JPH01187499A - Robot for disassembling nuclear reactor - Google Patents

Abstract

PURPOSE:To decrease the rate of occupying a space by providing a fixing device which is provided with plural pieces of leg parts freely expandably and contractably radially in a diametral direction on the same plane as well as cutting and boring means which are capable of moving freely, advancing and retreating freely in a radial direction and swiveling freely. CONSTITUTION:This robot A for disassembling a nuclear reactor consists mainly of a robot body 1 which is hung in a reactor shielding wall H, the fixing device 2 which is provided on this body 1 and fixes the body 1 to the inside of the shielding wall H, the cutter machine 3 and core boring machine 4 which are provided freely movably in X-, Y-, Z-directions, etc. A vertical moving mechanism 5 which moves the cutter machine 3 and the core boring machine 4, a horizontal moving mechanism 6 which moves the mechanism 5 freely in the radial direction, and a swiveling mechanism 7 which swivels the mechanism 6 are provided on the body 1. The cutter machine 3 is mounted to the mechanism 5 by means of a cutter machine supporting arm 8 and the core boring machine 4 is mounted thereto by means of a boring machine supporting arm 8. The arm 8 is mounted to the mechanism 5 which can be rotated with respect to the horizontal axis by means of a cutting direction converting mechanism 10.

Description

Detailed Description of the Invention "Industrial Application Field" The present invention relates to a nuclear reactor dismantling robot used during decommissioning and dismantling of a nuclear reactor. This relates to a nuclear reactor dismantling robot used to dismantle nuclear reactors.

"Prior art" As is well known, when attempting to dismantle a nuclear reactor shielding wall,
The reactor shielding wall is radioactive, and it is impossible for humans to approach it and manually dismantle it because of the risk of exposing the workers to radiation.

Therefore, a nuclear reactor dismantling robot has been devised to dismantle the reactor shielding wall by remote control.

Conventional reactor dismantling robots of this type include a robot body that is suspended inside a reactor shielding wall made of a cylindrical concrete structure, and a robot body that is suspended inside a reactor shielding wall made of a cylindrical concrete structure, and a robot that is fixed inside the reactor shielding wall. , a fixing device having three legs that extend and contract in the radial direction toward the wall surface and arranged in upper and lower stages, and a fixing device that is provided on the robot body and is used for cutting or drilling the reactor shielding wall. Machines equipped with a cutting machine (or boring machine) such as a cutter machine or a core boring machine are known.

``Problem to be Solved by the Invention'' However, in the conventional nuclear reactor dismantling robot, the legs of the fixing device are arranged on the robot body in two stages, upper and lower, so that the fixing device is attached to the robot body. If the space occupancy rate is large and the robot body has a total height restriction, the fixing device will take up space and the drive stroke of the support drive device will become large, reducing work efficiency. is equipped with only one cutting machine, a cutter machine or a core boring machine, so depending on the work, the robot body must be replaced during the process, which takes a long time and requires replacing the cutting machine. At times, there were problems such as the risk of workers being exposed to radiation.

The present invention has been made in view of the above problems, and it reduces the space occupation rate of the fixing device with respect to the robot body, reduces the drive stroke of the support drive device, and provides stable operation without reducing work efficiency. It is an object of the present invention to provide a robot dismantling device that can perform cutting work and further perform two types of cutting work necessary for dismantling the shielding wall without replacing the robot.

"Means for Solving the Problems" In order to solve the above-mentioned problems, the present invention provides a robot body suspended inside a concrete structure, and a plurality of robot bodies for fixing the robot body inside the concrete structure. A fixing device is provided in which the leg of the book is extendable and retractable radially and in the radial direction on the same plane, and a fixing device is provided on the robot body so that it can be freely raised and lowered, and is also movable in the radial direction and can be freely rotated in the circumferential direction. It is equipped with cutting means and punching means.

"Operation" The robot demolition device of the present invention is suspended inside a concrete structure, and after fixing the robot body by extending the legs of the fixing device in the radial direction and bringing them into contact with the inner wall of the concrete structure, The perforating means is moved in the radial direction and the circumferential direction and installed at a predetermined position (a remote saw position a predetermined distance inward from the surface of the concrete structure), and then the perforating means is lowered and perforated along the circumferential direction of the concrete structure. Cut the back side by making continuous holes. Next, the cutting means is placed on the part of the concrete structure where the back side has been cut, and is stretched in the radial direction and pressed against the inner wall of the concrete structure, and is further moved in the circumferential direction and the vertical direction to cut the concrete 1 and the wall. Cut into blocks.

