JP7078493B2 - Emergency recovery device for remote work system and its emergency recovery method - Google Patents

Description

The present invention relates to an emergency recovery device for a remote work system and an emergency recovery method thereof, and in particular, an emergency recovery device for a remote work system and an emergency recovery thereof suitable for changing the posture of the work device to an emergency recovery posture in an emergency. Regarding the method.

Generally, in a nuclear power plant or a thermal power plant, the work of handling heavy objects such as cutting and removing the structure of the plant may be performed. In particular, in nuclear power plants, maintenance work (work such as cutting and removing structures in the reactor, installing new structures in the reactor and fixing them by welding) and appearance Inspection work such as photography and ultrasonic inspection may be performed.

Such maintenance work and inspection work of the structure in the reactor are performed by the worker by putting a work device (remote operation robot) in the reactor, but the control device that controls this work device is abnormal. In an emergency such as when a failure occurs or a failure occurs, the work equipment stops in the working posture (abnormality of the work equipment), and if the stop posture of this work equipment is a posture that cannot be recovered from the reactor, the work equipment is turned on. It is necessary to change to an emergency recovery posture.

Although it is not intended for a nuclear power plant, there is a method described in Patent Document 1 as a method for changing the posture of a working device to an emergency recovery posture.

In Patent Document 1, a mechanism for releasing the lock is built in the drive mechanism, and the posture of the working device is changed to the emergency recovery posture by inserting a jig directly into the mechanism and rotating the mechanism to release the lock. The remote control device to be used is described.

Japanese Unexamined Patent Publication No. 2018-10635

However, the emergency recovery mechanism in the remote control device described in Patent Document 1 described above is premised on inserting another special jig as a means for releasing the lock in the event of a failure, for example, in a nuclear reactor of a nuclear power plant. When the access distance to the work environment is long or it is necessary to pass through a narrow part such as structure maintenance work and inspection work, it is difficult to change to the emergency recovery posture of the work equipment from a remote place. There is a problem that the collection time at the time of emergency collection takes a long time.

The present invention has been made in view of the above points, and an object thereof is a work device from a remote place even when the access distance to the work environment is long or when it is necessary to pass through a narrow part. It is an object of the present invention to provide an emergency recovery device for a remote work system and an emergency recovery method thereof, which can be easily changed to the emergency recovery posture and can shorten the recovery time at the time of emergency recovery.

In order to achieve the above object, the emergency recovery device of the remote work system of the present invention has a work device having an actuator operated by hydraulic pressure or pneumatic pressure in a drive unit, and a pressure for adjusting the pressure of the actuator of the work device. It is provided with an adjustment unit and at least a control device that outputs a control command for pressure adjustment of the pressure adjustment unit.
The working device includes a medium supply line for supplying a medium for driving the actuator of the working device, and the medium supply line between the actuator and the pressure adjusting unit when an abnormality occurs in the working device. A pressure release mechanism that releases the pressure of the actuator by cutting the actuator, a posture changing means that converts the posture of the working device into a recovery posture after the pressure of the actuator is released by the pressure release mechanism, and a plurality of links. It consists of a joint drive unit, which is the posture changing means for connecting between the links, and a work tool installed on the state-of-the-art link.
The pressure adjusting unit is installed in the base portion of the working apparatus, the actuator is provided in each joint driving portion of the working apparatus, and the pressure adjusting unit and the actuator are connected by the medium supply line. Ori,
When an abnormality occurs in the work device, the medium supply line is cut by the pressure release mechanism to release the pressure of the actuator, and after the pressure of the actuator is released, each joint drive unit of the work device causes the work device. The work equipment is collected by changing the posture so that the link and the work tool are aligned vertically downward, and at the same time, the work equipment is collected.
The pressure release mechanism is installed in the middle of the medium supply line and consists of a heating unit connected to the pressure adjusting unit via a current cable. When an abnormality occurs in the working device, the pressure adjusting unit is provided. Alternatively, based on a command from the control device, the heating unit is heated by passing a current through the current cable, the medium supply line is cut off, and the working device is recovered.
The heating unit is made of a material having a high heat transfer coefficient, and the medium supply line is made of a material having a melting point lower than the heating temperature of the heating unit .

