JPH0222919B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a nuclear reactor well cleaning device equipped with a circumferential tracing movement device for making a cleaning brush move in a circular orbit using X-Y movement equipment.

To clean the cylindrical wall surface of a nuclear reactor well, it is necessary to move the brush smoothly along the circumference.
The present invention relates to a device to meet such needs, and an object of the present invention is to provide a reactor well cleaning device that can cause a cleaning brush to draw a circular trajectory using so-called X-Y moving equipment. It is something.

The structure for achieving the stated purpose is summarized as follows. Rails arranged in parallel across the circumference, a girder that runs on the rails by a girder travel motor, a bogie motor that runs on the girder, and a holding shaft rotation motor and a holding shaft lifting motor. Therefore, a truck is provided with a holding shaft that can be rotated and raised and lowered, and a brush is provided at the lower end of the holding shaft, perpendicular to the holding shaft and driven by a brush motor, and the end is connected by a telescoping arm guide and an air cylinder. It has a telescopic arm that expands and contracts in response to the pressing force from the section, and is shaped into a regular polygon by moving the cart in the X-axis direction by the girder travel motor and in the Y-axis direction by the cart motor. By moving the brush along the cylindrical wall, and during this period extending and contracting the telescopic arm in the X-axis direction or the Y-axis direction, the brush was moved along the cylindrical wall to enable cleaning.

In addition, the locus of movement of the cart on the girder was made into a regular square.

Furthermore, the locus of movement of the cart on the girder is made into a regular octagon.

A cleaning brush moving device for cleaning the cylindrical wall of nuclear reactor equipment will be described below.

In FIG. 1, 1 is the cylindrical wall of the reactor well. Reference numeral 2 denotes girder running rails, which are installed in parallel with the cylindrical wall 1 in between. Trolley 4 is on girder 3
is installed along the bogie running rail 5 so as to be movable in a direction orthogonal to the girder running rail 2. 6 is a drive motor for the girder 3, and 7 is an operation panel.

8 is a truck motor provided on the truck. Trolley 4
There is a holding shaft rotation motor 9 and a holding shaft lifting motor 10.
A holding shaft 11 is provided which can be rotated up and down depending on the direction of the movement. A telescopic arm 1 is attached to the lower end of the holding shaft 11 at right angles thereto.
2, a telescopic arm guide 13 and an air cylinder 14.
It has a structure that expands and contracts depending on the pressing force from the end. The pressure of the air cylinder, which expands and contracts in response to this pressure, can be adjusted as desired.

A brush 16 rotated by a brush motor 15 is attached to the end of the extendable arm 12. Note that the plurality of drive units described above can be arbitrarily adjusted using the operation panel 7.

Now, with the above configuration, the telescopic arm 1 is moved by the movement of the girder 3, the movement of the trolley 4, and the extension and contraction of the telescopic arm 12.
A brush 16 attached to the tip of 2 can be moved along the cylindrical wall 1. That is, in FIG. 2, movement in the X-axis direction is carried out by the girder travel motor 6,
The movement in the axial direction is performed by the trolley motor 8, and during this movement the telescopic arm 12 is moved by the maximum amount a in the X-axis direction and the Y-axis direction.
By expanding and contracting the cylindrical wall 1, the cylindrical wall 1 can be cleaned evenly. During this cleaning, the trolley 4 moves in a regular square shape from A to B to C to D to A in the case of FIG.
When cleaning the DA, it is necessary to turn the telescopic arm 12 attached to the lower part of the holding shaft 11 of the trolley 4 in a direction perpendicular to each side every time each arcuate surface is cleaned.

In the case of FIG. 3, the girder 3 and the truck 4 are moved at a predetermined speed relationship in the X-axis direction and the Y-axis direction so that the truck 4 moves on a regular octagon. Then, rotate the arm 12 of the trolley 4 to face each side of the regular octagon, and extend or contract between 0 (lowest) and b (maximum) in the direction you are facing, and the end of the extendable arm 12 will be brush 1
6 moves smoothly along the cylindrical wall 1.