"Example" The present invention will be described below with reference to the drawings. Figures 1 to 10 show one embodiment of the present invention, and the reference numeral A in the figure is a reactor dismantling robot of the present invention, and the figure shows a reactor shielding wall H, which is a cylindrical concrete structure. It is suspended inside by a rope R from above.

The reactor dismantling robot A includes a robot body L suspended inside the reactor shielding wall H, and a fixing device provided on the robot body I for fixing the robot body inside the reactor shielding wall H. 2, a cutter machine 3 as a cutting means, and a core boring machine 4 as a boring means, which are provided on the robot body 1 so as to be movable in the XYZ directions.

The robot body 1 includes an elevating mechanism 5 for vertically moving the cutter machine 3 and the core boring machine 4;
A horizontal movement mechanism 6 for making the elevating movement mechanism 5 freely movable in the radial direction, and a turning mechanism 7 for turning the horizontal movement mechanism 6 in the circumferential direction are provided. and,
The cutter machine 3 is attached to the lifting mechanism 5 by a cutting machine support arm 8, and the core boring machine 4 is attached to the lifting mechanism 5 by a boring machine support arm 9, and the cutting machine support arm 8 is attached to the horizontal axis via a cutting direction changing mechanism 10. On the other hand, it is rotatably attached to the elevating and lowering movement mechanism 5.

As shown in FIG. 3, the turning mechanism 7 has a cylindrical boss 12 fixed to the upper center of a disk-shaped turning base 11.

A swivel base I3 is provided on the outer periphery of the boss 12, and the swivel base 13 has a boss 13a formed downward at the center of the swivel base and is attached to the outer peripheral surface of the boss I2 via a bearing I4. , rotation base 1]. Further, an annular external gear 15 whose center point is the same as that of the swivel base 11 is fixed to the upper part of the swivel base 11, and a drive motor 16 is fixed downward to the upper surface of the outer periphery of the swivel base 13. and the drive motor 16
A gear 17 that meshes with the gear I5 is fixed to the rotating shaft 16a, and the rotating base 13 is rotated with respect to the rotating base 11 by the drive motor 16. The swivel base 13 can be held at any position on the swivel base 11 by using a motor with a brake as the drive motor 16 or by providing a brake on the output shaft. Further, a cylindrical guide member 13b is fixed to the bottom of the swivel base 13, and an engaging member 13c is fitted between the guide member 13b and the inside of the gear 15, so that the swivel base 13 is arranged so that it does not shift from the rotating base 11.

A pedestal 18 is attached to the top of the swivel 13,
Two linear guide rails 18a extending in the radial direction are disposed in parallel on the top of the pedestal 18, and a horizontally movable table 19 is movable via wheels 19a above the guide rails 18a, 18a. is attached to. A drive motor 20 is fixed to the frame 18, and a screw 22 is connected to an output shaft 20a of the drive motor 20 via a gear box 21. screw screw 2
2 is rotatably attached to the horizontal moving table 19 parallel to the guide rail 18a by bearings 22a, 22b, and a nut 22c screwed into this screw 22 is fixed to the bottom of the horizontal moving table 19. , the horizontal moving table 19 is movable in the radial direction as the screw 22 rotates. Furthermore, by using a motor with a brake as the drive motor 20 or by providing a brake at the other end of the screw thread 22, the horizontal moving table 19 can be stopped at any position on the swivel table 13.

As shown in FIGS. 5 and 6, the elevating movement mechanism 5 is provided with a pair of elevating frames 23 and 23 vertically fixed to the upper part of the horizontal moving table I9. The ball screw 24 is connected to the bearing 2 along the longitudinal direction.
4. It is rotatably attached by a and 24b. A drive motor 25 for rotating the ball screw 24 is connected to the bottom of the ball screw 24, and a nut 26 is screwed onto the ball screw 24, and a lifting platform 27 is fixed to the nut 26. has been done. Further, the elevating table 27 is slidably attached to two parallel guide rails 28 fixed to each elevating frame 23, and the elevating frame 23 is moved up and down along these. Further, by providing the drive motor 25 with a brake or by providing a brake at the other end of the ball screw 24, the lifting platform 27 can be stopped at any position on the lifting frame 23.

Furthermore, the lifting platform 27 that lifts and lowers the lifting frame 23 includes:
The cutting machine support arm 8 is rotatably attached by a bearing 29, and an internal gear 30 is fixed to the base end of the cutting machine support arm 8, and a drive shaft of a drive motor 31 is fixed to the internal gear 30. The cutter support arm 8 can be rotated by 90 degrees by driving the drive motor 31, and the cutting direction of the cutter 3 can be switched between horizontal and vertical directions. ing. A drilling machine support arm 9 is fixed to the opposite side of the lifting platform 27 to which the cutting machine support arm 8 is attached, and a core for drilling a concrete wall is attached to the tip of the drilling machine support arm 9. A boring machine 4 is attached.