Further, in the emergency recovery method of the remote work system of the present invention, the monitoring method of the remote work device includes a work device having an actuator operated by hydraulic pressure or pneumatic pressure in the drive unit, and the work device, in order to achieve the above object. A pressure adjusting unit for adjusting the pressure of the actuator and a control device for outputting at least a control command for adjusting the pressure of the pressure adjusting unit are provided, and a medium for driving the actuator is sent to the actuator of the working device as a medium. When an abnormality occurs in the work equipment in the remote work system supplied by the supply line,
The medium supply line between the actuator and the pressure adjusting unit is cut by a pressure release mechanism to release the pressure of the actuator, and after the pressure of the actuator is released, the posture of the work apparatus is returned to the recovery posture by the posture changing means. And collect the work equipment, and at the same time
The work device comprises a plurality of links, a joint drive unit which is a posture changing means for connecting the links, and a work tool installed on the state-of-the-art link.
The pressure adjusting unit is installed in the base portion of the working apparatus, the actuator is provided in each joint driving portion of the working apparatus, and the pressure adjusting unit and the actuator are connected by the medium supply line.
When an abnormality occurs in the work device, the medium supply line is cut by the pressure release mechanism to release the pressure of the actuator, and after the pressure of the actuator is released, each joint drive unit of the work device causes the work device. The work equipment was collected by changing the posture so that the link and the work tool were aligned vertically downward.
The pressure release mechanism is connected to a water tank installed in the middle of the medium supply line via a water supply tube, and is composed of a heating unit containing calcium oxide inside, and when an abnormality occurs in the working device. The oxidation in the heating unit is performed by opening a valve installed in the pipe and allowing water from the water tank to flow to the water supply tube based on a command from the pressure adjusting unit or the control device. It is characterized in that calcium is chemically reacted to be heated, and the medium supply line is cut to recover the working apparatus .

According to the present invention, even when the access distance to the work environment is long or when it is necessary to pass through a narrow space, it is easy to change to the emergency recovery posture of the work device from a remote place, and emergency recovery is possible. The time collection time can be shortened.

It is a figure which shows the example which applies the Example 1 of the emergency recovery device of the remote work system of this invention to the maintenance work of the structure in the nuclear reactor in a nuclear power plant. It is a figure which shows the work apparatus in the emergency recovery apparatus of the remote work system of FIG. It is a figure which shows the connection relationship of the work apparatus and the control apparatus in the emergency recovery apparatus of the remote work system of FIG. It is a figure which shows the state which the working equipment is stopped on the inner wall surface of the shroud in the reactor in the nuclear power plant of FIG. It is a figure which shows the recovery state of the work equipment when the abnormality occurs in the work equipment in the reactor in the nuclear power plant of FIG. It is a figure which shows the structure of the joint drive part which comprises the work apparatus in Example 1 of the emergency recovery apparatus of the remote work system of this invention. It is a figure which shows an example of the pressure release mechanism provided between the medium supply line and the pressure adjustment unit in Example 1 of the emergency recovery device of the remote work system of this invention. It is a figure which shows another example of the pressure release mechanism provided between the medium supply line and a pressure adjustment unit as Example 2 of the emergency recovery device of the remote work system of this invention. It is a figure which shows still another example of the pressure release mechanism provided between the medium supply line and a pressure adjustment unit as Example 3 of the emergency recovery device of the remote work system of this invention.

Hereinafter, the emergency recovery device of the remote work system of the present invention and the emergency recovery method thereof will be described based on the illustrated examples. In each embodiment described below, the same reference numerals are used for the same components.

FIG. 1 shows an emergency recovery device of the remote work system of the present invention and an embodiment 1 of the emergency recovery method thereof, in which maintenance work of a structure in the reactor 1 in a nuclear power plant (cutting the structure in the reactor 1). This is an example of application to the work of removing, installing a new reactor internal structure, and fixing it by welding).

