JP5762883B2 - Control rod drive mechanism handling apparatus and method - Google Patents

Description

  TECHNICAL FIELD The present invention relates to a control rod drive mechanism handling apparatus and method for attaching / detaching an object to be attached / detached including a control rod drive mechanism of a boiling water reactor or moving the object to a predetermined position by moving means. .

  Since the installation or removal of the control rod drive mechanism in a boiling water reactor requires a lot of manual work, it largely depends on the skill level of the worker. In addition, in the work, the control rod drive mechanism and the cables are dense, and it is difficult to visually check the work. Because of this, work takes a long time. In addition, the site is a work environment with a high radiation dose and high exposure. Therefore, there is a demand for a technique for reducing the exposure time by shortening the work period by reducing the work time and manual work part for exchanging the control rod drive mechanism.

  An apparatus described in Patent Document 1 is given as a solution to such a problem. This apparatus predetermines a target image, acquires a current image to be aligned with a camera when attaching or removing a control rod drive mechanism, etc., so that the current image matches the target image. The alignment is performed by moving the object to be aligned.

JP 2007-57496 A

  In the conventional apparatus, alignment is performed by moving the object to be aligned so that the current image by the camera matches the target image, but due to deformation of this object (for example, the control rod drive mechanism guide tube), The current image and the target image do not match each other, or a camera driving mechanism that moves the camera in a complicated manner is required.

  The present invention has been made in consideration of the above-mentioned circumstances, and even when the object including attachment and detachment including the control rod drive mechanism or the object to be provided is deformed, misaligned, etc. It is an object of the present invention to provide a control rod drive mechanism handling apparatus and method capable of suitably aligning an object without complicatedly moving a measuring device that measures the relative position of the object during attachment or removal.

A control rod drive mechanism handling apparatus according to an embodiment of the present invention is attached or detached by moving an object to be attached, removed or provided for that purpose including a control rod drive mechanism of a boiling water reactor to a predetermined position by a moving means. In the control rod drive mechanism handling apparatus for performing the above, the object is the control rod drive mechanism and the control rod drive mechanism guide tube, and when the control rod drive mechanism is inserted into the control rod drive mechanism guide tube, radial relative position between the tip and the opening of the control rod drive mechanism guide tubes of the control rod drive mechanism, a plurality of measuring device for measuring at least one of the relative axial positions, measurement by the plurality of measuring devices processing the result to calculate at least one of the position displacement amount in the radial direction and axial direction between the tip and the control rod drive mechanism wherein the opening of the guide tube of the control rod drive mechanism A measurement result processing device for deriving the movement direction and the movement amount to be movement of the moving means in a direction to correct the positional deviation, it is characterized in that it has a.

In addition, the control rod drive mechanism handling method according to the embodiment of the present invention is a method of attaching, removing, or attaching an object to be provided for the control rod drive mechanism of the boiling water reactor to a predetermined position by a moving means. Alternatively, in the control rod drive mechanism handling method for detachment, the object is the control rod drive mechanism and the control rod drive mechanism guide tube, and when these control rod drive mechanisms are inserted into the control rod drive mechanism guide tube, , By measuring at least one of the relative position in the radial direction and the relative position in the axial direction between the tip of the control rod drive mechanism and the opening of the control rod drive mechanism guide tube, from the measurement results , Calculate the amount of displacement in at least one of the radial direction and axial direction between the tip of the control rod drive mechanism and the opening of the control rod drive mechanism guide tube, and correct this displacement. To derive the movement direction and the movement amount to be movement of the moving means in a direction, based on the movement direction and the movement amount which the derived, characterized in that said moving means performs the alignment by moving the object It is what.

  According to the control rod driving mechanism handling apparatus and method according to the embodiment of the present invention, the control rod driving mechanism is attached to, detached from or removed from the object (for example, the control rod driving mechanism and the control rod driving mechanism guide tube). Even when there is a positional deviation or the like, the positioning of the object can be suitably performed without complicatedly moving the measuring device for measuring the relative position of the object when the object is attached or detached.

BRIEF DESCRIPTION OF THE DRAWINGS The whole block diagram which shows 1st Embodiment of the control-rod drive mechanism handling apparatus which concerns on this invention. The enlarged side view which expands and shows the front-end | tip part of a control rod drive mechanism in FIG. 1, and a control rod drive mechanism guide tube. The flowchart when performing automatic alignment in the control rod drive mechanism handling apparatus of FIG. The flowchart when performing manual alignment in the control rod drive mechanism handling apparatus of FIG. The whole block diagram which shows 2nd Embodiment of the control-rod drive mechanism handling apparatus which concerns on this invention. FIG. 6 is a partial side view showing a state in which the control rod drive mechanism of FIG. 5 is mounted on a CRD mounting wrench device. The whole side view which shows the condition which joins the flange part of the control-rod drive mechanism of FIG. 5 to the flange part of a control-rod drive mechanism guide pipe. The enlarged side view which expands and shows a part of FIG. The partial side view which shows the state which made the alignment target each provided in the flange part of the control rod drive mechanism of FIG. 8, and the flange part of a control rod drive mechanism guide tube correspond. The partial side view which shows the state which joined both the flange parts of the control-rod drive mechanism of FIG. 9, and a control-rod drive mechanism guide pipe. The whole block diagram which shows 3rd Embodiment of the control-rod drive mechanism handling apparatus which concerns on this invention. The partial side view which shows the condition which inserts SP bolt of a spool piece in the CRD bolt hole of the control rod drive mechanism of FIG. FIG. 10 is a fourth embodiment of the control rod drive mechanism handling device according to the present invention, and shows a state in which the alignment targets provided on the flange portion of the control rod drive mechanism and the flange portion of the spool piece in FIG. Partial side view. The partial side view which shows the state which joined each flange part of the control-rod drive mechanism and spool piece of FIG. The whole block diagram which shows 5th Embodiment of the control-rod drive mechanism handling apparatus which concerns on this invention. The partial side view which shows the condition which attaches the wrench of SP wrench device to the SP bolt of the spool piece in FIG. The whole block diagram which shows 6th Embodiment of the control-rod drive mechanism handling apparatus which concerns on this invention. The partial side view which shows the condition which inserts the guide pin of the wrench device for CRD removal in the guide hole of the control-rod drive mechanism of FIG. FIG. 19 is a partial side view showing a state in which the upper surface of the CRD removal wrench device is in contact with the lower surface of the flange portion of the control rod drive mechanism of FIG. 18 according to the seventh embodiment of the control rod drive mechanism handling device according to the present invention.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
[A] First embodiment (FIGS. 1 to 4)
FIG. 1 is an overall configuration diagram showing a first embodiment of a control rod drive mechanism handling device according to the present invention. FIG. 2 is an enlarged side view showing the tip of the control rod drive mechanism and the control rod drive mechanism guide tube in FIG. 1 in an enlarged manner.

  As shown in FIG. 1, in a boiling water reactor, a control rod drive mechanism guide tube (hereinafter sometimes referred to as a CRD guide tube) 2 provided at the lower part of the reactor pressure vessel 1 is controlled by A rod drive mechanism (hereinafter also referred to as CRD) 3 and a spool piece (hereinafter also referred to as SP) 4 are sequentially attached, and a motor 6 is attached to each spool piece 4 via a bracket 5. It has been. The CRD 3, the spool piece 4, the bracket 5, the motor 6 and the like are removed by a control rod drive mechanism handling device (hereinafter sometimes referred to as a CRD handling device) 10 during periodic inspection of the boiling water reactor, Installed after being inspected.

  The CRD handling device 10 includes a turntable 11, a traveling carriage 12, an elevating device 13, and a holding device 14 as moving means, and the moving device is controlled by the control device 15. As a result, the object to be attached, removed, or provided for that purpose (that is, the CRD guide tube 2, CRD3, spool piece 4, wrench device 16 described later, etc.) is moved to a predetermined position stored in the storage device 17 and aligned. Installed or removed.

  The turntable 11 rotates in a horizontal plane in a lower space (pedestal) of the reactor pressure vessel 1. The traveling carriage 12 travels on the turntable 11 in the radial direction of the turntable 11. Further, the elevating device 13 travels in the vertical direction along the elevating support column 18 erected vertically with respect to the traveling carriage 12 and rotates about the axis. The holding device 14 is supported so as to be able to enter and exit in the horizontal direction with respect to the lifting column 18 and holds the CRD 3.