As shown in FIG. 7, the cutter 3 has a motor 32 built into a casing 3I attached to the tip of the cutter support arm 8. Further, inside the casing 31, a rotary shaft 34 is rotatably attached via a cap gear 33 in a direction perpendicular to the power shaft 32a of the motor 32, and the tip of the rotary shaft 34 protruding from the casing 31 A diamond blade 35 is fixed along the outer surface of the casing 31. The core boring machine 4 also has a motor (not shown) inside a casing 36 attached to the tip of the drilling support arm 9, as shown in FIG. A shaft body 37 is provided for transmitting output through a head gear, and a diamond bit 38 is fixed to the tip of the shaft body 37.

As shown in FIGS. 9 and 10, the fixing device 2 includes a bottomed cylindrical casing 39 at the bottom of the rotating mechanism 7, and inside this casing 39 there are 12
Three legs, ie, hydraulic cylinders 40, are provided radially outward from the center at intervals of 0°. A face plate 42 for coming into close contact with the shielding wall is attached to the tip of the rod 41 of the hydraulic cylinder 40 via a spherical bearing 43 so as to be rotatable with respect to the rod 41. It can also be used on concrete walls. Further, the face plate 42 is held in a normal state by a spring 44 provided between the end of the rod 41 and the hydraulic cylinder 40.
A rotation prevention rod 45 is provided to prevent the face plate 42 from rotating about the rod 41.

A dust-proof bellows 46 is attached between the portion of the rod 41 protruding from the casing 39 and the face plate 42.

Further, a suspension frame 47 is attached to the top surface of the rotating mechanism for suspending the reactor dismantling robot when it is carried into the reactor shielding wall.

Next, the operation of the nuclear reactor disassembly robot I-A of the present invention configured as described above will be explained along with an example of its construction.

The reactor dismantling robot A is suspended by a rope and suspended inside the reactor shielding wall H to be dismantled, and each rod 41 is extended by operating the three hydraulic cylinders 40 at predetermined positions. After the face plate 42 is pressed against the concrete wall and fixed, the core boring machine 4 is first moved in the radial direction by the horizontal movement mechanism 6 and rotated in the circumferential direction by the rotation mechanism 7 to determine the position to be cut. Then, by driving the core boring machine 4 and lowering the lifting table 27 along the lifting frame 23, a core is bored in the concrete 1/structure H, and then the core is split and carried out. moreover,
The next core is bored by the core boring machine 4 so as to overlap with the drilling trace of the above-mentioned core, and the back surface of the concrete structure H is cut.

Next, the cutter 3 cuts the cut portion of the back surface from the inside of the concrete structure.

First, the cutting direction changing mechanism 10 rotates the diamond blade 35 to a horizontal state, and then the turning mechanism 7 turns the cutter 3 toward the wall surface to be cut, and the lifting table 27 is moved up and down along the guide rail 28. The diamond blade 35 is positioned by moving the diamond blade 35. and,
The diamond blade 35 is rotated by driving the motor 32, and then the diamond blade 35 is pressed against the concrete structure while moving the horizontal movement mechanism 6 forward in the radial direction, and the diamond blade 35 is rotated in the circumferential direction by the turning mechanism 7. Cut concrete 1/structure horizontally. Furthermore, after cutting a predetermined length in the circumferential direction, the cutting direction changing mechanism 1O is driven to rotate the cutting machine support arm 8 by 90 degrees to bring the diamond blade 35 into the vertical state, and then the horizontal movement mechanism 6 is activated. Diamond blade 3 while moving forward in the radial direction
5 against the concrete structure, and lift platform 2.
7 is moved up and down along the guide rail 28 to cut the concrete structure in the vertical direction and dismantle the reactor shielding wall H into blocks.

After the reactor shielding wall H has been cut into an annular shape at a predetermined depth, the cylinder 40 is driven to retract the rod 4I to release the fixing device 2, and then the dismantling robot is moved into the reactor. The inside of the shielding wall is lowered by a predetermined distance and the device is fixed again at that position.

Thereafter, by repeating the above steps, the reactor shielding wall is dismantled point by point.