As shown in FIG. 1, structures such as a shroud 2, an upper lattice plate 3, a core support plate 4, and a shroud support 5 are installed in the reactor 1, and PLR (Primary Loop Re-circulation System) is installed. ) Piping such as the primary coolant recirculation system piping 6 is connected. Normally, the inside of the reactor 1 is filled with cooling water 7, an operation floor 8 which is a work space is provided above the reactor 1, and a refueling device 9 is provided above the operation floor 8. ing.

The remote work system for maintaining the structure in the reactor 1 shown in FIG. 1 includes, for example, a control device 10, a work device 11 such as a remote control robot, a user interface unit 12, and the like.

The work device 11 such as a remote control robot is used for maintenance work of the structure in the reactor 1, appearance photography, inspection work such as ultrasonic inspection, and the work device 11 in this embodiment has a plurality of joints. The drive unit is provided with a hydraulically or pneumatically operated actuator, and the working device 11 is connected to the control device 10 via a cable 13.

The cable 13 has a built-in tube or electric wire for supplying liquid such as water or oil or air to the actuator or supplying power to various devices (for example, the actuator or a work tool).

Further, the user interface unit 12 is a device for the working device 11 and the worker 19 to exchange information. In the information output device of the user interface unit 12, all or a part of the image taken by the camera provided in the work device 11 or the camera (not shown) installed around the work device 11 is used as it is or processed. The user interface unit 12 can display the position and posture of the work device 11, the state of the work area of the work device 11, and the like as an image. Further, the worker 19 can operate the work device 11 by using the operation function of the user interface unit 12.

When performing maintenance work on the structure in the reactor 1, the worker 19 on the refueling device 9 puts the work device 11 into the reactor 1, and the position and posture of the work device 11 and the work device 11 The operation is performed while checking the image such as the status of the work area of the user interface unit 12.

FIG. 2 shows the details of the work device 11 in the above-mentioned emergency recovery device of the remote work system.

As shown in FIG. 2, the working device 11 of this embodiment is linked to three links 14A, 14B, 14C, and joint drive units 15A and link 14B, which are posture control means for connecting between the link 14A and the link 14B. It is composed of a joint drive unit 15B which is a posture control means for connecting the 14Cs, and a work tool 16 installed at the tip of the state-of-the-art link 14C.

FIG. 3 shows the connection relationship between the work device 11 and the control device 10 described above.

As shown in FIG. 3, a pressure adjusting unit 18 having a function of adjusting the pressure of the actuator of the working device 11 is installed on the base portion of the working device 11, and each joint driving section 15A of the working device 11 and It is provided with medium supply lines 17A and 17B for supplying a medium for driving an actuator built in the 15B.

The working device 11 and the control device 10 are connected via a cable 13, and the pressure adjusting unit 18 and the actuators built in the joint drive units 15A and 15B are connected by the medium supply lines 17A and 17B.

The pressure adjusting unit 18 has, for example, a solenoid valve, a proportional valve, or the like built-in. By exchanging a signal with the control device 10 installed on the ground via the cable 13, the solenoid valve or the proportional valve is used. The opening and closing of such as is controlled.

By the way, if an abnormality or failure occurs in the control device 10, the pressure adjusting unit 18, the cable 13, or the like for some reason, the pressure may be stopped while being applied to the joint drive units 15A and 15B of the working device 11.

That is, in an emergency such as when an abnormality or failure occurs in the control device 10, the pressure adjusting unit 18, the cable 13, or the like, the links 14A, 14B, 14C of the working device 11 and the working tool 16 stop in the working posture. (Abnormality of the work device 11) If the stop postures of the links 14A, 14B, 14C of the work device and the work tool 16 cannot be recovered from the reactor 1, the work device 11 is changed to the posture that can be recovered in an emergency. There is a need.

Therefore, in this embodiment, an abnormality or failure occurs in the control device 10, the pressure adjusting unit 18, the cable 13, or the like described above, and the postures of the links 14A, 14B, 14C and the work tool 16 of the work device 11 cannot be recovered. Provided are an apparatus and a method for converting the links 14A, 14B, 14C of the work device 11 and the work tool 16 into a posture for emergency recovery and recovering the work device 11 when the work device 11 is stopped.

