the robot arm has freedom of movement of 7 degrees of freedom, and the robot arm unit 201 alone can be operated by arbitrarily setting the position and posture on the hand side with respect to the base side of the work arm 202. It is.

  Also, in general industrial manipulators and the like, the load due to the device's own weight increases toward the base side joint. Therefore, in this embodiment, a structure that increases the drive output is adopted, but the robot arm of this embodiment The unit 201 is configured such that there is no bias in the drive output between the base side and the hand side, and functions in the same way regardless of which of the base side and the hand side becomes the base side.

  In this embodiment, the number of joints is seven, but the number of joints is not necessarily limited to seven, so that more redundant degrees of freedom can be provided and a complicated posture can be taken. It may be. Further, the working posture may be limited to 6 axes or less, and the combination in the rotation axis direction is not limited to this. Furthermore, the present invention is not limited to the serial link mechanism in which the rotary joints are combined as described above, and any mechanism that can change the relationship between the position and the posture between the base side and the hand side may be used.

  As a mechanism for driving such a rotary joint, although not shown, a combination of a servo motor, a speed reducer, and a brake can be used as in a general robot arm.

  Further, the angle of the joint is detected by a resolver that is a rotation angle sensor attached to the motor, and position control, speed control, and torque control of each joint can be performed.

  Further, the drive mechanism is not limited to the above-described configuration, and other means such as a rotary actuator by hydraulic drive and / or hydraulic drive may be used.

  Next, with reference to FIGS. 2-6, the function to hold | grip the structure in a furnace mounted on the both ends of the robot arm part 201, the gripper mechanism for implementing construction, etc. are demonstrated.

  2A is a cross-sectional view showing the gripper portions 202A and 202B shown in FIG. 1, and FIG. 2B is a side cross-sectional view taken along the line AA in FIG. 2A.

  As shown in FIGS. 2A and 2B, the gripper portions 202A and 202B are provided with a pair of parallel screw shafts 306A and 306B in a housing 320 whose one surface is open. A pair of gripper fingers 301A and 301B are screwed to 306A and 306B through nuts 307A and 307B, respectively, so as to face each other, and the nuts 307A and 307B are moved by rotation of the screw shafts 306A and 306B. In this configuration, the fingers 301A and 301B can be moved in a direction in which the fingers 301A and 301B come in contact with and away from each other. A fitting groove 313 for fixing an object to be grasped, which is a tapered recess, is formed on the opposing surfaces of the gripper fingers 301A and 301B on the finger tip side.

  Then, the shroud support leg 103, which is a reactor internal structure, can be gripped by the movement of the gripper fingers 301A and 301B in the contact / separation direction.

  The two-finger gripper fingers 301A and 301B are opened and closed by using an actuator including a servo motor 302, a speed reducer 303, a brake 304, and a resolver 305 provided in a housing 320. The two screw shafts 306A and 306B are rotated, and the nut portions 307A and 307B coupled to the finger members are driven.

  As described above, the screw shafts 306A and 306B are coupled via the gears 308A and 308B so that the rotation directions of the screw shafts 306A and 306B of the fingers are opposite to each other, and the output shaft 302A of the servo motor 302 is connected. Is transmitted to the screw shaft 306A on one side via gears 308A, 308B, and 308C, thereby opening and closing the gripper fingers 301A and 301B having two fingers by using one servo motor.

  In this embodiment, a trapezoidal screw is used for the screw shaft for opening and closing the finger. For this reason, even if an external force is applied in the direction of opening the finger, it is difficult to cause back drive, and the gripping force can be maintained even if the actuator output is reduced after gripping the object. For this reason, even if it is the structure which uses a servomotor, reliable holding | maintenance fixation can be maintained with little energy consumption. The grippers 202A and 202B are configured to be freely detachable from the robot arm 201.

  In addition, a suspension wire 312 is attached to the grippers 202A and 202B so that the gripper 202A and 202B can be separated from the robot arm 201 and charged into and recovered from the reactor.

