JP6839943B2 - Recovery device - Google Patents

Description

The present invention relates to a recovery device, and more particularly to a recovery device suitable for recovering a structure existing in a facility such as a nuclear reactor, fuel debris, or the like.

"Fuel debris" is a nuclear fuel material in which the reactor fuel is debrised in the reactor. The reactor fuel is melted due to the loss of coolant and cooled and solidified together with the reactor structural materials and control rods. is there. Fuel debris may also be referred to as melt-damaged fuel. It is considered that such fuel debris is often present in the reactor pressure vessel (RPV).

When decommissioning a nuclear reactor, it is important to recover the structures and fuel debris in the RPV in advance from the viewpoint of preventing radioactive contamination of the external environment. Generally, as a method for recovering fuel debris, a method of taking out fuel debris in a submerged state (flooding method) is known. According to this submersion method, it is possible to reduce the exposure of workers and the radioactive contamination to the external environment by the effect of blocking water.

However, if the RPV has holes or cracks, the holes or cracks must be closed and sealed. Further, in a nuclear reactor in which fuel debris is present, it is difficult for workers to enter the inside, and it is difficult to identify the positions of holes and cracks and to close the holes and cracks. Therefore, an alternative method that can recover fuel debris without adopting the submersion method is desired.

For example, Patent Document 1 includes a mobile trolley movably suspended by an overhead crane, a work manipulator arranged on the mobile trolley, and a vibration damping device that suppresses vibration of the work manipulator. And a device for collecting fuel debris and the like by remotely operating a work manipulator is disclosed.

Japanese Unexamined Patent Publication No. 2014-0489193

In the invention described in Patent Document 1 described above, since the moving carriage (elevating platform) is suspended by an overhead crane arranged above the operation floor (refueling floor), the suspension distance of the moving carriage is long. Therefore, there was a problem that it took time to raise and lower the moving trolley. Further, there is a problem that the work manipulator cannot be maintained or the tip tool cannot be replaced unless the mobile trolley is returned to the operation floor, the number of times the mobile trolley is raised and lowered increases, and the work efficiency is low.

The present invention has been devised in view of such a problem, and provides a recovery device capable of improving work efficiency by shortening the moving distance of the elevating table and reducing the number of times the elevating table is raised and lowered. With the goal.

According to the present invention, a recovery device that approaches an object from a high place and collects the object, and is a suspension stand that is arranged on a floor surface formed at the high place and has an opening in the center. An article is placed through an elevating table suspended from the suspension table and having an opening in the center, a manipulator detachably arranged on the elevating table, an opening of the suspension table, and an opening of the elevating table. The manipulator includes a cargo handling device for transporting to a lift, a manipulator arm detachably arranged on the lift, and a tip tool detachably arranged on the tip of the manipulator arm. The lift has a guide member that guides the manipulator arm conveyed by the cargo handling device, the manipulator arm has a guide roller that abuts on the guide member, and the cargo handling device has the guide roller. After lowering the manipulator to the height position of the guide member, the manipulator is moved horizontally so that the guide roller is brought into contact with the guide member and the manipulator is remotely operated so as to be connected to the lift. A recovery device is provided that is capable of being configured.

Further, the recovery device may include a transport container for accommodating the tip tool. Further, the transport container may be configured to be connected to the cargo handling device.

Further, the elevating table may have a plurality of fixing devices capable of contacting a wall surface existing on the outer periphery.

Further, the suspension base may be provided with a plurality of hoists that support the lift base so as to be able to move up and down.

Further, the recovery device may include a relay device arranged on the lift and controlling a cable or wire connected to the manipulator.

According to the recovery device according to the present invention described above, the manipulator for collecting the object is detachably arranged on the lift, and the manipulator is transported to the lift suspended on the suspension by the cargo handling device. Therefore, the manipulator can be replaced in whole or in part by operating the cargo handling device without moving the lifting platform from the vicinity of the work site to the floor surface on which the suspension platform is arranged. Therefore, according to the present invention, it is possible to improve the work efficiency by shortening the moving distance of the elevating table and reducing the number of times the elevating table is raised and lowered.