Now, the telescopic length a or b of the telescopic arm 12 can be determined as follows with reference to FIG. In Fig. 4, r is the radius of the cylindrical wall 1, α is α = 90° when the cart 4 moves along the regular quadrangle in Fig. 2, and α = 90° when it moves along the regular octagon in Fig. 3. becomes α=45°.

a(or b)=rr cosα/2 =r(1-cosα/2) Therefore, in the case of a regular rectangle a=r(1-cos90゜/2)=0.293r For a regular octagon, b=r (1-cos45°/2) =0.076r.

Next, with reference to FIG. 5, the traction force for tracing movement is determined. In Figure 5, F is the traction force of the girder or truck, F ₁ is the surface pressure on the circumference, F ₂ is the moving force on the circumference,
F ₁ = Fcosθ, F ₂ = Fsinθ, respectively. However, when θ = 45° for a regular square = 67.5° for a regular octagon. Therefore, the tangential movement force on the circumference, which is the traction force for tracing movement, is at each vertex A, B, and C. In..., (1) For a regular square, F(sin45°−γcos45°), and assuming the friction coefficient γ=0.3, F(0.707−0.3×0.707)=0.49F (2) For a regular octagon, F(sin67.5− γcos67.5) = F (0.924−0.3×0.383) = 0.809F.

That is, in the case of a regular octagon, the movement of the girder 3 and the carriage 4 is more complicated than in the case of a regular quadrangle, but it can be seen that the telescopic length b of the telescoping arm 12 is small, and the moving force in the tangential direction is also large. Therefore, a regular octagonal displacement type is generally preferred.

As described above, the girder is made to run on the rails installed on both sides of the circumference, a bogie is provided on the girder, and an arm that extends and contracts toward the cylindrical wall is provided at the lower end of the holding shaft of the bogie. By running the trolley and the cart at a constant relative speed, the tip of the telescopic arm can be moved smoothly along the circumference.

By making this kind of movement possible, the brush for cleaning the wall of a reactor well with a cylindrical wall can be moved along the cylindrical surface.
It has become possible to automate the cleaning of nuclear reactor wells, which are at high risk of radiation contamination.

[Brief explanation of drawings]

FIG. 1 is a plan view of a cleaning device for a cylindrical wall of a reactor well. Figure 2 is an example where the cart moves on a regular square. Figure 3 is an example of moving on a regular octagon. FIG. 4 is an enlarged partial view of one side along which the cart moves and the corresponding arc. Figure 5 represents the force relationship on a circular wall. In the figure: 1... circular wall, 2... girder running rail, 3... girder, 4... bogie, 5... bogie running rail, 6... girder running motor, 7... operation panel, 8... bogie Motor, 9... Holding shaft rotation motor, 10... Holding shaft lifting motor, 11... Holding shaft, 12... Telescopic arm, 13... Telescopic arm, 14...
Air cylinder, 15... Brush motor, 16...
brush.

Claims (1)

[Claims] 1. Rails 2 installed in parallel across the reactor well, a girder 2 that runs on the rails 2 by a girder travel motor 6, and a girder 3 that is moved by a bogie motor 8. The carriage 4 is equipped with a holding shaft 11 that travels and can be rotated and raised and lowered by a holding shaft turning motor 9 and a holding shaft lifting motor 10.
A brush motor 15 is provided at the lower end of the brush motor 15, which is perpendicular to the holding shaft.
The telescopic arm guide 1 is equipped with a brush 16 driven by a
3 and an air cylinder 14, the bogie 4 is moved in the X-axis direction by the girder traveling motor 6, and in the Y-axis direction by the bogie motor 8. The brush 16 is moved along the regular polygon by moving in the axial direction, and the brush 16 is moved along the cylindrical wall 1 by extending and contracting the telescopic arm 12 in the X-axis direction or the Y-axis direction. A nuclear reactor well cleaning device equipped with a circumferential tracing movement device, which is capable of cleaning. 2. A nuclear reactor well cleaning device equipped with a circumferential tracing movement device according to claim 1, wherein the movement locus of the cart on the girder is a regular square. 3. A reactor well cleaning device equipped with a circumferential tracing movement device according to claim 1, characterized in that the movement locus of the cart on the girder is a regular octagon.