  In addition, a taper shank 309 as a male unit is provided on a base plate provided with a keyway 311 on the male unit side at the lower end of the housing 320, and a pull stud bolt 310 is provided at the tip thereof.

  FIG. 3 is a cross-sectional view illustrating a configuration of a female unit applied to the connection between the robot arm unit 201 and the gripper units 202A and 202B. That is, the taper shank mechanism member provided at the connecting portion between the joint groups 204A, 204B, 204C and the like provided at both ends of the robot arm 201 shown in FIG. 1 and the gripper fingers 301A, 301B is shown. Here, the connection with the gripper sections 202A and 202B shown in FIG. 2 will be described as an example.

  For this connecting portion, a known structure used as a tool attaching / detaching mechanism such as a machine tool can be used. The taper shank mechanism shown in FIG. 2 is configured as a male unit including a taper shank 309 and a pull stud bolt 310, and the female unit shown in FIG. 4 includes a taper 401 fitted to the male unit shown in FIG. 402 and an air cylinder 403, which are paired with the female unit.

  This configuration is applied to the gripper portions 202A and 202B shown in FIG. For example, male units are provided in the gripper units 202A and 202B, and a female unit is provided on the robot arm unit 201 side.

  With this configuration, the pull stud bolt 310 on the male unit side is attracted by the air cylinder 403 on the female unit side, whereby contact friction is generated and fixed to the tapered portion 401.

  In addition, a key groove 311 is provided on the male unit side, and by positioning with the key member 404 on the female unit side, rotational positioning around the main axis can be performed, and the leading end of the gripper fingers 301A and 301B can be set to an accurate orientation. It can be configured.

  In order to enable the gripper sections 202A and 202B to be attached to and detached from the robot arm section 201, the power / signal line cable for driving the finger mechanism is configured to be wired as a separate system from the robot arm section 201. .

  In addition, a suspension wire 312 is attached to the gripper portions 202A and 202B so that the robot arm portion 201 can be separated and loaded into the furnace.

  FIG. 4 is a configuration diagram showing a configuration for connecting the robot arm unit 201 and the installation mechanism unit 203, that is, a configuration of the connection base 501.

  As shown in FIG. 4, the connecting base 501 has a shape having a thick block-like portion and a thin portion hanging below the connecting base 501, and a protrusion for fixing the gripper on the thin portion of the connecting base 501, That is, a convex gripper fixing taper portion 502 is provided.

  Then, the ball screw 812 shown in FIG. 1 is screwed into the thick block-like portion of the connection base 501.

  With this configuration, the robot arm unit 201 and the installation mechanism unit 203 described above are connected and fixed by gripping the connection base 501 of the installation mechanism unit 203 with a gripper.

  When working with the arm, the position and orientation of the connection with the installation mechanism section are the reference coordinates, and therefore it is necessary to fix the position accurately so that position and orientation errors do not occur at the connection section.

  Therefore, in this embodiment, the connecting base 501 held by the gripper fingers 301A and 301B is provided with a quadrangular pyramid-shaped gripper fixing taper 502, and the gripper fingers 301A and 301B are fitted to the gripper fixing taper 502. The groove shape 313 shown in FIG. 2 is provided.

  As described above, by using the quadrangular pyramid-shaped gripper fixing taper 502, it is possible to connect and fix with a small position error and posture error. Further, the gripper fingers 301A and 301B are equipped with tools for construction work so that construction can be performed.

  The construction work performed by the working device 1 of the present embodiment on the furnace internal structure includes visual inspection (VT inspection), ultrasonic flaw inspection (UT inspection), polishing work, welding work on the furnace internal structure. For example, preventive maintenance work to prevent cracks from occurring.

  As the welding operation, underwater laser sealing welding for crack sealing is performed. This is because in the furnace environment filled with reactor water, the chamber is pressed against the construction object, and the interior is filled with an inert gas such as argon to form a partial air space and welded to it. Sealing is performed by fusing the filler and injecting the filler by laser beam irradiation.