It is a top view which shows the recovery apparatus which concerns on one Embodiment of this invention. FIG. 1 is a cross-sectional view taken along the line AA in FIG. It is an overall schematic diagram which shows the use example of the recovery device. It is explanatory drawing which shows an example of the connection method of a manipulator, (a) is a descent process, (b) is a horizontal position adjustment process, (c) is a guide process, (d) is a rotation process. It is explanatory drawing which shows the transport container of a tip arm, (a) is a perspective view, (b) is a sectional view. It is explanatory drawing which shows the relay device of a manipulator.

Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 6. Here, FIG. 1 is a plan view showing a recovery device according to an embodiment of the present invention. FIG. 2 is a cross-sectional view taken along the line AA in FIG. FIG. 3 is an overall schematic view showing a usage example of the recovery device.

As shown in FIGS. 1 to 3, the recovery device 1 according to the embodiment of the present invention is a device that recovers the object X from a high place by approaching the object X from a high place. A suspension table 2 arranged on the formed floor surface F and having an opening 2a in the center, a lift table 3 suspended from the suspension table 2 and having an opening 3a in the center, and a lift table 3 detachably arranged. It is provided with a manipulator 4 and a cargo handling device 5 for transporting an article to the lift 3 via the opening 2a of the suspension 2 and the opening 3a of the lift 3. In addition, in FIG. 1 and FIG. 2, the figure of the cargo handling device 5 is omitted for convenience of explanation.

The suspension base 2 is, for example, a substantially annular steel structure as shown in FIGS. 1 and 2. For example, the suspension table 2 is arranged on the bottom plate 21 arranged on the floor surface F, the top plate 22 supporting the elevating table 3, a plurality of columns 23 connecting the bottom plate 21 and the top plate 22, and the top plate 22. It is provided with a plurality of hoists 24 for raising and lowering the elevating table 3.

The bottom plate 21 and the top plate 22 are formed in a substantially annular shape, respectively, and have openings 21a and 22a in the center. These openings 21a and 22a form an opening 2a of the suspension table 2. Further, the bottom plate 21 and the top plate 22 may have slits 21b and 22b formed in a part on the periphery. By forming these slits 21b and 22b at the same position on the circumference, the carry-in / out port 2b of the suspension table 2 is configured. The carry-in / out port 2b (slits 21b, 22b) can be omitted if necessary.

The hoist 24 is a hoist that supports the elevating table 3 so as to be able to move up and down via the wire 24a. The number of hoists 24 may be at least three or more in order to stably support the elevating table 3. Further, in the present embodiment, five hoists 24 are arranged. By arranging four or more hoists 24 in this way, the wires 24a that support the elevating table 3 can be multiplexed, and the safety of the recovery device 1 can be improved.

The lift 3 is, for example, a substantially annular steel structure as shown in FIGS. 1 and 2. The elevating table 3 may have a slit 3b formed in a part of the circumference. By forming the position of the slit 3b at the same position as the carry-in / out port 2b (slits 21b, 22b) of the suspension table 2, the goods can be carried in / out through the slit 3b. The slit 3b can be omitted if necessary.

Further, the elevating table 3 has a metal fitting 31 connected to the wire 24a, a connecting portion 32 to which the manipulator 4 is connected, and a plurality of fixing devices 33 capable of contacting a wall surface existing on the outer circumference. May be good. The metal fittings 31 are arranged on the upper surface of the elevating table 3 at equal intervals in the circumferential direction, for example. The connecting portion 32 is arranged, for example, on the lower surface of the elevating table 3. The connecting portion 32 constitutes a terminal that detachably supports the manipulator 4.

The fixing devices 33 are arranged on the upper surface of the elevating table 3 at substantially radial intervals, for example. The fixing device 33 is composed of, for example, a cylinder (hydraulic cylinder, electric cylinder, etc.) that can expand and contract outward in the radial direction. With the fixing device 33, the tip can be brought into contact with the wall surface existing in the vicinity of the elevating table 3 by extending the cylinder, and the elevating table 3 can be easily positioned in the height direction. The configuration of the fixing device 33 shown is merely an example, and is not limited to such a configuration.