FIG. 4 shows the state of the working device 11 when an abnormality occurs in the working device 11 in the reactor 1.

FIG. 4 shows a case where an abnormality occurs in the working device 11 and the working device 11 is stopped while the inner wall surface of the shroud 2 in the reactor 1 is being inspected or repaired. When the work device 11 is pulled up in the state of FIG. 4, the bent portions of the links 14A, 14B, 14C of the work device 11 are caught by the upper grid plate 3 and the work device 11 is collected. I can't.

FIG. 5 shows the recovery state of the work device 11 when an abnormality occurs in the work device 11 in the reactor 1, and recovers from the posture of the work device 11 when an abnormality occurs in the work device 1 shown in FIG. The state of the working apparatus 11 when the posture is changed is shown. As will be described later, in the present invention, the collection posture of the work device 11 can be arbitrarily set according to the structures of the joint drive units 15A and 15B of the work device 11.

As shown in FIG. 5, in this embodiment, when an abnormality occurs in the working device 11, the pressure release mechanism described later cuts the medium supply line 17 to release the pressure of the actuator, and the pressure of the actuator is released. Later, the joint drive units 15A and 15B change the posture of the links 14A, 14B, 14C and the work tool 16 of the work device 11 so as to be in a straight line vertically downward, and collect the work device 11.

FIG. 6 shows the structures of the joint drive units 15A and 15B constituting the working device 11 of this embodiment. FIG. 6A is a diagram showing a state in which an abnormality has occurred in the working device 11, and FIG. 6B is a diagram showing a state in which the working device 11 is in an emergency recovery state.

As shown in FIGS. 6A and 6B, the joint drive portions 15A and 15B of this embodiment are a cylinder 30a, an actuator 30 including a piston 30b moving in the cylinder 30a, and a pressure of the actuator 30. It is composed of an elastic body 20 that generates a force to return the position of the cylinder 30a to the initial position after opening.

When the cylinder type actuator 30 as in this embodiment is used, when an abnormality occurs in the working device 11, the medium supply line 17 is provided by the pressure release mechanism 21 provided between the medium supply line 17 and the pressure adjusting unit 18. The pressure inside the cylinder 30a is released by cutting in the middle of the cylinder 30a.

After the pressure inside the cylinder 30a is released, the elastic body 20 that generates a force in the direction in which the position of the cylinder 30a returns to the initial position (leftward in FIG. 6A) causes the state of the actuator 30 to be in the initial position (FIG. 6). (B)). As the elastic body 20, for example, a coil spring, a leaf spring, or the like, which can generate a force without a power source, is used.

FIG. 7 is a diagram illustrating a pressure release mechanism 21 provided between the medium supply line 17 and the pressure adjusting unit 18 described above.

As shown in FIG. 7, the pressure release mechanism 21 of this embodiment is a heater heating type fusing mechanism, is installed in the middle of the medium supply line 17, and is connected to the pressure adjusting unit 18 via the current cable 25. It consists of a heating unit 24 with a built-in heater, and when an abnormality occurs in the working device 11, the heating unit is operated by passing a current through the current cable 25 based on a signal command from the pressure adjusting unit 18 or the control device 10. 24 is heated.

By heating the heating unit 24, the medium supply line 17 is cut, the pressure inside the cylinders 30a of the joint drive units 15A and 15B is released, and as shown in FIG. 5, the links 14A, 14B, 14C of the working device 11 are released. The posture of the work tool 16 is changed so that the work tool 16 is aligned vertically downward, and the work device 11 is recovered from the reactor 1 in this state.

As the material constituting the heating unit 24 in this embodiment, for example, a material having a high heat transfer coefficient such as aluminum is used, and the material of the medium supply line 17 has a melting point higher than the heating temperature of the heating unit 24. Use low material.

With the configuration of this embodiment as described above, even when the access distance to the work environment such as a nuclear power plant is long or when it is necessary to pass through a narrow portion, the work device 11 from a remote location can be used. It is easy to change to the emergency recovery posture, which makes it possible to shorten the recovery time of the working device 11 at the time of emergency recovery.