  Laser peening is performed as preventive maintenance work. This is a technique for improving the stress on the surface of a structural material. A high-energy pulse laser is applied to the surface of the material, and the impact of the plasma generated at that time compresses the stress of the material so that cracks are unlikely to occur. It will be in the state of.

  FIG. 5 is a configuration diagram showing a gripper portion when performing a VT inspection as an example of mounting a construction work tool on the gripper portion.

  The VT inspection is an external inspection such as confirmation of the presence or absence of cracks in the furnace structure, and a CCD camera 601 and an underwater illumination device 602 for irradiating an object are mounted on the fingertip. Similarly, when performing a UT inspection, a UT sensor probe is mounted on the fingertip of the gripper unit. When laser peening is performed, an optical fiber that transmits laser light oscillated by a laser oscillator, a lens for focusing the laser beam on the irradiated surface, a focus adjustment moving mechanism for controlling the laser focus position, etc. It is desirable to install it in

  In the case of a small construction tool such as VT inspection and UT inspection, it can be mounted and used on the gripper mechanism, but depending on the construction work, it cannot be mounted on the gripper part because the volume of the construction tool is large. There is something. For example, a polishing operation using a grinder, a chamber-type welding operation, and the like can be given.

  In such a case, prepare a dedicated construction tool head, and attach it to the robot arm using a taper shank like the gripper, and connect the gripper and construction tool head inside or outside the furnace. Construction is carried out by switching and mounting.

  FIG. 6 is a configuration diagram showing a head mechanism for chamber welding as an example of a construction tool head.

  As shown in FIG. 6, this construction tool head mainly includes a chamber 701 for forming a partial air environment by sealing a construction portion with gas, a sealing packing 702, a purge gas tube 703, and a welding filler 704. , A feed mechanism 705, a laser irradiation mechanism 706, an optical fiber 707, and a wire for hanging a construction tool head.

  Further, the connection with the robot arm unit 201 is performed using a tool shank mechanism in the same manner as the gripper units 202A and 202B. In addition, although the example which replaces and uses the gripper part 202A, 202B and a construction tool head was shown here, the method of gripping and using a construction tool head in a gripper part may be employ | adopted.

  FIG. 7 is a cross-sectional configuration diagram illustrating in detail the installation mechanism unit 203 for fixedly installing the robot arm unit 201 on the in-furnace structure.

  In the example shown in FIG. 7, the installation mechanism unit 203 shows a configuration for installing the apparatus on the upper surface of the core support plate 105.

  The installation mechanism unit 203 includes an upper end installation base 801 for seating and installation on the core support plate, a cylindrical mast unit 802 serving as a body part, a turning shaft mechanism 803 for turning the entire mast part, and an installation mechanism part 203. And the robot arm unit 201 are connected to a connecting pedestal 501 and an elevating shaft mechanism 804 for raising and lowering the connecting pedestal 501.

  On the upper surface of the core support plate 105, a guide pin 805 for fixing the position of the fuel support fitting and the control rod guide tube is installed. Using this guide pin 805, the guide pin receiver 806 of the upper end installation base 801 is installed. The orientation of the entire apparatus is fixed by penetrating the.

  The lower-end installation base 807 disposed at the lower end of the installation mechanism unit 203 is inserted into the inner surface of the CRD housing 108, and is subjected to a horizontal force applied to the installation mechanism unit 203 and a moment in a falling direction. 801 and the lower-end installation base 807 are configured to resist each other.

  In addition, since the lower end installation base 807 is in contact with the CRD housing 108, the lower installation base 807 is configured to be passively rotated so that the installation mechanism can rotate.

  The turning shaft mechanism 803 is attached above the installation mechanism unit, and can turn the mast portion using an actuator including a servo motor 808, a speed reducer 809, and a brake 810.