The manipulator 4 includes, for example, a manipulator arm 41 detachably arranged on the lift 3 and a tip tool 42 detachably arranged on the tip of the manipulator arm 41, and a connector 43 for connecting the manipulator arm 41 to the connecting portion 32. And a suspension piece 44 for suspending the manipulator arm 41 by the cargo handling device 5.

The manipulator arm 41 is a so-called articulated arm, and an arm having a structure corresponding to the tip tool 42 can be arbitrarily selected and used. A tip tool 42 according to the work content is connected to the tip of the manipulator arm 41. The tip tool 42 is, for example, a cutter that cuts the object X, a drill that crushes the object X, an excavator that scoops a section of the object X, and the like, but is not limited thereto.

Regarding the rotation drive mechanism of the joints of the manipulator arm 41 and the method of laying the electric cables and hoses connected to each joint and the tip tool 42 in the arm, the technology disclosed in International Publication No. 2016/100939 is used. You may.

The tip tool 42 may be configured to be detachable from the manipulator arm 41, or may be configured integrally with the manipulator arm 41. When the tip tool 42 is integrally configured with the manipulator arm 41, the tip tool 42 can be replaced by replacing the entire manipulator arm 41. When the tip tool 42 is configured to be detachable from the manipulator arm 41, only the tip tool 42 can be replaced without replacing the manipulator arm 41.

The connector 43 is a terminal that can be mechanically connected to the connecting portion 32, and is configured so that the drive system is also connected by connecting the connector 43 to the connecting portion 32. Since such a connecting structure has already been put into practical use in, for example, heavy machinery for civil engineering work, detailed description thereof will be omitted here.

The cargo handling device 5 is, for example, as shown in FIG. 3, a gate-shaped gantry crane that can be arranged so as to straddle the suspension platform 2. The cargo handling device 5 includes, for example, a pair of legs 51, a beam 52 spanned between the legs 51, a plurality of trolleys 53 movably arranged on the beam 52, and a hoist on the trolley 53. It includes a hook 54 that is arranged so as to be able to move up and down. The cargo handling device 5 is not limited to the illustrated configuration, and may be substituted by, for example, an overhead crane.

According to the cargo handling device 5, the suspension piece 44 of the manipulator 4 can be locked to the hook 54, and the manipulator 4 can be lowered from above the suspension table 2 to the position of the lifting table 3 via the openings 2a and 3a. .. In the present embodiment, the cargo handling device 5 is used when exchanging the manipulator 4, but it may be used for other purposes (for example, transportation of a bucket containing the collected object X). ..

By the way, the above-mentioned recovery device 1 can be used, for example, in a nuclear reactor 6 as shown in FIG. The reactor 6 shown in FIG. 3 is a so-called boiling water reactor (BWR), and has a reactor pressure vessel 61, a reactor storage vessel 62, a reactor building 63, and the like. The reactor pressure vessel 61 is a vessel that houses the core and is a steel vessel that can withstand high temperatures and pressures. The reactor containment vessel 62 is a vessel for accommodating main equipment such as the reactor pressure vessel 61, and is a container made of steel or concrete having high airtightness and pressure resistance.

The reactor pressure vessel 61 and the reactor containment vessel 62 are housed in a concrete reactor building 63. The reactor building 63 has a role of preventing leakage of radioactive materials in the event of a reactor accident, and is composed of fuel pellets, a fuel cladding tube, a reactor pressure vessel 61, a reactor containment vessel 62, and a reactor building 63. It is one of the five barriers.

A plurality of partitioned spaces are formed in the reactor building 63, and in this partitioned space, a pressure suppression pool 64 arranged in a ring shape under the reactor containment vessel 62 and a fuel storage for storing spent fuel. A pool 65, a device temporary storage pool 66 for temporarily storing equipment during maintenance, and the like are arranged. In FIG. 3, the details of the control rods and the cooling system are omitted. Further, the reactor building 63 is not limited to the illustrated configuration.

A cylindrical pedestal 67 that supports the reactor pressure vessel 61 is formed at the bottom of the reactor containment vessel 62, and a control rod drive mechanism (not shown) is arranged inside the pedestal 67. .. A cylindrical γ-ray shield 68 surrounding the reactor pressure vessel 61 is arranged above the pedestal 67.