  The lifting column 18 is provided with a lifting / lowering device contact / separation mechanism 19 for bringing the lifting device 13 into and out of contact with the lifting column 18, and in particular, to avoid interference between the CRD 3 and the lifting device 13. 13 is moved away from the lifting column 18. The movement of the lifting / lowering device contact / separation mechanism 19 is also controlled by the control device 15.

  Here, the wrench device 16 is an attachment that is detachably installed on the upper end portion of the lifting device 13 and that is provided (used) for attachment or removal of an object other than the wrench device 16. Specifically, the wrench device 16 includes a CRD attachment wrench device 16A (FIGS. 5 to 10) for attaching the CRD 3 and an SP attachment wrench device 16B (FIGS. 11 to 14) for attaching the spool piece 4. These are the SP removal wrench device 16C (FIGS. 15 and 16) for removing the spool piece 4, and the CRD removal wrench device 16D (FIGS. 17 to 19) for removing the CRD 3.

  In the CRD handling apparatus, the CRD 3 is originally inserted into the CRD guide tube 2 at the time of attachment, the flange portion 8 of the CRD 3 is joined to the flange portion 7 of the CRD guide tube 2, and then the CRD 3 is attached to the CRD guide tube 2. The flange portion 9 of the spool piece 4 is joined to the flange portion 8 and the spool piece 4 is attached to the CRD 3, and then the motor 6 is attached to the spool piece 4 via the bracket 5. Further, when removing the CRD handling apparatus, after removing the motor 6 together with the bracket 5, the spool piece 4 is detached from the CRD 3 and the CRD 3 is detached from the CRD guide tube 2.

  As shown in FIGS. 1 and 2, the CRD handling device 10 according to the first embodiment has a CRD guide tube 2 and a CRD 3 as objects to be attached, removed, or provided therefor, and inserts these CRDs 3 into the CRD guide tube 2. In this case, the function of aligning the tip 21 of the CRD 3 with the opening 20 of the CRD guide tube 2 is achieved. Therefore, the CRD handling device 10 allows the turntable 11, the traveling carriage 12, the holding device 14, the control device 15, the storage device 17, and the lifting device contact / separation mechanism 19 to function, as well as the measurement device 22, the measurement result processing device 23, and A display device 24 is provided.

  When the CRD 3 is inserted into the CRD guide tube 2, the control device 15 is based on the address information indicating the position of the CRD guide tube 2 stored in the storage device 17 while the CRD 3 is held by the holding device 14. The turntable 11 and the traveling carriage 12 are moved to align the CRD 3 with the CRD guide tube 2. However, the radius of the CRD guide tube 2 is changed between the tip 21 of the CRD 3 and the opening 20 of the CRD guide tube 2 due to the deformation of the CRD guide tube 2, the displacement of the traveling carriage 12, the inclination of the holding device 14, or the like. There may be a positional deviation in the direction and the axial direction. Therefore, in the present embodiment, the measuring device 22 measures at least one of the relative position in the radial direction and the relative position in the axial direction between the distal end portion 21 of the CRD 3 and the opening 20 of the CRD guide tube 2 (both in the present embodiment). To do.

  A plurality of measuring devices 22 (two in the present embodiment) are installed on the holding device 14 directly or via a gantry 25, and each is installed at a predetermined interval in the circumferential direction of the CRD guide tube 2 or the CRD 3. For example, the measuring device 22 includes all the objects, in the present embodiment, all the distal end portion 21 of the CRD 3 and all the opening portions 20 of the CRD guide tube 2, and all the flange portions 7 of the CRD guide tube 2 in the angle of view. Obtaining cameras are preferred. Each measuring device 22 has the radial relative position between the distal end portion 21 of the CRD 3 and the opening 20 of the CRD guide tube 2, the relative position in the axial direction, and the size of the flange portion 7 of the CRD guide tube 2. measure.

  First, the measurement result processing device 23 determines, for example, from the measurement result (measurement image data) of the relative position in the radial direction between the tip 21 of the CRD 3 and the opening 20 of the CRD guide tube 2 measured by a plurality of measurement devices 22. Image processing such as stereo matching is performed to calculate the amount of radial misalignment between the tip 21 of the CRD 3 and the opening 20 of the CRD guide tube 2, and then turntable in a direction to correct this misalignment. 11. The moving direction and the moving amount for moving the traveling carriage 12 are derived.

  Further, the measurement result processing device 23 performs image processing similar to that described above from the measurement result of the relative position in the axial direction between the distal end portion 21 of the CRD 3 and the opening 20 of the CRD guide tube 2 measured by a plurality of measurement devices 22. Is used to calculate the amount of axial displacement between the tip 21 of the CRD 3 and the opening 20 of the CRD guide tube 2. Note that the amount of positional deviation in the axial direction may be calculated from the size of the flange portion 7 of the CRD guide tube 2 in the measurement result (measurement image data) measured by at least one measurement device 22.

  Based on the movement direction and amount of movement of the turntable 11 and traveling carriage 12 derived by the measurement result processing apparatus 23, the control apparatus 15 moves the turntable 11 and the lifting carriage 12 to open the opening 20 of the CRD guide tube 2. Is aligned with the tip 21 of the CRD 3 in the radial direction.

  That is, as shown in FIG. 3, at the start of alignment, the measuring device 22 measures the relative position in the radial direction and the relative position in the axial direction between the tip portion 21 of the CRD 3 and the opening portion 20 of the CRD guide tube 2 ( S1). Next, the measurement result processing device 23 calculates the radial and axial misalignment amounts between the distal end portion 21 of the CRD 3 and the opening portion 20 of the CRD guide tube 2 from the measurement result of the measurement device 22, and among these, The moving direction and moving amount of the turntable 11 and the traveling carriage 12 are derived from the amount of displacement in the radial direction (S2).

  The control device 15 determines whether or not it is necessary to move the turntable 11 and the traveling carriage 12 for alignment from the movement amount derived in step S2, and when it is necessary to move, the step S2 The turntable 11 and the traveling carriage 12 are moved by the movement direction and movement amount derived in (3). By repeating the above steps S1, S2 and S3, the radial alignment between the tip 21 of the CRD 3 and the opening 20 of the CRD guide tube 2 is completed.

  Further, the moving direction and the moving amount of the turntable 11 and the traveling carriage 12 derived by the measurement result processing device 23 are displayed on the display device 24 shown in FIG. 1, and the movement of the turntable 11 and the traveling carriage 12 is manually performed by an operator. You may make it operate.

  That is, as shown in FIG. 4, after the measurement device 22 executes step S <b> 1 and the measurement result processing device 23 executes step S <b> 2, the control device 15 derives the turntable from the measurement result processing device 23. 11. The moving direction and moving amount of the traveling carriage 12 are displayed on the display device 24 (S4). When the worker confirms the display content of the display device 24, the worker causes the turntable 11 and the traveling carriage 12 to be operated in the moving direction and moving amount derived by the measurement result processing device 23 (S5). . By repeating the above-described steps S1, S2, S4, and S5, the radial alignment between the tip 21 of the CRD 3 and the opening 20 of the CRD guide tube 2 is completed.

With the configuration as described above, the present embodiment has the following effects.
Even when the CRD guide tube 2 or the CRD 3 that is the alignment target is deformed, the radial direction of the opening 20 of the CRD guide tube 2 and the distal end portion 21 of the CRD 3 in the state where these deformations occur. And the measuring device 22 measures the relative position in the axial direction. Based on this measurement result, the measurement result processing device 23 moves the turntable 11 and the traveling carriage 12 in order to align the opening 20 of the CRD guide tube 2 and the tip 21 of the CRD 3 in the radial direction. The power direction and amount of movement should be derived. As a result, even when the CRD guide tube 2 or the CRD 3 is deformed, the measuring device 22 is moved in a complicated manner by aligning the opening 20 of the CRD guide tube 2 and the tip portion 21 of the CRD 3. Therefore, it can be carried out suitably in a short time, and therefore the working time can be shortened and the exposure dose can be reduced.

  The gantry 25 is a movable gantry that can move in the circumferential direction of the CRD guide tube 2 or the CRD 3. For example, one measuring device 22 is installed on the movable gantry, and the movable gantry is moved to measure one gantry. The apparatus 22 may measure the relative position in the radial direction between the opening 20 of the CRD guide tube 2 and the tip 21 of the CRD 3 from two or more different directions.