FIG. 8 is a diagram illustrating another example of the pressure release mechanism 21 provided between the medium supply line 17 and the pressure adjusting unit 18 described above as the second embodiment of the present invention.

As shown in FIG. 8, the pressure release mechanism 21 of this embodiment is a fusing mechanism using a chemical reaction, and is installed in the middle of the medium supply line 17 to provide a water tank (not shown) and a water supply tube 27. It consists of a heating unit 26 that is connected via and contains calcium oxide inside, and when an abnormality occurs in the working device 11, it is installed in a pipe based on a signal command from the pressure adjusting unit 18 or the control device 10. By opening the valve to allow water from the water tank to flow through the water supply tube 27, the calcium oxide in the heating unit 26 is chemically reacted to heat it.

By heating the heating unit 26 by a chemical reaction, the medium supply line 17 is cut, the pressure inside the cylinders 30a of the joint drive units 15A and 15B is released, and as shown in FIG. 5, the link 14A of the working device 11 The postures of 14B, 14C and the work tool 16 are changed so as to be in a straight line vertically downward, and the work device 11 is recovered from the reactor 1 in this state.

As the material constituting the heating unit 26 in this embodiment, for example, a material having a high heat transfer coefficient such as aluminum is used, and the material of the medium supply line 17 has a melting point higher than the heating temperature of the heating unit 26. Use low material.

Further, as a method using a chemical reaction, a material (other than calcium oxide) that reacts with water to generate heat may be incorporated in the heating unit 26.

Even with such a configuration of this embodiment, the same effect as that of the first embodiment can be obtained.

FIG. 9 is a diagram illustrating still another example of the pressure release mechanism 21 provided between the medium supply line 17 and the pressure adjusting unit 18 described above as the third embodiment of the present invention.

As shown in FIG. 9, the pressure release mechanism 21 of this embodiment is a heater heating type fusing mechanism that selectively cuts a plurality of medium supply lines 17 when an abnormality occurs in the working device 11, and is a medium supply line 17. It consists of a plurality of heating units 28A, 28B, 28C installed on the way and connected to the pressure adjusting unit 18 via the respective current cables 29A, 29B, 29C. By passing a current through the current cables 29A, 29B, or 29C selected from the plurality of current cables 29A, 29B, 29C based on the signal command from the adjusting unit 18 or the control device 10, the plurality of heating units 28A, The heating unit 28A, 28B, or 28C selected from 28B and 28C is heated.

By heating the heating unit 28A, 28B, or 28C, the medium supply line 17 is cut, the pressure inside the cylinders 30a of the joint drive units 15A and 15B is released, and as shown in FIG. 5, the working device 11 The postures of the links 14A, 14B, 14C and the work tool 16 are changed so as to be in a straight line vertically downward, and the work device 11 is recovered from the reactor 1 in this state.

The control device 10 has a recovery posture selection function that selectively cuts the medium supply line 17 and selects a recovery posture from a plurality of predetermined recovery posture candidates.

As the material constituting the heating portions 28A, 28B, 28C in this embodiment, for example, a material having a high heat transfer coefficient such as aluminum is used, and as the material of the medium supply line 17, the heating portions 28A, 28B, 28C are used. Use a material whose melting point is lower than the heating temperature of.

Even with such a configuration of this embodiment, it is possible to obtain the same effect as that of the first embodiment, and of course, by selecting the cutting position of the medium supply line 17 to be cut by the heating units 28A, 28B, 28C. , The cutting point of the medium supply line 17 can be arbitrarily selected according to the failure state and the failure location of the working device 11.

In the above description, the emergency recovery method of the working equipment working in the nuclear reactor in the nuclear power plant has been described, but the present invention describes the case where the working equipment working in a remote place such as a thermal power plant or a chemical plant breaks down. Widely applicable.

The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add / delete / replace a part of the configuration of each embodiment with another configuration.