  The servo motor 808 is provided with a resolver 811 which is a rotation angle sensor, and can be adjusted to an arbitrary turning angle. Similarly, the elevating shaft mechanism 804 drives the ball screw 812 in the mast 802 by a mechanism having a configuration of a servo motor 808, a speed reducer 809, and a brake 810.

  A connection base 501, which is a connection portion with the robot arm unit 201, slides up and down on the linear guide 813 and moves up and down by the rotation of the ball screw 812.

  The servo motor 808 for driving the lifting shaft is also provided with a rotation angle sensor so that the lifting position of the connecting base 501 can be adjusted arbitrarily.

  A wire 814 for raising and lowering the apparatus with a crane or a hoist is attached to the upper end of the installation mechanism unit 203, and this wire 814 is used for installation and recovery on the in-furnace structure.

  The connection between the robot arm unit and the installation mechanism unit is performed by holding the connection base 501 of the installation mechanism unit 203 with the gripper as described above as the configuration of the gripper unit.

  Although a detailed description will be given later, the working device 1 of the present embodiment can perform the work by moving the arm unit itself by separating the robot arm unit 201 from the installation mechanism unit 203.

  When it is necessary to carry out construction with a construction tool head for exclusive use instead of the gripper parts 202A and 202B, the robot arm is not connected by gripping the gripper parts 202A and 202B. You may employ | adopt the system which connects the part 201 and the installation mechanism part 203 directly by a taper shank mechanism.

  In that case, after gripping the in-furnace structure with the gripper 202A, it is possible to disconnect the connection on the base side and attach the construction tool head to the disconnection site.

  FIG. 8 shows the configuration of a system for controlling the apparatus according to the present embodiment.

  As shown in FIG. 8, a control panel 901 for controlling the apparatus is installed on the operation floor 109 shown in FIG. The apparatus 1 (“902” in FIG. 8) of the present embodiment and the control panel 901 are connected by a transmission cable for power and signals and an air tube for driving the air cylinder 903.

  The control panel 901 includes a motor controller circuit 906 for controlling the servo motor 904 and controlling the brake 905 of the motor, an angle detection circuit 908 for obtaining the value of the rotation angle sensor 907 of the servo motor 904, and compressed air. Pressure control valve / control circuit 909, and a control operation CPU circuit 910 for controlling the operation of the entire apparatus and calculating command values for each axis. Further, the control panel 901 is connected to an operation panel 911 for operation by an operator.

  The operation panel 911 includes a status display monitor 912 that indicates the status of the device, an operation command device 913 such as a mouse and a joystick for issuing an operation command for the device, and a command processing CPU circuit 914 that performs information processing on the device. It is.

  The apparatus drive control of this embodiment is performed semi-automatically based on an operator's work instruction. That is, the position / orientation trajectory of the gripper part or the construction tool head tip necessary for carrying out the selected work content is designed by the control arithmetic CPU circuit 910, and each joint angle of the robot arm part for realizing the trajectory is determined. Automatic control is performed by calculating and performing angle control of each axis.

  FIG. 9 is a flowchart for explaining the flow of the installation, construction, and recovery work of the apparatus when the construction of the area around the shroud support leg 103 is targeted in this automatic control.

  As shown in FIG. 9, in the work of this embodiment, the gripper units 202A and 202B are mounted on the robot arm unit 201 (S101), and the connecting base of the installation mechanism unit is held and fixed by the gripper unit 202 (S102). Then, the apparatus is suspended and installed in the furnace (S103), and orientation adjustment is performed by a turning operation of the installation mechanism unit (S104).

  Next, height adjustment is performed by the raising / lowering operation | movement of the installation mechanism 203 part (S105), and the robot arm part 201 is expand | deployed in a furnace (S106).

  In addition, it is determined whether the construction location is within the operation range based on the installation location of the installation mechanism (S107). If the construction location is within the operation range (YES), the gripper 202A or the construction tool head is installed. Construction is carried out after positioning at the location (S108).