At the top of the reactor containment vessel 62, a dry well head 62a that seals the reactor containment vessel 62 in a closed state is arranged. Further, on the top of the reactor pressure vessel 61, an upper lid 61a for sealing the reactor pressure vessel 61 in a closed state is arranged. In FIG. 3, the state in which the upper lid 61a is removed is shown, but for convenience of explanation, the upper lid 61a is shown by a alternate long and short dash line.

Further, the vertical hole formed above the dry well head 62a is called a reactor well 63a, and is sealed by a plurality of shielding plugs 63b. The shielding plug 63b is composed of, for example, three concrete disks. Since these shielding plugs 63b are heavy objects, they may be divided into a plurality of parts in the width direction.

A work floor surface F is formed on the upper surfaces of the shielding plug 63b, the fuel storage pool 65, and the equipment temporary storage pool 66. The floor surface F may be referred to as a refueling floor or an operation floor. Further, an overhead crane 63c for transporting equipment may be installed in the upper part of the reactor building 63.

In the event of an accident such as core meltdown, the reactor fuel may melt due to the loss of coolant, cool and solidify together with the reactor structural materials and control rods, and become fuel debris (object X). .. It is considered that the fuel debris is often present in the reactor pressure vessel 61, for example, as shown in the figure. When decommissioning the reactor 6 in which such fuel debris is generated, the structures and fuel debris in the reactor pressure vessel 61 should be recovered in advance from the viewpoint of preventing radioactive contamination of the external environment. is important.

When recovering the object X in the reactor pressure vessel 61, for example, after fixing the shielding port 7 on the shielding plug 63b sealing the reactor well 63a, a part of the shielding plug 63b is removed. Remove to form an opening. The shielding port 7 has an opening / closing door that can be opened / closed, and can form a passage that can access the reactor well 63a at an arbitrary timing. Further, in order to convey the lift 3 to a position where it reaches the object X, an opening is formed in the dry well head 62a and the upper lid 61a of the reactor pressure vessel 61 is removed.

When the suspension table 2 is arranged above the shielding port 7 and the lifting table 3 is moved to the work site, as shown in the figure, the opening / closing door of the shielding port 7 is opened, and the hoist 24 is operated to move up and down. The table 3 is lowered by remote control. When the manipulator 4 reaches the position where it reaches the object X, the hoist 24 is stopped, the fixing device 33 is operated, and the lifting platform 3 is fixed to the wall surface of the reactor pressure vessel 61. Although not shown, the elevating table 3 may have a camera for monitoring the situation at the work site, various sensors for investigating the situation at the work site, and the like.

When replacing the manipulator 4 (including the manipulator arm 41) due to a failure or maintenance of the manipulator 4, the hook 54 of the cargo handling device 5 is locked to the suspension piece 44 of the manipulator 4 and pulled upward. The manipulator 4 is separated from the lift 3 and transported to the floor surface F. Next, the replacement manipulator 4 is locked to the hook 54 of the cargo handling device 5 and lowered into the reactor pressure vessel 61 through the opening 21a of the suspension table 2.

Here, FIG. 4 is an explanatory view showing an example of a method of connecting the manipulator, (a) is a lowering step, (b) is a horizontal position adjusting step, (c) is a guiding step, and (d) is a rotating step. , Is shown. In each drawing, for convenience of explanation, the configuration of the lift 3 is shown in a partially simplified manner, and the hook 54 locked to the suspension piece 44 is omitted.

As shown in FIG. 4A, the lift 3 may have a guide member 34 that guides the manipulator 4 conveyed by the cargo handling device 5. Further, the manipulator 4 may have a guide roller 45 that comes into contact with the guide member 34. The guide rollers 45 are arranged on both sides of the connector 43 of the manipulator 4, for example. The guide member 34 and the guide roller 45 are examples of parts that guide the manipulator 4 to the connecting portion 32 of the elevating table 3, and are not limited to such a configuration.