[B] Second Embodiment (FIGS. 5 to 10)
FIG. 5 is an overall configuration diagram showing a second embodiment of the control rod drive mechanism handling device according to the present invention. FIG. 6 is a partial side view showing a state in which the control rod driving mechanism of FIG. 5 is mounted on the CRD mounting wrench device. FIG. 7 is an overall side view showing a state in which the flange portion of the control rod drive mechanism of FIG. 5 is joined to the flange portion of the control rod drive mechanism guide tube. In the second embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description is simplified or omitted.

  The CRD handling device 30 according to the second embodiment uses the CRD guide tube 2 and the CRD 3 as objects to be attached, removed, or provided thereto, and joins the flange portion 8 of the CRD guide tube 2 to the flange portion 7 of the CRD guide tube 2. In addition, the flange portion 7 and the flange portion 8 have a function of aligning in the axial direction and the circumferential direction.

  Therefore, the CRD handling device 30 allows the turntable 11, the traveling carriage 12, the lifting device 13, the control device 15, the CRD mounting wrench device 16A, the storage device 17, and the lifting device contacting / separating mechanism 19 to function as well as the measuring device 31. The measurement result processing device 32 and the display device 24 are included.

  When joining the flange portion 8 of the CRD 3 to the flange portion 7 of the CRD guide tube 2, as shown in FIGS. 5 and 6, the lifting device 13 is moved along the lifting column 18 using the lifting device contact / separation mechanism 19. To be able to move up and down. Further, the CRD mounting wrench device 16A is detachably attached to the upper end portion of the lifting device 13, and the CRD mounting wrench device 16A and the flange portion 8 of the CRD 3 are bolted together using the mounting bolt 33, As a result, the CRD 3 is mounted on the CRD mounting wrench device 16A.

  At this time, a plurality of (two in this embodiment) measuring devices 31 are installed in the circumferential direction of the CRD guide tube 2 or the CRD 3 at a predetermined interval on the CRD mounting wrench device 16A directly or using the mount 34. ing. The measuring device 31 may be installed on the CRD mounting wrench device 16A or the gantry 34 by removing the measuring device 22 installed on the holding device 14 or the gantry 34. However, the measuring device 22 and the measuring device 31 are connected to each other. By preparing them separately, it is possible to improve the mounting accuracy of these measuring devices 22 and 31, and to omit the trouble of replacement.

  Further, as shown in FIGS. 7, 8, and 9, the measuring device 31 is preferably a camera that can hold the lower portion of the flange portion 7 of the CRD guide tube 2 and the upper portion of the flange portion 8 of the CRD 3 at an angle of view. At least one of the measuring devices 31 among them measures the relative position in the axial direction between the flange portion 7 of the CRD guide tube 2 and the flange portion 8 of the CRD 3. Further, by using a plurality of measuring devices 31, the alignment targets 35A and 35B provided on the side surface of the flange portion 7 of the CRD guide tube 2 and the alignment target 35C provided on the side surface of the flange portion 8 of the CRD 3 are used as indices. For example, in order to match the alignment targets 35B and 35C, the circumferential relative positions of the flange portion 7 of the CRD guide tube 2 and the flange portion 8 of the CRD 3 are measured.

  First, the measurement result processing device 32 shown in FIG. 5 is based on the measurement result of the relative position in the axial direction between the flange portion 7 of the CRD guide tube 2 and the flange portion 8 of the CRD 3 measured by at least one measurement device 31, for example. By using image processing such as a stereo matching method, the amount of axial displacement between the flange portion 7 of the CRD guide tube 2 and the flange portion 8 of the CRD 3 is calculated. A moving direction and a moving amount for moving (moving up and down) 13 are derived.

  Furthermore, the measurement result processing device 32 firstly performs the above-described image processing from the measurement result of the relative position in the circumferential direction between the flange portion 7 of the CRD guide tube 2 and the flange portion 8 of the CRD 3 measured by a plurality of measurement devices 31. Is used to calculate the amount of displacement in the circumferential direction of the flange portion 7 of the CRD guide tube 2 and the flange portion 8 of the CRD 3 and then to correct the position displacement so that, for example, the alignment targets 35B and 35C coincide with each other. In addition, a moving direction and a moving amount for moving the turntable 11, the traveling carriage 12, and the lifting device 13 (in the case of the lifting device 13, rotating to rotate the CRD mounting wrench device 16A) are derived.

  The control device 15 moves the turntable 11, the traveling carriage 12, and the lifting device 13 based on the moving direction and moving amount derived by the measurement result processing device 32 (in the case of the lifting device 13, it is moved up and down and rotated). Let As a result, as shown in FIG. 10, the flange portion 8 of the CRD 3 is aligned and joined to the flange portion 7 of the CRD guide tube 2 in the axial direction and the circumferential direction. At the time of joining, the flange portion 8 of the CRD 3 is bolted to the flange portion 7 of the CRD guide tube 2 by using the mounting bolt 33 by the operation of the CRD mounting wrench device 16A.

  The moving direction and moving amount derived by the measurement result processing device 32 are displayed on the display device 24 (FIG. 5), and the movement of the turntable 11, the traveling carriage 12, and the lifting device 13 is displayed on the display device 24. May be manually operated by the operator. Further, the gantry 34 is a movable gantry that can move in the circumferential direction of the CRD guide tube 2 or the CRD 3. For example, one measuring device 31 is installed on the moving gantry, and the moving gantry is moved, thereby one measuring device. The relative position in the circumferential direction between the flange portion 7 of the CRD guide tube 2 and the flange portion 8 of the CRD 3 may be measured from two or more different directions.

With the configuration as described above, the present embodiment has the following effects.
Even when the CRD guide tube 2 and CRD 3 to be aligned are deformed, the axial direction of the flange portion 7 of the CRD guide tube 2 and the flange portion 8 of the CRD 3 in the state where these deformations are generated. The measuring device 31 measures the relative position in the circumferential direction. Based on this measurement result, the measurement result processing device 32 aligns the flange portion 7 of the CRD guide tube 2 and the flange portion 8 of the CRD 3 in the axial direction and the circumferential direction so that the turntable 11 and the traveling carriage 12 are aligned. In addition, the moving direction and the moving amount of the lifting device 13 to be moved are derived. As a result, even when the CRD guide tube 2 or the CRD 3 is deformed, the measuring device 31 is moved in a complicated manner to align the flange portion 7 of the CRD guide tube 2 and the flange portion 8 of the CRD 3. Therefore, it can be carried out suitably in a short time, and therefore the working time can be shortened and the exposure dose can be reduced.

[C] Third embodiment (FIGS. 11 and 12)
FIG. 11 is an overall configuration diagram showing a third embodiment of the control rod drive mechanism handling device according to the present invention. 12 is a partial side view showing a state in which the SP bolt of the spool piece is inserted into the CRD bolt hole of the control rod drive mechanism of FIG. In the third embodiment, the same parts as those in the first and second embodiments are denoted by the same reference numerals, and the description is simplified or omitted.

  The CRD handling device 40 according to the third embodiment has a CRD 3 and a spool piece 4 as an object to be attached, removed or provided therefor, and a plurality of (for example, eight) CRDs arranged in a circle on the flange portion 8 of the CRD 3. When a plurality of (for example, eight) SP bolts 42 arranged in a circle on the flange portion 9 of the spool piece 4 are respectively inserted into the bolt holes 41, the CRD bolt holes 41 and the SP bolts 42 are moved in the horizontal direction. (I.e., radial and circumferential directions) and axial alignment.

  For this reason, the CRD handling device 40 functions the turn table 11, the traveling carriage 12, the lifting device 13, the control device 15, the SP mounting wrench device 16 </ b> B and the storage device 17, as well as the measuring device 43 and the measurement result processing device 44. And a display device 24.

  The SP mounting wrench device 16B is a lifting device instead of the CRD mounting wrench device 16A (FIG. 5) in order to mount the spool piece 4 after joining the flange portion 8 of the CRD 3 to the flange portion 7 of the CRD guide tube 2. 13 is detachably attached to the upper end portion of 13. A plurality (two in this embodiment) of measuring devices 43 are installed on the SP mounting wrench device 16B directly or by using a mount 45 at a predetermined interval in the circumferential direction of the CRD 3 or the spool piece 4. The measuring device 43 is preferably a camera capable of accommodating the lower part of the CRD bolt hole 41 of the CRD 3 and the upper part of the SP bolt 42 of the spool piece 4 at an angle of view.