  On the other hand, when the construction location is not within the operation range based on the installation location of the installation mechanism (NO), the gripper portion 202A grips the shroud support leg (S109), and the gripper portion 202B is released from gripping (S109). S110). In addition, a determination is made as to whether the construction location is within the operation range based on the gripping location of the gripper 202A (S111). If this determination is YES, the gripper 202B is positioned at the construction location and the construction is performed. Implemented (S112).

  If the determination in step S111 is NO, a determination is made as to whether a construction tool head is required for execution (S113). If the determination is YES, the gripper 202B is removed (S114). Further, the construction head is mounted (S115), the construction tool head is moved to the construction site, and construction is performed (S116).

  And when judgment of step S113 is NO, the gripper part 202B is positioned in a construction location, and construction is implemented (S117).

  Further, the step of gripping another shroud support leg with the gripper 202B (S118), the step of releasing the gripper 202B (S119), and the construction location within the operating range based on the gripping location of the gripper 202B. And a step (S120) of determining whether or not there is.

  If this determination is YES, it is further determined whether or not a construction tool head is required for execution (S121). If the determination in step S120 is NO, the process returns to step S109 and the gripper unit 202A The shroud support leg is gripped.

  Further, when the determination in step S121 is YES, the gripper 202B is taken out (S122), the construction tool head is mounted (S123), and the construction tool head is moved to the construction location and construction is performed. (S124).

  If the determination in step S121 is NO, the gripper 202A is positioned at the construction location and construction is performed (S125).

  10-17 is explanatory drawing which shows the equipment operation | movement concept based on the above process. Note that FIG. 18 is also referred to in the following description.

  First, with reference to FIG. 10 and FIG. 11, the working method in case a construction object location is near from an apparatus installation position is demonstrated.

  As shown in FIG. 10, in a state where the robot arm unit 201 including the gripper units 202A and 202B is mounted on the installation mechanism unit 203, a furnace is used by using a fuel change carriage or an overhead crane on the operation floor 109 from above the reactor water surface. The installation mechanism section 203 is seated on the core support plate 105 and the apparatus is installed and fixed.

  At this time, the orientation of the installation mechanism unit 203 is fixed using the guide pins 805 on the core support plate 105.

  Next, as shown in FIG. 11, the installation mechanism unit 203 performs turning and raising / lowering operations, and adjusts the deployment direction and the elevation height of the arm according to the work position.

  Thereafter, the robot arm unit 201 is operated to deploy the arm to the outside of the installation mechanism unit 203. When the construction target location is close to the apparatus installation position, the work is performed using the construction equipment mounted on the gripper 202A as it is.

  Here, when the construction tool head is necessary, the construction tool head may be mounted instead of the gripper 202A before the apparatus is put into the nuclear reactor. Further, the gripper 202A and the construction tool head may be replaced and used in the furnace. In the case of using the gripper 202A and the construction tool head, the posture of the robot arm 201 is first set so that the gripper 202A to be removed faces upward, and the gripper 202A is separated and pulled up.

  Similarly, the construction tool head is suspended so that the taper shank 309 faces downward, and is inserted into the connecting portion of the robot arm unit 201 to be connected.

  Next, with reference to FIGS. 12-15, the working method in case a construction object location is far from an apparatus installation position is demonstrated.

  As shown in FIG. 12, in this method, after gripping the in-furnace structure with the gripper on the hand side, the robot arm unit 201 is detached from the installation mechanism unit 203, and the robot arm unit itself is moved to perform the construction.

  Regarding this procedure, first, the in-furnace structure as a new fixed support end of the robot arm unit 201 is gripped by the gripper unit 202A. Here, the lateral surface of the shroud support leg 103 is gripped.

  Next, the finger of the gripper unit 202 </ b> B that has been the fixed support end of the robot arm unit 201 is opened, and the arm is separated from the installation mechanism unit 203.

  As a result, as shown in FIG. 13, the work can be performed with the gripper 202B as a new hand of the arm in the area centered on the position gripped by the gripper 202A, and the work area can be enlarged. it can.