The guide member 34 is composed of a pair of plate members arranged on the inner edge of the elevating table 3, and the plate materials are arranged at positions corresponding to the left and right guide rollers 45. In each of the figures of FIGS. 4A to 4D, only one of the guide members 34 is shown for convenience of explanation.

Further, the guide member 34 is formed with a guide groove 34a for guiding the guide roller 45 to the connecting portion 32 of the elevating table 3. The guide groove 34a is formed so as to guide the guide roller 45 outward in the radial direction of the elevating table 3 while guiding the guide roller 45 in the elevating direction. Further, at the inlet portion of the guide groove 34a, a protruding portion 34b formed so as to be higher on the outer side in the radial direction than on the inner side in the radial direction is arranged.

As shown in FIG. 4A, in the lowering step, the manipulator 4 is lowered until the guide roller 45 is at substantially the same height as the protrusion 34b. Next, as shown in FIG. 4B, in the horizontal position adjusting step, the manipulator 4 is moved in the horizontal direction so that the guide roller 45 comes into contact with the protrusion 34b. Next, as shown in FIG. 4C, in the guide step, the guide roller 45 is moved along the guide groove 34a by lowering the manipulator 4.

After the guide roller 45 reaches the lower end of the guide groove 34a, the manipulator 4 is rotated as shown in FIG. 4D. In this rotation step, the suspension piece 44 is moved inward in the radial direction to rotate the manipulator 4 inward in the radial direction with the guide roller 45 as a fulcrum. By this process, the connector 43 of the manipulator 4 is connected to the connecting portion 32 of the elevating table 3.

Next, a case where only the tip tool 42 of the manipulator 4 is replaced will be described. Here, FIG. 5 is an explanatory view showing a transport container of the tip arm, (a) is a perspective view, and (b) is a cross-sectional view. When the tip tool 42 is replaced with the manipulator arm 41 of the manipulator 4 installed on the elevating table 3, the transport container 46 shown in FIGS. 5 (a) and 5 (b) is used.

The transport container 46 has, for example, a substantially rectangular parallelepiped shape having an opening 46a on a part of the side surface. Further, a hanging piece 46b that can be locked to the hook 54 of the cargo handling device 5 is arranged above the transport container 46. With the tip tool 42 housed in the transport container 46, the hook 54 is locked to the suspension piece 46b, and the cargo handling device 5 lowers the hook 54 to the position of the lifting platform 3.

In this state, the manipulator arm 41 is remotely controlled so that the tip of the manipulator arm 41 approaches the connector 42a of the tip tool 42 and is connected. At this time, in order to fix the position of the transport container 46, another manipulator 4 that is not a replacement target may be used to grip the outer surface of the transport container 46.

When the tip tool 42 is removed from the tip of the manipulator arm 41 and collected, the empty transport container 46 is lowered to the position of the lift 3 by the cargo handling device 5, and the manipulator arm 41 to be replaced is remotely controlled by the tip tool. 42 is inserted through the opening 46a of the transport container 46. By remotely controlling the manipulator arm 41 in this state to separate the tip tool 42, the tip tool 42 can be accommodated in the transport container 46.

At this time, in order to fix the position of the transport container 46, another manipulator 4 that is not a replacement target may be used to grip the outer surface of the transport container 46. After that, the transport container 46 is raised to the floor surface F by the cargo handling device 5 and collected.

According to the recovery device 1 according to the present embodiment described above, since the elevating table 3 is raised and lowered not by the overhead crane but by the suspension table 2 arranged on the floor surface F, the height from the floor surface F to the overhead crane is raised. The moving distance of the elevator 3 can be physically shortened by that amount.

Further, according to the recovery device 1 according to the present embodiment, the manipulator 4 for collecting the object X is detachably arranged on the lift table 3, and the cargo handling device 5 up to the lift stand 3 suspended from the suspension stand 2. Since the manipulator 4 is conveyed by the above method, the manipulator 4 can be operated by remotely controlling the cargo handling device 5 without moving the lift 3 from the vicinity of the work site to the floor surface F on which the suspension 2 is arranged. (Including the manipulator arm 41) or a part (only the tip tool 42) can be replaced.

Therefore, according to the recovery device 1 according to the present embodiment, it is possible to shorten the moving distance of the elevating table 3 and reduce the number of ascending / descending times of the elevating table 3, and it is possible to improve the work efficiency.

