JPH0361894A - Remote maintenance apparatus for nuclear fusion reactor - Google Patents

Abstract

PURPOSE:To make it possible to perform repair without complicating a structure by providing a cask which is provided so that it is communicated to a vacuum container, and providing a multiple-joint boom comprising a plurality of connected joints which are contained in the cask and can be turned in the horizontal direction. CONSTITUTION:A cask 12 extends in the horizontal direction coaxially with a maintenance and inspection port 11. A plurality of joints which can be turned in the horizontal direction and whose turning angles are controlled with motors, respectively, are connected, and a multiple-joint boom 13 is formed. The multiple-joint boom 13 is contained in the cask 13 in the bent state. At this time, the multiple-joint boom can be moved both clockwise and counterclockwise with the maintenance and inspection port 11 as the center. A working table can be rotated around the longitudinal axis of the multiple-joint boom 13 with a rotating mechanism. Therefore, of course a heat resisting wall 3 positioned at the side of a ceiling and a heat resisting wall positioned at the lower side can be repaired.

Description

[Detailed description of the invention] [Purpose of the invention] (Industrial application field) The present invention relates to a remote maintenance device for a nuclear fusion reactor.

(Prior art) A nuclear fusion reactor uses a method in which high-temperature plasma is confined within a vacuum container to cause a nuclear fusion reaction. Therefore, it is necessary to protect the vacuum container from the high-temperature plasma by some means. As this protection means, it has been considered to provide a heat-resistant wall inside the wall surface of the vacuum container.

By the way, if a heat-resistant wall is provided inside the wall surface of a vacuum container, the vacuum container can be protected, but on the other hand, the heat-resistant wall is damaged by high-temperature plasma. Therefore, it is necessary to repair the damaged heat-resistant walls. When performing this repair, if a person attempts to perform the repair directly, it is necessary to open the inside of the vacuum container to the atmosphere.

However, in the case of large-scale equipment such as nuclear fusion reactors, it takes a long time to return to a vacuum state.

Therefore, such a system is a major hindrance to efficient operation of the furnace. In addition, the structural material located within the vacuum container is activated by radiation generated by the nuclear fusion reaction and is in a situation where it emits gamma rays. For this reason, it is not desirable for humans to approach them.

For this reason, recently, it has been considered to repair heat-resistant walls installed in a vacuum container by remote control, and several methods have already been proposed. However, even with these methods, it has not been possible to cut the entire heat-resistant wall inside the vacuum container. In particular, even if the proposed method is attempted to be implemented, it is extremely difficult to cover the entire heat-resistant wall surface when the furnace is enlarged.

(Problems to be Solved by the Invention) As mentioned above, with the conventionally proposed methods, it is difficult to remotely repair all of the Gf heat-resistant walls in the vacuum vessel when the furnace becomes larger. Ta.

Therefore, the present invention aims to provide a remote maintenance device for a fusion reactor that can repair the entire heat-resistant wall remotely with a simple configuration even when the vacuum vessel becomes larger. The purpose is 0.

[Structure of the Invention] (Means for Solving the Problems) In order to solve the above problems, a remote maintenance device for a fusion reactor according to the present invention includes a cask that is connected to the inside of a vacuum vessel of a fusion reactor. and a multi-joint boom which is housed within the cask and is formed by connecting a plurality of horizontally rotatable joints, and which supports the multi-joint boom so as to be movable along a rail provided within the cask. a boom support mechanism; a workbench that is attached to the tip of the multi-joint boom and is extendable and retractable in a direction perpendicular to the longitudinal direction of the multi-joint boom;
a gripping mechanism provided on the workbench; a rotation mechanism that selectively rotates the workbench around the longitudinal axis of the articulated boom; and at least the articulated boom, the boom support mechanism, the workbench, and the The gripping mechanism and a control device that remotely controls the rotation mechanism are provided.

(Operation) It is assumed that the cask is connected to the maintenance inspection port provided in the vacuum container. For example, when replacing a heat-resistant wall located inside a vacuum vessel, first control the boom support mechanism to advance the articulated boom toward the vacuum vessel, and insert the tip of the articulated boom into the maintenance/inspection port. into the vacuum container. At this time, the workbench provided at the tip of the multi-joint boom is held in its most contracted state. In this state, the boom support mechanism and each joint of the multi-joint boom are controlled to advance the multi-joint boom along the axis of the vacuum vessel. The vacuum vessel of a nuclear fusion reactor is usually formed in a toroidal shape. An articulated boom is constructed by connecting multiple horizontally rotatable joints, so by controlling the rotation angle of each of these joints, the articulated boom can easily adapt to the bending of the vacuum vessel. You can proceed to Then, when the tip of the articulated boom advances to the desired position within the vacuum vessel, the workbench is extended and brought into contact with the desired heat-resistant wall. In this state, the gripping mechanism is operated to fix the heat-resistant wall to the workbench. Remove the refractory wall by shrinking the workbench. This removal work can also be performed by using a work manipulator. After removing the heat-resistant wall and retracting the workbench, the boom support mechanism and the articulated boom are controlled to retreat the articulated boom and the boom support mechanism into the cask along the same path as the outward journey. Then, the removed heat-resistant wall is transported outside the cask using an appropriate transfer mechanism.

Also, the installation of a new heat-resistant wall is accomplished by moving the articulated boom again in the path described above.