  Each measuring device 43 measures a horizontal relative position (that is, a radial relative position and a circumferential relative position) between the CRD bolt hole 41 of the CRD 3 and the SP bolt 42 of the spool piece 4, and further, the CRD of the CRD 3. The relative position in the axial direction between the bolt hole 41 and the SP bolt 42 of the spool piece 4 is measured. Here, in measuring the horizontal relative position between the CRD bolt hole 41 and the SP bolt 42, it is not necessary to measure all of the CRD bolt hole 41 and the SP bolt 42 at the same time. Some measurements that can measure the relative position in the radial and circumferential directions are sufficient.

  First, the measurement result processing device 44 is based on the measurement result of the relative position in the horizontal direction (radial direction and circumferential direction) between the CRD bolt hole 41 of the CRD 3 and the SP bolt 42 of the spool piece 4 measured by a plurality of measurement devices 43. For example, by using image processing such as a stereo matching method, the amount of positional deviation in the horizontal direction (radial direction and circumferential direction) between the CRD bolt hole 41 of the CRD 3 and the SP bolt 42 of the spool piece 4 is calculated. The direction and amount of movement for moving the turntable 11, the traveling carriage 12, and the lifting device 13 in the direction of correcting the misalignment (in the case of the lifting device 13, rotational movement for rotating the SP mounting wrench device 16B). To derive.

  Further, the measurement result processing device 44 performs image processing similar to the above from the measurement result of the relative position in the axial direction between the CRD bolt hole 41 of the CRD 3 and the SP bolt 42 of the spool piece 4 measured by the plurality of measurement devices 43. Is used to calculate the amount of axial displacement between the CRD bolt hole 41 of the CRD 3 and the SP bolt 42 of the spool piece 4. Note that the axial displacement amount may be calculated from the size of the CRD bolt hole 41 of the CRD 3 in the measurement result (measurement image data) measured by at least one measurement device 43.

  The control device 15 moves the turntable 11, the traveling cart 12, and the lifting device 13 based on the moving direction and the moving amount of the turntable 11, the traveling cart 12, and the lifting device 13 derived by the measurement result processing device 44. The SP bolt 42 of the spool piece 4 is aligned in the horizontal direction (radial direction and circumferential direction) with the CRD bolt hole 41 of the CRD 3, and then the SP bolt 42 of the spool piece 4 is inserted into the CRD bolt hole 41 of the CRD 3. At this time, the control device 15 moves the spool piece 4 in the axial direction according to the amount of displacement in the axial direction between the CRD bolt hole 41 of the CRD 3 and the SP bolt 42 of the spool piece 4. It is determined whether insertion into the CRD bolt hole 41 is possible.

  The moving direction and moving amount derived by the measurement result processing device 44 are displayed on the display device 24, and the movement of the turntable 11, the traveling carriage 12, and the lifting device 13 is performed by the worker according to the display content of the display device 24. It may be operated manually. Further, the gantry 45 is a movable gantry that can move in the circumferential direction of the CRD 3 or the spool piece 4, and for example, one measuring device 43 is installed on the moving gantry, and the moving gantry is moved, thereby one measuring device 43. Accordingly, the relative position in the horizontal direction (radial direction and circumferential direction) between the CRD bolt hole 41 of the CRD 3 and the SP bolt 42 of the spool piece 4 may be measured from two or more different directions.

With the configuration as described above, the present embodiment has the following effects.
Even when the CRD 3 and the spool piece 4 to be aligned are deformed, the horizontal direction of the CRD bolt hole 41 of the CRD 3 and the SP bolt 42 of the spool piece 4 (see FIG. The measuring device 43 measures the relative position in the radial direction and the circumferential direction) and the relative position in the axial direction. Based on the measurement result, the measurement result processing device 44 aligns the CRD bolt hole 41 of the CRD 3 and the SP bolt 42 of the spool piece 4 in the horizontal direction (radial direction and circumferential direction). The moving direction and amount of movement of the traveling carriage 12 and the lifting device 13 are derived. As a result, even when the CRD 3 or the spool piece 4 is deformed, the alignment of the CRD bolt hole 41 of the CRD 3 and the SP bolt 42 of the spool piece 4 can be performed without moving the measuring device 43 in a complicated manner. Therefore, the exposure time can be suitably reduced. Therefore, the working time can be shortened to reduce the exposure dose.

[D] Fourth embodiment (FIGS. 11, 13, and 14)
FIG. 13 is a fourth embodiment of the control rod drive mechanism handling device according to the present invention, in which the alignment targets provided on the flange portion of the control rod drive mechanism and the flange portion of the spool piece in FIG. It is a partial side view which shows the state. In the fourth embodiment, the same parts as those in the first to third embodiments are denoted by the same reference numerals, and the description is simplified or omitted.

  The CRD handling device 50 according to the fourth embodiment uses the CRD 3 and the spool piece 4 as the objects to be attached, removed or provided therefor, and when the flange portion 9 of the spool piece 4 is joined to the flange portion 8 of these CRD 3, The flange portion 8 and the flange portion 9 have a function of aligning in the axial direction and the circumferential direction.

  Therefore, this CRD handling device 50 allows the turntable 11, the traveling carriage 12, the lifting device 13, the control device 15, the SP mounting wrench device 16B and the storage device 17 to function, the measuring device 51, the measurement result processing device 52, and A display device 24 is included.

  A plurality of measuring devices 51 (two in the present embodiment) are installed in the circumferential direction of the CRD 3 or the spool piece 4 directly on the SP mounting wrench device 16B or using the mount 53. The measuring device 51 is preferably a camera capable of accommodating the lower part of the flange part 8 of the CRD 3 and the upper part of the flange part 9 of the spool piece 4 at an angle of view.

  The relative position in the axial direction of the flange portion 8 of the CRD 3 and the flange portion 9 of the spool piece 4 is measured by at least one measuring device 51 among them. Furthermore, by using a plurality of measuring devices 51 as an index, an alignment target 54A provided on the side surface of the flange portion 8 of the CRD 3 and an alignment target 54B provided on the side surface of the flange portion 9 of the spool piece 4, for example, In order to make these alignment targets 54A and 54B coincide with each other, the circumferential relative position between the flange portion 8 of the CRD 3 and the flange portion 9 of the spool piece 4 is measured.

  First, the measurement result processing device 52 shown in FIG. 11 uses, for example, stereo from the measurement result of the axial relative position between the flange portion 8 of the CRD 3 and the flange portion 9 of the spool piece 4 measured by at least one measurement device 51. The amount of axial displacement between the flange portion 8 of the CRD 3 and the flange portion 9 of the spool piece 4 is calculated using image processing such as a matching method, and then the lifting device 13 is moved in a direction to correct this displacement. The movement direction and amount of movement (up and down) are derived.

  Further, the measurement result processing device 52 first performs the above-described image processing from the measurement result of the relative position in the circumferential direction between the flange portion 8 of the CRD 3 and the flange portion 9 of the spool piece 4 measured by the plurality of measurement devices 51. And calculating the circumferential displacement amount of the flange portion 8 of the CRD 3 and the flange portion 9 of the spool piece 4, and then correcting the displacement to make the alignment targets 54A and 54B coincide with each other, for example. A moving direction and a moving amount for moving the turntable 11, the traveling carriage 12, and the lifting device 13 (in the case of the lifting device 13, rotating to rotate the SP mounting wrench device 16B) are derived.

  The control device 15 moves the turntable 11, the traveling carriage 12, and the lifting device 13 based on the movement direction and the movement amount derived by the measurement result processing device 52 (in the case of the lifting device 13, it is moved up and down and rotated). Let Accordingly, as shown in FIG. 14, the flange portion 9 of the spool piece 4 is aligned and joined to the flange portion 8 of the CRD 3 in the axial direction and the circumferential direction. At the time of joining, the flange portion 9 of the spool piece 4 is bolted to the flange portion 8 of the CRD 3 by using the SP bolt 42 by the operation of the SP mounting wrench device 16B.

  The moving direction and moving amount derived by the measurement result processing device 52 are displayed on the display device 24 (FIG. 11), and the movement of the turntable 11, the traveling carriage 12, and the lifting device 13 is displayed on the display device 24. May be manually operated by the operator. Further, the gantry 53 is a movable gantry that can move in the circumferential direction of the CRD 3 or the spool piece 4, and, for example, one measuring device 51 is installed on the moving gantry, and the moving gantry is moved, thereby one measuring device 51. Therefore, the relative position in the circumferential direction between the flange portion 8 of the CRD 3 and the flange portion 9 of the spool piece 4 may be measured from two or more different directions.