1 ... Reactor, 2 ... Shroud, 3 ... Upper lattice plate, 4 ... Core support plate, 5 ... Shroud support, 6 ... Primary coolant recirculation system piping, 7 ... Cooling water, 8 ... Operation floor, 9 ... Refueling Device, 10 ... Control device, 11 ... Work device, 12 ... User interface unit, 13 ... Cable, 14A, 14B, 14C ... Link, 15A, 15B ... Joint drive unit, 16 ... Work tool, 17, 17A, 17B ... Medium Supply line, 18 ... pressure adjustment unit, 19 ... worker, 20 ... elastic body, 21 ... pressure release mechanism, 24, 26, 28A, 28B, 28C ... heating unit, 25, 29A, 29B, 29C ... current cable, 27 ... water supply tube, 30 ... actuator, 30a ... cylinder, 30 ... piston.

Claims (10)

A work device having an actuator that operates by hydraulic pressure or pneumatic pressure in the drive unit, a pressure adjustment unit that adjusts the pressure of the actuator of the work device, and a control device that outputs at least a pressure adjustment control command of the pressure adjustment unit. And with
The working device includes a medium supply line for supplying a medium for driving the actuator of the working device, and the medium supply line between the actuator and the pressure adjusting unit when an abnormality occurs in the working device. A pressure release mechanism that releases the pressure of the actuator by cutting the actuator, a posture changing means that converts the posture of the working device into a recovery posture after the pressure of the actuator is released by the pressure release mechanism, and a plurality of links. It consists of a joint drive unit, which is the posture changing means for connecting between the links, and a work tool installed on the state-of-the-art link.
The pressure adjusting unit is installed in the base portion of the working apparatus, the actuator is provided in each joint driving portion of the working apparatus, and the pressure adjusting unit and the actuator are connected by the medium supply line. Ori,
When an abnormality occurs in the work device, the medium supply line is cut by the pressure release mechanism to release the pressure of the actuator, and after the pressure of the actuator is released, each joint drive unit of the work device causes the work device. The work equipment is collected by changing the posture so that the link and the work tool are aligned vertically downward, and at the same time, the work equipment is collected.
The pressure release mechanism is installed in the middle of the medium supply line and consists of a heating unit connected to the pressure adjusting unit via a current cable. When an abnormality occurs in the working device, the pressure adjusting unit is provided. Alternatively, based on a command from the control device, the heating unit is heated by passing a current through the current cable, the medium supply line is cut off, and the working device is recovered.
An emergency recovery device for a remote work system, wherein the heating unit is made of a material having a high heat transfer coefficient, and the medium supply line is made of a material having a melting point lower than the heating temperature of the heating unit. In the emergency recovery device of the remote work system according to claim 1.
An emergency recovery device for a remote work system, comprising a user interface unit that displays the position and / or posture of the work device and the state of the work area of the work device as an image. In the emergency recovery device of the remote work system according to claim 1 .
The joint drive unit is characterized by including the actuator composed of a cylinder and a piston moving in the cylinder, and an elastic body that generates a force for returning the position of the cylinder to the initial position after the pressure of the actuator is released. Emergency recovery device for remote work systems. A work device having an actuator that operates by hydraulic pressure or pneumatic pressure in the drive unit, a pressure adjustment unit that adjusts the pressure of the actuator of the work device, and a control device that outputs at least a pressure adjustment control command of the pressure adjustment unit. And with
The working device includes a medium supply line for supplying a medium for driving the actuator of the working device, and the medium supply line between the actuator and the pressure adjusting unit when an abnormality occurs in the working device. A pressure release mechanism that releases the pressure of the actuator by cutting the actuator, a posture changing means that converts the posture of the working device into a recovery posture after the pressure of the actuator is released by the pressure release mechanism, and a plurality of links. It consists of a joint drive unit, which is the posture changing means for connecting between the links, and a work tool installed on the state-of-the-art link.
The pressure adjusting unit is installed in the base portion of the working apparatus, the actuator is provided in each joint driving portion of the working apparatus, and the pressure adjusting unit and the actuator are connected by the medium supply line. Ori,
When an abnormality occurs in the work device, the medium supply line is cut by the pressure release mechanism to release the pressure of the actuator, and after the pressure of the actuator is released, each joint drive unit of the work device causes the work device. The work equipment is collected by changing the posture so that the link and the work tool are aligned vertically downward, and at the same time, the work equipment is collected.