Further, the recovery device 1 may include a relay device 48 that is arranged on the elevating table 3 and controls the cable 47 connected to the manipulator 4. Here, FIG. 6 is an explanatory diagram showing a relay device of the manipulator. In the relay device 48, for example, a reel 48a on which a cable 47 extending from the floor surface F to the position of the elevating table 3 is wound, and a cable 47 extending from the tip tool 42 to the position of the elevating table 3 are wound. It is equipped with a reel 48b.

Further, although not shown, the relay device 48 has a hook that can be locked to the lift 3 and a hanging piece that can be locked to the hook 54 of the cargo handling device 5. By transporting the relay device 48 from the floor surface F to the lift 3, the length of the cable 47 can be adjusted by controlling only the reel 48b in accordance with the movement of the tip tool 42 connected to the manipulator 4. .. Therefore, cable management can be easily performed by using the relay device 48.

Here, the case of controlling the cable 47 connected to the tip tool 42 has been described, but the relay device 48 may control the wire, or may control the cable or wire connected to the manipulator arm 41. It may be something to do.

In the above-described embodiment, the case where the recovery device 1 is used in the reactor 6 has been described, but the present invention is not limited to such a usage example. The recovery device 1 according to the present embodiment is a facility or equipment (for example, radioactive liquid waste) in which the suspension table 2 is arranged at a higher place than the place where the object X exists and the lifting table 3 needs to access the work site. It can also be used for storage tanks, etc.).

It goes without saying that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

1 Recovery device 2 Suspension stand 2a, 3a Opening 2b Carry-in / out entrance 3 Lifting stand 3a Opening 3b Slit 4 Manipulator 5 Cargo handling device 6 Reactor 7 Shielding port 21 Bottom plate 21a, 22a Opening 21b, 22b Slit 22 Top plate 23 Support 24 Hoist 24a Wire 31 Bracket 32 Connecting part 33 Fixing device 34 Guide member 34a Guide groove 34b Protruding part 41 Manipulator arm 42 Tip tool 42a, 43 Connector 44, 46b Suspension piece 45 Guide roller 46 Conveyor container 46a Opening 47 Cable 48 Relay device 48a , 48b Reel 51 Leg 52 Beam 53 Trolley 54 Hook 61 Reactor pressure vessel 61a Top lid 62 Reactor storage vessel 62a Drywell head 63 Reactor building 63a Reactor well 63b Shielding plug 63c Overhead crane 64 Pressure suppression pool 65 Fuel storage pool 66 Equipment Temporary Pool 67 Pedestal 68 γ-ray Shield

Claims (6)

A recovery device that approaches an object from a high place and collects the object.
A suspension stand arranged on the floor surface formed at the high place and having an opening in the center,
An elevating platform suspended from the suspension platform and having an opening in the center,
A manipulator that is detachably arranged on the lift and
A cargo handling device for transporting an article to the elevating table through the opening of the suspension table and the opening of the elevating table is provided .
The manipulator includes a manipulator arm detachably arranged on the lift and a tip tool detachably arranged on the tip of the manipulator arm.
The lift has a guide member that guides the manipulator arm conveyed by the cargo handling device.
The manipulator arm has a guide roller that abuts on the guide member.
In the cargo handling device, the manipulator is lowered until the guide roller reaches the height position of the guide member, and then the manipulator is moved horizontally to bring the guide roller into contact with the guide member to bring the manipulator into contact with the guide member. It is configured to be remotely controllable so as to be connected to the lift.
A recovery device characterized by the fact that. The recovery device according to claim 1, further comprising a transport container for accommodating the advanced tool. The collection device according to claim 2, wherein the transport container is connected to the cargo handling device. The recovery device according to claim 1, wherein the lift has a plurality of fixing devices that can come into contact with a wall surface existing on the outer periphery. The recovery device according to claim 1, wherein the suspension stand includes a plurality of hoists that support the lift stand so as to be able to move up and down. The recovery device according to claim 1, further comprising a relay device that is arranged on the lift and controls a cable or wire connected to the manipulator.