With the configuration as described above, the present embodiment has the following effects.
Even when the CRD 3 and the spool piece 4 to be aligned are deformed, the axial direction and the circumference of the flange portion 8 of the CRD 3 and the flange portion 9 of the spool piece 4 are also in a state in which these deformations are generated. The measuring device 51 measures the relative position in the direction. Based on this measurement result, the measurement result processing device 52 causes the turntable 11, the traveling carriage 12, and the turntable 11 to align the flange portion 8 of the CRD 3 and the flange portion 9 of the spool piece 4 in the axial direction and the circumferential direction. The moving direction and moving amount of the lifting device 13 are derived. As a result, even when the CRD 3 or the spool piece 4 is deformed, the alignment of the flange portion 8 of the CRD 3 and the flange portion 9 of the spool piece 4 can be performed without moving the measuring device 51 in a complicated manner. Therefore, the exposure time can be suitably reduced. Therefore, the working time can be shortened to reduce the exposure dose.

[D] Fifth embodiment (FIGS. 15 and 16)
FIG. 15 is an overall configuration diagram showing a fifth embodiment of the control rod drive mechanism handling device according to the present invention. FIG. 16 is a partial side view showing a state in which the wrench of the SP removal wrench device is attached to the SP bolt of the spool piece in FIG. In the fifth embodiment, portions similar to those in the first to fourth embodiments are denoted by the same reference numerals, and description thereof is simplified or omitted.

  The CRD handling device 60 of the fifth embodiment is the spool piece 4 and the SP removal wrench device 16C used (used) for removing the spool piece 4 as an object to be attached, removed or used therefor. A plurality of (for example, eight) wrench 61 arranged in a circle on the SP removal wrench device 16C are respectively connected to a plurality of (for example, eight) SP bolts 42 arranged in a circle on the flange portion 9 in FIG. When mounting, the SP bolt 42 and the wrench 61 have a function of aligning in the horizontal direction (that is, the radial direction and the circumferential direction) and the axial direction.

  For this reason, the CRD handling device 60 allows the turntable 11, the traveling carriage 12, the lifting device 13, the control device 15, the SP removal wrench device 16C, and the storage device 17 to function, as well as the measuring device 62 and the measurement result processing device 63. And a display device 24.

  The SP removal wrench device 16 </ b> C is detachably attached to the upper end portion of the elevating device 13 in order to remove the spool piece 4. A plurality (two in the present embodiment) of measuring devices 62 are directly or using a mount 64 at the SP removal wrench device 16C at predetermined intervals in the circumferential direction of the spool piece 4 or the SP removal wrench device 16C. is set up. Each measuring device 62 is preferably a camera capable of accommodating the lower part of the SP bolt 42 of the spool piece 4 and the upper part of the wrench 61 of the SP removing wrench device 16C at an angle of view.

  Each measuring device 62 measures a horizontal relative position (that is, a radial relative position and a circumferential relative position) between the SP bolt 42 of the spool piece 4 and the wrench 61 of the SP removal wrench device 16C. The relative position in the axial direction between the SP bolt 42 of the spool piece 4 and the wrench 61 of the SP removal wrench device 16C is measured. Here, when measuring the relative position in the horizontal direction between the SP bolt 42 and the wrench 61, it is not necessary to measure all of the SP bolt 42 and wrench 61 at the same time. Some measurements that can measure the relative position of are sufficient.

  The measurement result processing device 63 first determines the relative position in the horizontal direction (radial direction and circumferential direction) between the SP bolt 42 of the spool piece 4 and the wrench 61 of the SP removal wrench device 16C measured by a plurality of measurement devices 62. From the measurement result, the amount of positional deviation in the horizontal direction (radial direction and circumferential direction) between the SP bolt 42 of the spool piece 4 and the wrench 61 of the SP removal wrench device 16C is calculated using image processing such as a stereo matching method. Then, the turntable 11, the traveling carriage 12, and the lifting device 13 are moved in a direction to correct the positional deviation (in the case of the lifting device 13, the rotational movement for rotating the SP removal wrench device 16C). The movement direction and movement amount are derived.

  Further, the measurement result processing device 63 is the same as described above based on the measurement result of the relative position in the axial direction between the SP bolt 42 of the spool piece 4 and the wrench 61 of the SP removal wrench device 16C measured by a plurality of measurement devices 62. The amount of axial displacement between the SP bolt 42 of the spool piece 4 and the wrench 61 of the SP removal wrench device 16C is calculated using a simple image processing. Note that the axial displacement amount may be calculated from the size of the SP bolt 42 of the spool piece 4 in the measurement result (measurement image data) measured by at least one measuring device 62.

  The control device 15 moves the turntable 11, the traveling carriage 12, and the lifting device 13 based on the moving direction and the movement amount of the turntable 11, the traveling carriage 12, and the lifting device 13 derived by the measurement result processing device 63. The wrench 61 of the SP removal wrench device 16C is aligned with the SP bolt 42 of the spool piece 4 in the horizontal direction (radial direction and circumferential direction), and then the wrench 61 of the SP removal wrench device 16C is aligned with the SP bolt of the spool piece 4. Attach to 42. At this time, the control device 15 moves the SP removal wrench device 16C in the axial direction by the amount of axial displacement between the SP bolt 42 of the spool piece 4 and the wrench 61 of the SP removal wrench device 16C. Then, it is determined whether the wrench 61 can be attached to the SP bolt 42.

  The movement direction and movement amount derived by the measurement result processing device 63 are displayed on the display device 24, and the movement of the turntable 11, the traveling carriage 12, and the lifting device 13 is performed by the worker according to the display content of the display device 24. It may be operated manually. Further, the gantry 64 is a movable gantry that can move in the circumferential direction of the spool piece 4 or the SP removal wrench device 16C, and, for example, one measuring device 62 is installed on the movable gantry, Even if the horizontal position (radial direction and circumferential direction) of the SP bolt 42 of the spool piece 4 and the wrench 61 of the SP removal wrench device 16C is measured by two measuring devices 62 from two or more different directions. Good.

With the configuration as described above, the present embodiment has the following effects.
Even when the spool piece 4 and the SP removal wrench device 16C to be aligned are deformed, the SP bolt 42 and the SP removal wrench device of the spool piece 4 are in a state in which such deformation has occurred. The measuring device 62 measures the relative position in the horizontal direction (radial direction and circumferential direction) of the 16C wrench 61 and the relative position in the axial direction. Based on the measurement result, the measurement result processing device 63 aligns the SP bolt 42 of the spool piece 4 and the wrench 61 of the SP removal wrench device 16C in the horizontal direction (radial direction and circumferential direction). The direction of movement and the amount of movement of the turntable 11, the traveling carriage 12, and the lifting device 13 are derived. As a result, even when the spool piece 4 or the SP removal wrench device 16C is deformed, the positioning of the SP bolt 42 of the spool piece 4 and the wrench 61 of the SP removal wrench device 16C is determined by the measuring device. 62 can be suitably carried out in a short time without moving it in a complicated manner. Therefore, the working time can be shortened and the exposure dose can be reduced.

“F” Sixth Embodiment (FIGS. 17 and 18)
FIG. 17 is an overall configuration diagram showing a sixth embodiment of the control rod drive mechanism handling device according to the present invention. FIG. 18 is a partial side view showing a state in which the guide pin of the wrench device for CRD removal is inserted into the guide hole of the control rod drive mechanism of FIG. In the sixth embodiment, the same parts as those in the first to fifth embodiments are denoted by the same reference numerals, and description thereof is simplified or omitted.

  The CRD handling device 70 of the sixth embodiment is a CRD 3 as an object to be attached, removed or used for the CRD 3 and a CRD removal wrench device 16D to be used (used) for removing the CRD 3, and is attached to the flange portion 8 of the CRD 3. When inserting a plurality of (for example, eight) guide pins 72 arranged in a circle into the CRD removal wrench device 16D into a plurality of (for example, eight) guide holes 71 arranged in a circle, The guide hole 71 and the guide pin 72 have a function of aligning in the horizontal direction (that is, the radial direction and the circumferential direction) and the axial direction.

  For this reason, the CRD handling device 70 functions the turntable 11, the traveling carriage 12, the elevating device 13, the control device 15, the CRD removal wrench device 16 </ b> D and the storage device 17, as well as the measuring device 73 and the measurement result processing device 74. And a display device 24.