The pressure release mechanism is connected to a water tank installed in the middle of the medium supply line via a water supply tube, and is composed of a heating unit containing calcium oxide inside, and when an abnormality occurs in the working device. The oxidation in the heating unit is performed by opening a valve installed in the pipe and flowing water from the water tank to the water supply tube based on a command from the pressure adjusting unit or the control device. An emergency recovery device for a remote work system, characterized in that calcium is chemically reacted and heated, and the medium supply line is cut to recover the working device. In the emergency recovery device of the remote work system according to claim 4 .
An emergency recovery device for a remote work system, wherein the heating unit is made of a material having a high heat transfer coefficient, and the medium supply line is made of a material having a melting point lower than the heating temperature of the heating unit. A work device having an actuator that operates by hydraulic pressure or pneumatic pressure in the drive unit, a pressure adjustment unit that adjusts the pressure of the actuator of the work device, and a control device that outputs at least a pressure adjustment control command of the pressure adjustment unit. And with
The working device includes a medium supply line for supplying a medium for driving the actuator of the working device, and the medium supply line between the actuator and the pressure adjusting unit when an abnormality occurs in the working device. A pressure release mechanism that releases the pressure of the actuator by cutting the actuator, a posture changing means that converts the posture of the working device into a recovery posture after the pressure of the actuator is released by the pressure release mechanism, and a plurality of links. It consists of a joint drive unit, which is the posture changing means for connecting between the links, and a work tool installed on the state-of-the-art link.
The pressure adjusting unit is installed in the base portion of the working apparatus, the actuator is provided in each joint driving portion of the working apparatus, and the pressure adjusting unit and the actuator are connected by the medium supply line. Ori,
When an abnormality occurs in the work device, the medium supply line is cut by the pressure release mechanism to release the pressure of the actuator, and after the pressure of the actuator is released, each joint drive unit of the work device causes the work device. The work equipment is collected by changing the posture so that the link and the work tool are aligned vertically downward, and at the same time, the work equipment is collected.
The pressure release mechanism is installed in the middle of the medium supply line and is composed of a plurality of heating units connected to the pressure adjustment unit via a current cable, respectively. By passing a current through a current cable selected from the plurality of current cables based on a command from the pressure adjusting unit or the control device, the heating unit selected from the plurality of heating units is heated, and the medium is heated. The work equipment is collected by cutting the supply line , and
An emergency recovery device for a remote work system , wherein the plurality of heating units are made of a material having a high heat transfer coefficient, and the medium supply line is made of a material having a melting point lower than the heating temperature of the heating unit. In the emergency recovery device of the remote work system according to claim 6 .
The control device is an emergency remote work system characterized by having a recovery posture selection function for selectively cutting the medium supply line and selecting a recovery posture from a plurality of predetermined recovery posture candidates. Recovery device. A work device having an actuator that operates by hydraulic pressure or pneumatic pressure in the drive unit, a pressure adjustment unit that adjusts the pressure of the actuator of the work device, and a control device that outputs at least a pressure adjustment control command of the pressure adjustment unit. When an abnormality occurs in the work device in a remote work system that supplies a medium for driving the actuator to the actuator of the work device by a medium supply line.
The medium supply line between the actuator and the pressure adjusting unit is cut by a pressure release mechanism to release the pressure of the actuator, and after the pressure of the actuator is released, the posture of the work apparatus is returned to the recovery posture by the posture changing means. And collect the work equipment, and at the same time
The work device comprises a plurality of links, a joint drive unit which is a posture changing means for connecting the links, and a work tool installed on the state-of-the-art link.
The pressure adjusting unit is installed in the base portion of the working apparatus, the actuator is provided in each joint driving portion of the working apparatus, and the pressure adjusting unit and the actuator are connected by the medium supply line.
When an abnormality occurs in the work device, the medium supply line is cut by the pressure release mechanism to release the pressure of the actuator, and after the pressure of the actuator is released, each joint drive unit of the work device causes the work device. The work equipment was collected by changing the posture so that the link and the work tool were aligned vertically downward.