  When the construction tool head is necessary, the gripper 202B is separated and replaced with the construction tool head.

  Also, as shown in FIG. 14, when performing a wider range of work, the arm movement operation is performed again. That is, in order to use the gripper 202B, which has been the tip of the arm, as a new fixed support end, the in-furnace structure in the moving direction is gripped by the gripper 202B and becomes the fixed support end of the robot arm until now. The finger of the gripper 202A that has been opened is opened, and the robot arm 201 is moved.

  As a result, as shown in FIG. 15, it is possible to work with the gripper 202A as a hand in an area centered on the place gripped by the gripper 202B.

  Next, an operation method of the hand position of the robot arm unit 201 for performing various constructions will be described.

  The VT inspection is a non-contact operation with the inspection object, and since the area that can be inspected with one arm posture is wide, the robot arm unit 201 is controlled so that the inspection position falls within the angle of view of the camera, and the position of the hand Adjust posture.

  On the other hand, in the UT inspection, laser welding work, and laser peening work, since the inspection spot and the construction point become a small spot area, it is necessary to perform the construction of a necessary surface area by operating the hand with high accuracy.

  These constructions are applied to the weld line of the furnace internal structure and its neighboring area, but the construction path is set so that there is no missing construction in this area, and the construction equipment on the hand follows the path. The arm unit 201 is controlled. Various constructions are carried out in this way.

  Next, a procedure for recovering the apparatus outside the furnace will be described.

  When recovering the apparatus, the above-described apparatus installation procedure, robot arm unit 201 deployment, and movement procedure are reversed.

  That is, when the movement operation of the robot arm unit 201 is performed, the movement operation is performed in the reverse procedure, the connection base 501 of the installation mechanism unit 203 is gripped by the gripper unit, and the robot arm unit 201 is moved. It is stored in the installation mechanism section 203.

  Thereafter, the entire installation mechanism unit 203 is pulled up and collected outside the furnace. As described above, the construction around the shroud support leg 103 is performed.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIGS. 16 (a) and 16 (b).

  In this embodiment, instead of the detachable grippers 202A and 202B shown in the first embodiment, another robot arm unit 201 is connected and used.

  For example, as shown in FIG. 16A, by connecting the robot arm parts 201 directly using a connection joint 1701 having two connection ports, as shown in FIG. The length can be increased and a wider range of construction can be performed.

  In addition, since the number of degrees of freedom of the joints is doubled, the robot arm can be changed into a complex shape, and a method of use that avoids furnace structures that become obstacles on the construction path by changing the posture is adopted. be able to.

  In this case, before putting the apparatus into the furnace, a plurality of robot arm portions 201 may be connected and collectively mounted on the installation mechanism portion 203 and suspended. Alternatively, once the apparatus is installed in the furnace, such as attaching and detaching a construction tool head in the furnace, the connecting robot arm 201 is suspended in the vicinity with the connecting joint 1701 attached, and connected in place. You may adopt the method of doing.

  According to this embodiment, it has a mechanism structure that has both a robot arm portion composed of a plurality of joint axes and a gripper portion for gripping the in-furnace structure at both ends thereof. By gripping the structure and making the gripping position a new fixed installation position of the apparatus and applying the original fixed gripper as a hand, construction can be performed while moving the entire apparatus.

  Further, the robot arm portion and the gripper portion can be freely attached and detached, and the gripper for gripping the in-furnace structure and the construction tool head on which the construction equipment is mounted can be used interchangeably.

  In addition, the above working device can be installed in an installation device for installation on an in-furnace structure and installed in the furnace.

  In addition, the installation device can be equipped with a mechanism for turning the robot arm part in the horizontal direction.

  The installation device can be equipped with a mechanism for moving the robot arm portion up and down in the vertical direction.

  In the above working device, the robot arm unit and the installation device can be connected by holding the connection base of the installation device using the gripper unit.

  Further, the number of arms can be freely changed by connecting another robot arm instead of the detachable gripper unit.