  The CRD removing wrench device 16D is detachably attached to the upper end portion of the elevating device 13 in order to remove the CRD 3. A plurality of (in this embodiment, two) measuring devices 73 are installed on the CRD removal wrench device 16D directly or using a mount 75 at a predetermined interval in the circumferential direction of the CRD 3 or the CRD removal wrench device 16D. ing. Each measuring device 73 is preferably a camera that can fit the lower portion of the flange portion 8 of the CRD 3 and the upper portion of the guide pin 72 of the CRD removing wrench device 16D within an angle of view.

  Each measuring device 73 measures the relative position in the horizontal direction (that is, the relative position in the radial direction and the relative position in the circumferential direction) between the guide hole 71 of the CRD 3 and the guide pin 72 of the CRD removal wrench device 16D. The axial relative positions of the guide hole 71 and the guide pin 72 of the CRD removal wrench device 16D are measured. Here, when measuring the relative position in the horizontal direction between the guide hole 71 and the guide pin 72, it is not necessary to measure all of the guide hole 71 and the guide pin 72 at the same time, and the radial direction between the guide hole 71 and the guide pin 72. And some measurements that can measure the relative position in the circumferential direction are sufficient.

  First, the measurement result processing device 74 measures the relative position in the horizontal direction (radial direction and circumferential direction) between the guide hole 71 of the CRD 3 and the guide pin 72 of the CRD removal wrench device 16D measured by a plurality of measurement devices 73. From the result, for example, by using image processing such as a stereo matching method, the positional deviation amount in the horizontal direction (radial direction and circumferential direction) between the guide hole 71 of the CRD 3 and the guide pin 72 of the CRD removal wrench device 16D is calculated. Next, the moving direction in which the turntable 11, the traveling carriage 12, and the lifting device 13 are moved in the direction of correcting the positional deviation (in the case of the lifting device 13, the rotational movement for rotating the CRD removal wrench device 16D). And the amount of movement is derived.

  Further, the measurement result processing device 74 is the same as described above from the measurement result of the relative position in the axial direction between the guide hole 71 of the CRD 3 and the guide pin 72 of the CRD removal wrench device 16D measured by the plurality of measurement devices 73. Using image processing, the amount of axial displacement between the guide hole 71 of the CRD 3 and the guide pin 72 of the CRD removal wrench device 16D is calculated. Note that the axial displacement amount may be calculated from the size of the guide hole 71 of the CRD 3 in the measurement result (measurement image data) measured by at least one measurement device 73.

  The control device 15 moves the turntable 11, the traveling cart 12, and the lifting device 13 based on the moving direction and the moving amount of the turntable 11, the traveling cart 12, and the lifting device 13 derived by the measurement result processing device 74. The guide pin 72 of the CRD removal wrench device 16D is aligned with the guide hole 71 of the CRD 3 in the horizontal direction (radial direction and circumferential direction), and then the guide pin 72 of the CRD removal wrench device 16D is aligned with the guide hole 71 of the CRD 3 insert. At this time, the control device 15 moves the CRD removal wrench device 16D in the axial direction by the amount of axial displacement between the guide hole 71 of the CRD 3 and the guide pin 72 of the CRD removal wrench device 16D. Then, it is determined whether or not the guide pin 72 can be inserted into the guide hole 71.

  The movement direction and the movement amount derived by the measurement result processing device 74 are displayed on the display device 24, and the movement of the turntable 11, the traveling carriage 12, and the lifting device 13 is performed by the worker according to the display content of the display device 24. It may be operated manually. Further, the gantry 75 is a movable gantry that can move in the circumferential direction of the CRD 3 or the CRD removal wrench device 16D. For example, one measuring device 73 is installed on the movable gantry, and the movable gantry is moved to move one gantry. The relative position in the horizontal direction (radial direction and circumferential direction) between the guide hole 71 of the CRD 3 and the guide pin 72 of the CRD removal wrench device 16D may be measured from two or more different directions by the measuring device 73.

With the configuration as described above, the present embodiment has the following effects.
Even when the CRD 3 and the CRD removal wrench device 16D to be aligned are deformed, the guide holes 71 of the CRD 3 and the guide pins of the CRD removal wrench device 16D are also in a state where these deformations have occurred. The measuring device 73 measures the relative position in the horizontal direction (radial direction and circumferential direction) of 72 and the relative position in the axial direction. Based on this measurement result, the measurement result processing device 74 turns the guide hole 71 of the CRD 3 and the guide pin 72 of the CRD removal wrench device 16D in the horizontal direction (radial direction and circumferential direction). The direction of movement and the amount of movement of the table 11, the traveling carriage 12 and the lifting device 13 are derived. As a result, even when the CRD 3 or the CRD removal wrench device 16D is deformed, the positioning of the guide hole 71 of the CRD 3 and the guide pin 72 of the CRD removal wrench device 16D is complicated. Therefore, the exposure time can be reduced by shortening the working time.

[G] Seventh embodiment (FIG. 19)
19 is a seventh embodiment of the control rod drive mechanism handling device according to the present invention, and shows a state where the upper surface of the CRD removal wrench device is in contact with the lower surface of the flange portion of the control rod drive mechanism of FIG. It is a partial side view. In the seventh embodiment, the same parts as those in the first to sixth embodiments are denoted by the same reference numerals, and description thereof is simplified or omitted.

  The CRD handling device 80 according to the seventh embodiment includes a CRD 3 as an object to be attached, removed or provided for the CRD 3 and a CRD removal wrench device 16D to be used (used) for removing the CRD 3. When the upper surface 81 of the CRD removal wrench device 16D is brought into contact with the lower surface 8A, the lower surface 8A of the flange portion 8 of the CRD 3 and the upper surface 81 of the CRD removal wrench device 16D are aligned in the axial direction. . By this alignment, the wrench 82 of the CRD removal wrench device 16D is wrench aligned with the mounting bolt 33 that connects the flange portion 8 of the CRD 3 to the flange portion 7 of the CRD guide tube 2.

  For this reason, the CRD handling device 80 allows the lifting device 13, the control device 15, the CRD removal wrench device 16 </ b> D, and the storage device 17 to function, and includes the measurement device 83, the measurement result processing device 84, and the display device 24.

  The CRD removing wrench device 16 </ b> D is the same as that of the sixth embodiment, and a plurality of wrench 82 is installed between a plurality of guide pins 72. At least one measuring device 83 (two in this embodiment) is installed on the CRD removal wrench device 16D directly or by using the mount 85 at a predetermined interval in the circumferential direction of the CRD 3 or the CRD removal wrench device 16D. Has been. Each measuring device 83 is preferably a camera capable of accommodating the lower portion of the flange portion 8 of the CRD 3 and the upper surface 81 of the CRD removing wrench device 16D within an angle of view. Each measuring device 83 measures the relative position in the axial direction between the lower surface 8A of the flange portion 8 of the CRD 3 and the upper surface 81 of the CRD removing wrench device 16D.

  The measurement result processing device 84 first determines, for example, a stereo from the measurement result of the axial relative position between the lower surface 8A of the flange portion 8 of the CRD 3 and the upper surface 81 of the CRD removal wrench device 16D measured by a plurality of measurement devices 83. Using an image processing such as a matching method, the amount of axial displacement between the lower surface 8A of the flange portion 8 of the CRD 3 and the upper surface 81 of the CRD removal wrench device 16D is calculated, and then the direction in which this displacement is corrected The amount of movement is derived from the moving direction in which the lifting device 13 is moved (moved up and down).

  The control device 15 moves (lifts and lowers) the lifting device 13 based on the moving direction and moving amount of the lifting device 13 derived by the measurement result processing device 84, and the lower surface 8A of the flange portion 8 of the CRD 3 and the CRD removal wrench device. The upper surface 81 of 16D is axially aligned, and then the upper surface 81 of the CRD removal wrench device 16D is brought into contact with the lower surface 8A of the flange portion 8 of the CRD 3. In this state, the wrench 82 of the CRD removal wrench device 16D is engaged with the mounting bolt 33 to perform wrench alignment. Therefore, the control device 15 operates the wrench 82 to remove the mounting bolt 33, and removes the CRD 3 from the CRD. Remove from the guide tube 3.

  The movement direction and movement amount derived by the measurement result processing device 84 are displayed on the display device 24, and the movement (elevation) of the lifting device 13 is manually operated by an operator according to the display content of the display device 24. The lower surface 8A of the flange portion 8 of the CRD 3 may be aligned with the upper surface 81 of the CRD removal wrench device 16D.