The pressure release mechanism is connected to a water tank installed in the middle of the medium supply line via a water supply tube, and is composed of a heating unit containing calcium oxide inside, and when an abnormality occurs in the working device. The oxidation in the heating unit is performed by opening a valve installed in the pipe and allowing water from the water tank to flow to the water supply tube based on a command from the pressure adjusting unit or the control device. An emergency recovery method for a remote work system, characterized in that calcium is chemically reacted and heated, and the medium supply line is cut to recover the working device . A work device having an actuator that operates by hydraulic pressure or pneumatic pressure in the drive unit, a pressure adjustment unit that adjusts the pressure of the actuator of the work device, and a control device that outputs at least a pressure adjustment control command of the pressure adjustment unit. When an abnormality occurs in the work device in a remote work system that supplies a medium for driving the actuator to the actuator of the work device by a medium supply line.
The medium supply line between the actuator and the pressure adjusting unit is cut by a pressure release mechanism to release the pressure of the actuator, and after the pressure of the actuator is released, the posture of the work apparatus is returned to the recovery posture by the posture changing means. And collect the work equipment, and at the same time
The work device comprises a plurality of links, a joint drive unit which is a posture changing means for connecting the links, and a work tool installed on the state-of-the-art link.
The pressure adjusting unit is installed in the base portion of the working apparatus, the actuator is provided in each joint driving portion of the working apparatus, and the pressure adjusting unit and the actuator are connected by the medium supply line.
When an abnormality occurs in the work device, the medium supply line is cut by the pressure release mechanism to release the pressure of the actuator, and after the pressure of the actuator is released, each joint drive unit of the work device causes the work device. The work equipment was collected by changing the posture so that the link and the work tool were aligned vertically downward.
The pressure release mechanism is installed in the middle of the medium supply line, and is composed of a heating unit made of a material having a high heat transfer rate connected to the pressure adjusting unit via a current cable, and an abnormality has occurred in the working device. In this case, the heating unit is heated by passing a current through the current cable based on a command from the pressure adjusting unit or the control device, and the material has a melting point higher than the heating temperature of the heating unit. An emergency recovery method for a remote work system, which comprises cutting the medium supply line and recovering the working device. A work device having an actuator that operates by hydraulic pressure or pneumatic pressure in the drive unit, a pressure adjustment unit that adjusts the pressure of the actuator of the work device, and a control device that outputs at least a pressure adjustment control command of the pressure adjustment unit. When an abnormality occurs in the work device in a remote work system that supplies a medium for driving the actuator to the actuator of the work device by a medium supply line.
The medium supply line between the actuator and the pressure adjusting unit is cut by a pressure release mechanism to release the pressure of the actuator, and after the pressure of the actuator is released, the posture of the work apparatus is returned to the recovery posture by the posture changing means. And collect the work equipment, and at the same time
The work device comprises a plurality of links, a joint drive unit which is a posture changing means for connecting the links, and a work tool installed on the state-of-the-art link.
The pressure adjusting unit is installed in the base portion of the working apparatus, the actuator is provided in each joint driving portion of the working apparatus, and the pressure adjusting unit and the actuator are connected by the medium supply line.
When an abnormality occurs in the work device, the medium supply line is cut by the pressure release mechanism to release the pressure of the actuator, and after the pressure of the actuator is released, each joint drive unit of the work device causes the work device. The work equipment was collected by changing the posture so that the link and the work tool were aligned vertically downward.
The pressure release mechanism is installed in the middle of the medium supply line, and is composed of a plurality of heating parts made of a material having a high heat transfer rate connected to the pressure adjusting unit via a current cable, respectively, in the working apparatus. When an abnormality occurs, a current is passed through a current cable selected from the plurality of current cables based on a command from the pressure adjusting unit or the control device, so that the heating unit is selected from the plurality of heating units. An emergency recovery method for a remote work system, comprising heating a heating section and cutting the medium supply line made of a material having a melting point higher than the heating temperature of the plurality of heating sections to recover the working device.

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