  Moreover, a construction tool head can be provided at a joint between a plurality of robot arms.

[Third Embodiment]
17 (a) and 17 (b) are explanatory views showing a third embodiment of the present invention.

  According to this embodiment, a connection joint 1801 having three connection ports as shown in FIG. The two robot arm parts 201 and the construction tool head 1801 are connected and used.

  Further, gripper sections 202A and 202B are mounted on each robot arm section 201, and the in-furnace equipment is gripped and fixed by both gripper sections.

  In this way, since the closed link structure is formed by supporting and fixing using the two robot arm portions 201 and 201, a larger generated force and higher mechanism rigidity than when using one robot arm portion 201 are used. Can be obtained.

  Thereby, it is possible to carry out the work stably even when a work with a large construction reaction force such as polishing work or a heavy construction tool head is mounted.

  Also, instead of the construction tool head, another robot arm unit is connected to form a three-arm configuration, so that the robot arm unit can be moved in parallel with the work using the arm. Is possible.

[Other Embodiments]
In the above embodiment, the case where the present invention is applied to the bottom region of the boiling water reactor, particularly the region around the shroud support leg 103 has been exemplified, but the use of the present invention is limited to this working region. is not.

  That is, if the finger shape of the gripper part is changed according to the shape of the reactor internal structure at the application location, it can be applied to various areas such as the furnace bottom center area, the upper grid plate and the upper and lower areas of the core support plate. is there.

  In this way, construction that combines the advantages of both a swimming-type device and an installation-type device by adding a function to move the arm itself while supporting and fixing it to the reactor internal structure to the robot arm having a multi-joint structure An apparatus can be realized.

  Further, in the present invention, it is possible to use a combination of processes for measuring the shape of the in-furnace structure and correcting the design error of the structure and the shape error of the actual structure. be able to. For example, it is possible to measure the distance, inclination, and three-dimensional shape of an object using a distance measurement sensor such as an ultrasonic sensor or a laser distance meter on a gripper part or a construction tool head part, and a camera image. The position and orientation of the hand to be corrected can be corrected and corrected.

The block diagram of the whole working device which shows the structure of the working device by 1st Embodiment of this invention. (A), (b) is a block diagram which shows the gripper of the working device shown in FIG. The block diagram which shows the attachment / detachment mechanism of the robot arm part shown in FIG. The block diagram which shows the connection base of the robot arm part shown in FIG. The block diagram which shows the gripper with a VT test | inspection function in 1st Embodiment of this invention. The block diagram which shows the underwater welding construction tool head in 1st Embodiment of this invention. FIG. 2 is a detailed explanatory diagram illustrating a robot arm unit illustrated in FIG. 1. The control unit block diagram which shows 1st Embodiment of this invention. The flowchart which shows the flow of operation | movement in construction around the shroud support leg in 1st Embodiment of this invention. Operation | movement explanatory drawing in construction around the shroud support leg in 1st Embodiment of this invention. Operation | movement explanatory drawing in construction around the shroud support leg in 1st Embodiment of this invention. Operation | movement explanatory drawing in construction around the shroud support leg in 1st Embodiment of this invention. Operation | movement explanatory drawing in construction around the shroud support leg in 1st Embodiment of this invention. The operation | movement block diagram in the construction around the shroud support leg in 1st Embodiment of this invention. The operation | movement block diagram in the construction around the shroud support leg which shows 1st Embodiment of this invention. (A), (b) is a block diagram which shows 2nd Embodiment of this invention. (A), (b) Explanatory drawing which shows 3rd Embodiment of this invention. The whole block diagram which shows the inside of a reactor pressure vessel.