With the configuration as described above, the present embodiment has the following effects.
Even when the CRD 3 and the CRD removal wrench device 16D, which are objects to be aligned, are deformed, the lower surface 8A of the flange portion 8 of the CRD 3 and the CRD removal wrench device are in a state in which such deformation has occurred. The measuring device 83 measures the relative position in the axial direction with respect to the upper surface 81 of 16. Then, based on this measurement result, the measurement result processing device 84 moves the lifting device 13 so that the lower surface 8A of the flange portion 8 of the CRD 3 and the upper surface 81 of the CRD removal wrench device 16D are aligned in the axial direction ( The movement direction and the movement amount to be moved up and down are derived. As a result, even when deformation or the like occurs in the CRD 3 or the CRD removal wrench device 16D, the alignment between the lower surface 8A of the flange portion 8 of the CRD 3 and the upper surface 81 of the CRD removal wrench device 16D is performed. 83 can be suitably carried out in a short time without moving it in a complicated manner. Therefore, the working time can be shortened and the exposure dose can be reduced.

  As mentioned above, although this invention was demonstrated based on the said embodiment, this invention is not limited to this, A component may be variously deformed in the range which does not deviate from the summary, and it covers different embodiment. You may combine a component suitably.

  For example, the measuring devices 22, 31, 43, 51, 62, 73, and 83 in each embodiment are cameras that have a sufficiently wide angle of view so that all objects to be attached, detached, or provided for that purpose are within the angle of view. A camera, a laser measuring instrument, or an ultrasonic measuring instrument with a narrow angle of view where the object does not fit within the angle of view may be used. When using a camera with a narrow angle of view as a measuring device, it is necessary to measure the entire target object within the measuring range by swinging the measuring device and performing a scanning operation. is there.

  Further, the measuring devices 22, 31, 43, 51, 62, 73, and 83 may be separately installed, or may be realized by replacing these measuring devices with each other.

  Further, in the second embodiment, the alignment targets 35A and 35B provided on the side surface of the flange portion 7 of the CRD guide tube 2, the alignment target 35C provided on the side surface of the flange portion 8 of the CRD 3, and the CRD 3 in the fourth embodiment. The alignment target 54A provided on the side surface of the flange portion 8 and the alignment target 54B provided on the side surface of the flange portion 9 of the spool piece 4 have a three-dimensional shape (such as a convex or concave shape) with respect to the respective side surfaces. If the measuring device is an optical camera or a laser measuring instrument, the colors may be different from each other, or if the measuring device is an ultrasonic measuring instrument, Alternatively, a substance (for example, gel) having a different reflectance of the measurement medium (ultrasonic wave) may be applied and adhered.

2 Control rod drive mechanism guide tube (CRD guide tube; object)
3 Control rod drive mechanism (CRD; object)
4 Spool piece (object)
7, 8, 9 Flange 8A Lower surface 10 Control rod drive mechanism handling device (CRD handling device)
11 Turntable (moving means)
12 Traveling cart (moving means)
13 Lifting device (moving means)
14 Holding device (moving means)
16 Wrench device (object)
16A CRD attachment wrench device 16B SP attachment wrench device 16C SP removal wrench device 16D CRD removal wrench device 17 Storage device 18 Lifting column 19 Lifting device contact / separation mechanism 20 Opening portion 21 Tip portion 22 Measuring device 23 Measurement result processing Device 24 Display device 30 Control rod drive mechanism handling device (CRD handling device)
31 Measuring device 32 Measurement result processing device 35A, 35B, 35C Positioning target 40 Control rod drive mechanism handling device (CRD handling device)
41 CRD bolt hole 42 SP bolt 43 Measuring device 44 Measurement result processing device 50 Control rod drive mechanism handling device (CRD handling device)
51 Measurement Device 52 Measurement Result Processing Devices 54A and 54B Positioning Target 60 Control Rod Drive Mechanism Handling Device (CRD Handling Device)
61 Wrench 62 Measuring device 63 Measurement result processing device 70 Control rod drive mechanism handling device (CRD handling device)
71 Guide hole 72 Guide pin 73 Measuring device 74 Measurement result processing device 80 Control rod drive mechanism handling device (CRD handling device)
81 Upper surface 83 Measuring device 84 Measurement result processing device

Claims (17)