In this way, the reactor disassembly robot of this embodiment drives the three cylinders 40 arranged radially on a horizontal plane while the robot body 1 is suspended inside the reactor shielding wall H. After fixing the robot body l by extending the rod 41 and pressing the face plate 42 against the reactor shielding wall, the core boring machine 4 cuts the back side of the reactor shielding wall H, and this concrete part is Since it is designed to be cut horizontally and vertically from the side and disassembled into blocks, the space occupation ratio of the fixing device 2 to the robot body 1 is small, and when there is a restriction on the total height of the robot body 1. However, the fixing device 2 does not take up any space. In addition, the drive stroke of the cylinder 40 of the fixing device 2 is reduced, improving work efficiency, and the robot body (2) is equipped with both a core boring machine 4 for drilling concrete and a cutter machine 3 for cutting. is installed, it is possible to cut the concrete structure into blocks without having to change the reactor dismantling robot midway through the process, reducing work time and reducing the number of workers required to replace the reactor. radiation exposure can be eliminated.

Other embodiments or technical matters of the reactor dismantling robot of this embodiment described above will be described below.

(i) In the above embodiments, force/
Although the cutting machine 3 and the one equipped with the core boring 4 as the boring means are used, the present invention is not limited to this, and high-pressure jet water may be used as the cutting means. It is also possible to mount a gripping device on the robot body for gripping cut concrete blocks.

(11) In the embodiment described above, the core boring machine 4 is attached to the lifting table 27 by the boring machine support arm 9, and the cutter machine 3 is attached to the lifting table 27 by the cutting machine supporting arm 8.
7 is raised and lowered along the lifting frame 23 by the ball screw 24, but the present invention is not limited to this. By providing two ball screws and using these ball screws to raise and lower the two lifting platforms separately,
Only the cutting machine that is being used can be operated, improving work efficiency and eliminating the possibility that the cutting machine that is not being used will interfere with other objects.

(iii) In the above embodiments, the legs of the fixing device 2 were used in which the rods were driven by hydraulic cylinders, but the method is not limited to this method, and a ball screw may be driven by a motor. Alternatively, a mechanism in which the screw jack is driven by a motor may be used.

"Effects of the Invention" As explained above, the present invention has a robot body that is suspended inside a concrete structure, and a plurality of legs that are radially and radially expandable and contractible within the horizontal plane of the robot body. A fixing device is provided for fixing the robot body within a concrete structure, and a cutting means and a drilling means are provided on the robot body so as to be movable up and down, and are expandable and contractible in the radial direction and rotatable in the circumferential direction. The robot body is fixed by extending the legs of the fixing device in the radial direction and touching the inner wall of the concrete structure, so the space occupation ratio of the fixing device to the robot body is reduced. is small, and even if there are restrictions on the overall height of the robot body, no space is taken up by the fixing device. Furthermore, the driving stroke of the leg portion of the fixing device becomes smaller, improving work efficiency. Furthermore, after drilling the concrete structure by moving the drilling means in the radial direction and rotating it in the circumferential direction and placing it at a predetermined location, the cutting means is similarly moved in the radial direction and rotated in the circumferential direction. Since the concrete structure is cut at a predetermined location using the robot, there is no need to change the robot body during the work, which prevents workers from being exposed to radiation and significantly shortens the construction period. There is an effect that can be done.

[Brief explanation of the drawing]

Figures 1 to 1O show an embodiment of the present invention, in which Figure 1 is a side view of a reactor dismantling robot suspended within the reactor shielding wall to be dismantled, and Figure 2 is a side view of a reactor dismantling robot suspended within the reactor shielding wall to be dismantled. Fig. 1 is a plan view, Fig. 3 is a side view of the rotation device and the forward/backward movement mechanism of the reactor disassembly robot, Fig. 4 is a plan view of the forward/backward movement mechanism, Fig. 5 is a plan view of the lifting frame, and Fig. 6 is a plan view of the forward/backward movement mechanism. The figure is a side view of the lifting frame, Figure 7 is a side sectional view of the cutter machine, Figure 8 is a side view of the core boring machine, Figure 9 is a plan view of the fixing device, and Figure 10 is a side view of the lifting frame.
The figure is a cross-sectional plan view of the tip of the leg. H...Reactor shielding wall, A...Reactor disassembly robot, ■...Robot body, 2...
Fixing device, 3...Cutting means (cutter machine), 4...
...Drilling means (core boring machine), 5...
・Elevating and lowering movement mechanism, 6...Horizontal movement mechanism, 7...
... Rotating mechanism, 40 ... Leg (hydraulic cylinder), 41 ... Rod, 42 ... Face plate.

Claims (1)

[Claims] A reactor dismantling robot installed inside a cylindrical concrete structure such as a reactor shielding wall to dismantle the concrete structure, the robot body being suspended inside the concrete structure. and a fixing device having a plurality of legs extendable and retractable radially and radially on the same plane in order to fix the robot body within a concrete structure, and a fixing device provided on the robot body so as to be movable up and down. A nuclear reactor dismantling robot characterized in that it is provided with a cutting means and a drilling means which are movable in the radial direction and rotatable in the circumferential direction.