Explanation of symbols

101 reactor pressure vessel 102 core shroud 103 shroud support leg 104 upper lattice plate 105 core support plate 106 jet pump 107 shroud support plate 108 CRD housing 109 operation floor 201 robot arm unit 202 work arm 202A gripper unit 202B gripper unit 203 installation mechanism unit 204A Joint group 204B Joint group 204C Joint group 301A Gripper finger 301B Gripper finger 302 Servo motor 302A Output shaft 303 Reducer 304 Brake 305 Resolver 306A Screw shaft 306B Screw shaft 307A Nut 307B Nut 308A Gear 308B Gear 308C Gear 309 Taper shank 310 Pull stud Bolt 311 Key groove 312 Hanging wire 313 Taper fitting groove mechanism 401 Par 402 Ball chuck 403 Air cylinder 404 Key 501 Connection base 502 Gripper fixing taper 601 CCD camera 602 Underwater illumination device 701 Chamber 702 Sealing packing 703 Purge gas tube 704 Weld filler 705 Weld filler feed mechanism 706 Laser irradiation mechanism 707 Optical fiber 801 Upper installation base 802 Mast 803 Rotating shaft mechanism 804 Elevating shaft mechanism 805 Guide pin 806 Guide pin receiver 807 Lower installation base 808 Servo motor 809 Reducer 810 Brake 811 Resolver 812 Ball screw 813 Linear guide 814 Suspension wire 901 Control panel 902 Device 903 Air cylinder 904 Servo motor 905 Brake 906 Motor controller circuit 907 Rotation angle sensor 908 Angle detection circuit 909 Air Control valve / circuit 910 Control operation CPU circuit 911 Operation panel 912 Status display monitor 913 Operation command device 914 Operation command CPU circuit 1701 Connection joint 1801 Connection joint 1802 Construction tool head

Claims (7)

An in-reactor working device that performs inspections, repairs, preventions, maintenance and related work on structures in the reactor,
A robot arm unit rotatably connected via a plurality of joint axes;
An installation device installed on a structure in the nuclear reactor,
The robot arm part is provided at each of both ends thereof, and has a gripper part for gripping the structure to be the target of the work,
When the gripper portion at one end functions as a fixed side for gripping the structure, the gripper portion at the other end is fixed to the robot arm portion so as to function as a work tip . When the gripper part at one end functioning as a hand grips the structure, the gripping position is set as a new fixed installation position of the robot arm unit and the other end holding the original fixed installation position The gripper part has a function to release the grip of the structure and become a work tip, and the work construction during the movement of the entire robot arm part can be performed by the function.
The robot arm part and the gripper part have a configuration that can be freely attached and detached, and the gripper part and a construction tool head equipped with construction equipment can be used for replacement,
The in-furnace working apparatus according to claim 1, wherein the installation apparatus has a connection base that can be connected to the installation unit and the robot arm unit by being held by the gripper unit.   The gripper portion is formed with a fitting groove for fixing a gripping object made of a tapered recess on the opposing surface on the finger tip side, and the connecting base is provided with a taper that fits into the fitting groove. The in-furnace working apparatus according to claim 1, wherein   The in-furnace working apparatus according to claim 1 or 2, wherein the gripper portion includes two gripper fingers that are opened and closed by a screw shaft using a trapezoidal screw.   The installation apparatus has a vertical columnar installation mechanism portion in which a ball screw and a linear guide are provided along a vertical direction, and the connection base is configured to be movable up and down to the ball screw and the linear guide. The in-furnace working apparatus according to any one of claims 1 to 3.   The in-furnace working apparatus according to any one of claims 1 to 4, wherein the robot arm unit is mounted on the installation apparatus and can be installed in the furnace.   The in-furnace working device according to any one of claims 1 to 5, wherein the installation device is equipped with a mechanism for turning the robot arm portion in a horizontal direction. Instead of the gripper portion at one end of the robot arm portion, an arbitrary number of the robot arms can be coupled by having a connecting joint that couples the one end of the robot arm portion and one end of another robot arm portion. The construction tool head is connected to the joint between the robot arm parts , and the gripper parts at both ends of the connection robot arm part grip the structure. The in-furnace working apparatus according to any one of claims 1 to 6, wherein the construction tool head can be brought close to the structure in a state.

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