In a control rod drive mechanism handling device that performs attachment or removal including a control rod drive mechanism of a boiling water reactor or moving an object to be provided to a predetermined position by a moving means,
The object is the control rod drive mechanism and the control rod drive mechanism guide tube,
When inserting these control rod drive mechanisms into the control rod drive mechanism guide tube,
A plurality of measuring devices that measure at least one of a radial relative position and an axial relative position between the tip of the control rod drive mechanism and the opening of the control rod drive mechanism guide tube;
The measurement results of the plurality of measuring devices are processed to calculate the amount of displacement in at least one of the radial direction and the axial direction between the tip end portion of the control rod drive mechanism and the opening portion of the control rod drive mechanism guide tube. And a measurement result processing device for deriving a moving direction and a moving amount of the moving means in a direction for correcting the positional deviation . In a control rod drive mechanism handling device that performs attachment or removal including a control rod drive mechanism of a boiling water reactor or moving an object to be provided to a predetermined position by a moving means,
The object is the control rod drive mechanism and the control rod drive mechanism guide tube provided with positioning targets on the side surfaces of the respective flange portions,
When joining the flange portion of the control rod drive mechanism to the flange portion of the control rod drive mechanism guide tube,
A plurality of measuring devices that perform at least one of measurement of the relative position in the axial direction of both flange portions and measurement of the relative position in the circumferential direction of the flange portion using the positioning target as an index;
By processing the measurement results by the plurality of measuring devices, the amount of displacement in at least one of the axial direction and the circumferential direction between the flange portion of the control rod drive mechanism and the flange portion of the control rod drive mechanism guide tube is calculated. And a measurement result processing device for deriving a moving direction and a moving amount of the moving means in a direction for correcting the positional deviation . In a control rod drive mechanism handling device that performs attachment or removal including a control rod drive mechanism of a boiling water reactor or moving an object to be provided to a predetermined position by a moving means,
The object is the control rod drive mechanism and a spool piece,
When inserting a plurality of bolts of the spool piece into a plurality of bolt holes in the control rod drive mechanism,
A plurality of measuring devices that measure at least one of the relative position in the horizontal direction between the bolt hole and the bolt, and the relative position in the axial direction;
By processing the measurement results of the plurality of measuring devices, the amount of displacement in at least one of the bolt hole of the control rod drive mechanism and the bolt of the spool piece in the horizontal direction and the axial direction is calculated. And a measurement result processing device for deriving a moving direction and a moving amount of the moving means to move in a direction to correct the control rod. In a control rod drive mechanism handling device that performs attachment or removal including a control rod drive mechanism of a boiling water reactor or moving an object to be provided to a predetermined position by a moving means,
The object is the control rod drive mechanism and spool piece provided with alignment targets on the side surfaces of the respective flange portions,
When joining the flange portion of the control rod drive mechanism to the flange portion of the spool piece,
A plurality of measuring devices that perform at least one of measurement of the relative position in the axial direction of both flange portions and measurement of the relative position in the circumferential direction of the flange portion using the alignment target as an index;
The measurement results by the plurality of measuring devices are processed to calculate at least one axial displacement amount and circumferential displacement amount between the flange portion of the control rod drive mechanism and the flange portion of the spool piece. A control rod drive mechanism handling device, comprising: a measurement result processing device for deriving a moving direction and a moving amount of the moving means in a direction to correct a deviation . In a control rod drive mechanism handling device that performs attachment or removal including a control rod drive mechanism of a boiling water reactor or moving an object to be provided to a predetermined position by a moving means,
The object is a spool piece and a wrench device for removing the spool piece,
When attaching a plurality of wrench in the wrench device to a plurality of bolts in the spool piece,
A plurality of measuring devices that measure at least one of a relative position in the horizontal direction between the bolt and the wrench and a relative position in the axial direction;
The measurement results of the plurality of measuring devices are processed to calculate the amount of displacement in at least one of the horizontal direction and the axial direction of the bolt of the spool piece and the wrench of the wrench device, and correct this displacement. control rod drive mechanisms handling apparatus characterized by having a measurement result processing device for deriving the movement direction and the movement amount to be movement of the moving means in a direction. In a control rod drive mechanism handling device that performs attachment or removal including a control rod drive mechanism of a boiling water reactor or moving an object to be provided to a predetermined position by a moving means,
The object is the control rod drive mechanism and a wrench device for removing the control rod drive mechanism,
When inserting a plurality of guide pins in the wrench device into a plurality of guide holes in the control rod drive mechanism,
A plurality of measuring devices that measure at least one of a relative position in the horizontal direction between the guide hole and the guide pin and a relative position in the axial direction;
The measurement results by the plurality of measuring devices are processed to calculate a horizontal and / or axial displacement amount between the guide hole of the control rod drive mechanism and the guide pin of the wrench device. And a measurement result processing device for deriving a moving direction and a moving amount of the moving means to move in a direction to correct the control rod. In a control rod drive mechanism handling device that performs attachment or removal including a control rod drive mechanism of a boiling water reactor or moving an object to be provided to a predetermined position by a moving means,
The object is the control rod drive mechanism and a wrench device for removing the control rod drive mechanism,
When bringing the upper surface of the wrench device into contact with the lower surface of the flange portion of the control rod drive mechanism,
A plurality of measuring devices for measuring an axial relative position between the lower surface of the flange portion and the upper surface of the wrench device;
The measurement results by the plurality of measuring devices are processed to calculate the amount of axial displacement between the lower surface of the flange portion of the control rod drive mechanism and the upper surface of the wrench device, and correct this displacement. control rod drive mechanisms handling apparatus characterized by having a measurement result processing device for deriving the movement direction and the movement amount to be movement of the moving means in a direction. A display device is provided that displays a movement direction and a movement amount derived by the measurement result processing device, and allows a worker who operates the movement means to check the movement direction and the movement amount. The control rod drive mechanism handling device according to any one of claims 1 to 7. The measuring device is a camera in which an object to be attached, detached, or provided for the purpose is all within an angle of view, or a measuring device that measures all of the object by swinging and performing a scanning operation. The control rod drive mechanism handling device according to any one of claims 1 to 8. The alignment target provided on the side surface of the control rod drive mechanism, the control rod drive mechanism guide tube or the flange portion of the spool piece is configured in a three-dimensional shape or a different color with respect to the side surface, or of the measurement medium The control rod drive mechanism handling device according to claim 2 or 4, wherein substances having different reflectances are attached. In a control rod drive mechanism handling method in which an object to be attached, removed or moved to a predetermined position by a moving means is attached or removed including a control rod drive mechanism of a boiling water reactor,
The object is the control rod drive mechanism and the control rod drive mechanism guide tube,
When inserting these control rod drive mechanisms into the control rod drive mechanism guide tube,
Measuring at least one of a radial relative position and an axial relative position between the tip of the control rod drive mechanism and the opening of the control rod drive mechanism guide tube by a plurality of measuring devices ;
From this measurement result , a displacement amount of at least one of the distal end portion of the control rod drive mechanism and the opening portion of the control rod drive mechanism guide tube in the radial direction and the axial direction is calculated, and the displacement is corrected. deriving a moving direction and a moving amount to be movement of the moving means in a direction,
A control rod drive mechanism handling method, wherein the moving means moves the object to perform alignment based on the derived moving direction and moving amount. In a control rod drive mechanism handling method in which an object to be attached, removed or moved to a predetermined position by a moving means is attached or removed including a control rod drive mechanism of a boiling water reactor,
The object is the control rod drive mechanism and the control rod drive mechanism guide tube provided with positioning targets on the side surfaces of the respective flange portions,
When joining the flange portion of the control rod drive mechanism to the flange portion of the control rod drive mechanism guide tube,
Measuring at least one of the relative position in the axial direction of both flange portions and measuring the relative position in the circumferential direction at the flange portion with the positioning target as an index, using a plurality of measuring devices ,
From this measurement result , a displacement amount of at least one of the axial direction and the circumferential direction of the flange portion of the control rod drive mechanism and the flange portion of the control rod drive mechanism guide tube is calculated, and the displacement is corrected. deriving a moving direction and a moving amount to be movement of the moving means in a direction,
A control rod drive mechanism handling method, wherein the moving means moves the object to perform alignment based on the derived moving direction and moving amount. In a control rod drive mechanism handling method in which an object to be attached, removed or moved to a predetermined position by a moving means is attached or removed including a control rod drive mechanism of a boiling water reactor,
The object is the control rod drive mechanism and a spool piece,
When inserting a plurality of bolts of the spool piece into a plurality of bolt holes in the control rod drive mechanism,
Measuring at least one of the relative position in the horizontal direction between the bolt hole and the bolt, and the relative position in the axial direction by a plurality of measuring devices ,
From this measurement result , a displacement amount of at least one of the bolt hole of the control rod drive mechanism and the bolt of the spool piece in the horizontal direction and the axial direction is calculated, and the moving means in a direction to correct the displacement. Deriving the direction and amount of movement to move,
A control rod drive mechanism handling method, wherein the moving means moves the object to perform alignment based on the derived moving direction and moving amount. In a control rod drive mechanism handling method in which an object to be attached, removed or moved to a predetermined position by a moving means is attached or removed including a control rod drive mechanism of a boiling water reactor,
The object is the control rod drive mechanism and spool piece provided with alignment targets on the side surfaces of the respective flange portions,
When joining the flange portion of the control rod drive mechanism to the flange portion of the spool piece,
Measuring at least one of the relative position in the axial direction of the two flange portions and measuring the relative position in the circumferential direction of the flange portion using the alignment target as an index, by a plurality of measuring devices ;
From this measurement result , the amount of displacement of at least one of the axial direction and the circumferential direction of the flange portion of the control rod drive mechanism and the flange portion of the spool piece is calculated, and the movement is performed in a direction to correct this displacement. Deriving the moving direction and amount of movement of the means,
A control rod drive mechanism handling method, wherein the moving means moves the object to perform alignment based on the derived moving direction and moving amount. In a control rod drive mechanism handling method in which an object to be attached, removed or moved to a predetermined position by a moving means is attached or removed including a control rod drive mechanism of a boiling water reactor,
The object is a spool piece and a wrench device for removing the spool piece,
When attaching a plurality of wrench in the wrench device to a plurality of bolts in the spool piece,
Measuring at least one of the relative position in the horizontal direction between the bolt and the wrench and the relative position in the axial direction with a plurality of measuring devices ,
From this measurement result , a displacement amount of at least one of the bolt of the spool piece and the wrench of the wrench device in the horizontal direction and the axial direction is calculated, and the moving means moves in a direction to correct the displacement. Deriving the power direction and amount of movement,
A control rod drive mechanism handling method, wherein the moving means moves the object to perform alignment based on the derived moving direction and moving amount. In a control rod drive mechanism handling method in which an object to be attached, removed or moved to a predetermined position by a moving means is attached or removed including a control rod drive mechanism of a boiling water reactor,
The object is the control rod drive mechanism and a wrench device for removing the control rod drive mechanism,
When inserting a plurality of guide pins in the wrench device into a plurality of guide holes in the control rod drive mechanism,
Measuring at least one of the relative position in the horizontal direction between the guide hole and the guide pin and the relative position in the axial direction by a plurality of measuring devices ,
From this measurement result , a displacement amount of at least one of the guide hole of the control rod drive mechanism and the guide pin of the wrench device in the horizontal direction and the axial direction is calculated, and the moving means in a direction to correct the displacement. Deriving the direction and amount of movement to move,
A control rod drive mechanism handling method, wherein the moving means moves the object to perform alignment based on the derived moving direction and moving amount. In a control rod drive mechanism handling method in which an object to be attached, removed or moved to a predetermined position by a moving means is attached or removed including a control rod drive mechanism of a boiling water reactor,
The object is the control rod drive mechanism and a wrench device for removing the control rod drive mechanism,
When bringing the upper surface of the wrench device into contact with the lower surface of the flange portion of the control rod drive mechanism,
The relative position in the axial direction between the lower surface of the flange portion and the upper surface of the wrench device is measured by a plurality of measuring devices ,
From this measurement result , an axial displacement amount between the lower surface of the flange portion of the control rod drive mechanism and the upper surface of the wrench device is calculated, and the moving means moves in a direction to correct the displacement. Deriving the power direction and amount of movement,
A control rod drive mechanism handling method, wherein the moving means moves the object to perform alignment based on the derived moving direction and moving amount.

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