As is clear from the movement of the multi-joint boom described above, the multi-joint boom can be moved both clockwise and counterclockwise within the vacuum vessel around the maintenance/inspection port. In addition, the rotation mechanism allows the workbench to be rotated around the longitudinal axis of the articulated boom, making it possible to repair not only heat-resistant walls located on the ceiling side but also heat-resistant walls located below. Become. Therefore, if a multi-joint boom with a length that can cover 180 degrees of the circumference inside the vacuum vessel is used, all heat-resistant walls can be repaired with one remote maintenance device. In addition, if an articulated boom with a length that can cover 90 degrees of the circumference is used, all heat-resistant walls can be repaired by symmetrically arranging two remote maintenance devices. Even if the container becomes larger, it can be adequately handled.

(Example) Examples will be described below with reference to the drawings.

FIG. 1 shows a schematic configuration of a remote maintenance device for a nuclear fusion reactor according to an embodiment of the present invention.

In the figure, 1 indicates a nuclear fusion reactor. The fusion reactor 1 includes a toroidal vacuum vessel 2 for confining plasma. This vacuum container 2 is arranged so that the axis of the great circle of the torus is parallel to the direction of gravity. A heat-resistant wall 3 is provided within the vacuum vessel 2 to protect the constituent materials of the vacuum vessel from high-temperature plasma. Heat-resistant tiles (not shown) are fixed to the surface of the heat-resistant wall 3 with bolts or the like. Further, a system for circulating a cooling liquid is provided within the heat-resistant wall 3 in order to suppress a rise in temperature of the heat-resistant wall 3. As shown in FIG. 2, heat receiving plates 4 are fixed to the ceiling and bottom of the area surrounded by the heat-resistant wall 3, divided into equal parts along the great circle of the torus. This heat receiving plate 4 is heated to a high temperature by the plasma that directly hits it. For this reason, normally, a cooling liquid is circulated within each heat receiving plate 4 via pipes (not shown) to cool the heat receiving plate 4 . Further, each heat receiving plate 4 is fixed to the inner wall by a clasp 5 operated by liquid pressure. Each heat receiving plate 4 is damaged to a large extent because it is directly exposed to the plasma. Therefore, it must be replaced if damaged. This replacement of the heat receiving plate 4 is performed by a remote maintenance device 10 described below.

The remote maintenance device 10 is configured as follows.

That is, the cask 12 is connected to the maintenance/inspection port 11 provided in the vacuum container 2 in such a manner that the degree of vacuum within the vacuum container 2 is not disturbed. The cask 12 extends horizontally coaxially with the maintenance inspection port 11. Inside the cask 12, a multi-jointed boom 13, which is horizontally rotatable and has a plurality of joints connected to each other whose rotation angles are controlled by motors, is in a bent state, that is, in the most contracted state, and on the proximal end side. is housed on the opposite side of the vacuum container. The articulated boom 13 is
The proximal end side is supported in a cantilevered manner by a boom support mechanism 14.

The boom support mechanism 14 is disposed on a rail 15 fixed to the inner surface of the bottom wall of the cask 12 so as to be movable in the direction indicated by a solid line arrow 16 in FIG. As shown in FIGS. 3 and 4, the boom support mechanism 14 sandwiches the rail 15 between an upper roller 17, a lower roller 18, and a side roller 19, and mechanically supports the rail 15 in a state where movement is not inhibited. Strongly connected. Also, rail 15
A binion 21 that engages with a rack 20 protruding from the top surface of the
A moving force is obtained by driving this pinion 21.

As shown in FIG. 1, a workbench 22 is attached to the tip of the multi-joint boom 13, which is extendable and retractable in a direction perpendicular to the direction in which the multi-joint boom 13 extends and contracts. As shown in FIGS. 5 to 8, the workbench 22 is constructed by stacking three parallel links in this example, and is designed to reach the ceiling and bottom of the vacuum container 2 when extended as described later. .

That is, as shown in FIGS. 9 and 10, this workbench 22 has a base plate 24 fixed to a support base 23 provided at the tip of the multi-joint boom 13, and a table 25 facing the base plate 24. between the table 25 and the board 24, two sets of X-shaped links 28, which are rotatably combined links 26 and 27 in an X-shape, are arranged in parallel.
It is stacked in layers. The lower end side of each link 26, 27 constituting the X-shaped link 28 located at the lowest stage in the figure is rotatably connected to a ball screw nut 29, 30, respectively. These nuts 29, 30 are screwed into a feed screw 31 whose thread direction is opposite from the central portion. Pins 32 are protruded from the side surfaces of the nuts 29 and 30, respectively, and these pins 32 fit into guide grooves 34 of a guide plate 33 fixed to the base plate 24. Each link 2 forming the X-shaped link 28 located at the top in the figure
6. The ball screw nuts 35 are also attached to the upper end of 27.
．． It is rotatably connected to 36. these nuts 35
．． 36 is also screwed into a feed screw 37 whose thread direction is reversed from the central portion. Pins 38 are protruded from the side surfaces of the nuts 35 and 36, respectively, and these pins 38 fit into guide grooves 40 of a guide plate 39 fixed to the lower surface of the table 25. The upper end side of each link 26.27 constituting the X-shaped link 28 located at the bottom of the figure and the lower end side of each link 26.27 constituting the X-shaped link 28 located at the middle stage are each connected to a ball screw. It is rotatably connected to nuts 41 and 42. These nuts 41, 42 are also screwed into a feed screw 43 formed from the center with the direction of the threads being reversed. Pins 44 are protruded from the sides of the nuts 41 and 42, respectively, and these pins 44
4 fits into the guide groove 46 of the guide plate 45. Similarly, the
The upper ends of the links 26 and 27 constituting the crosslink 28 are rotatably connected to nuts 47 and 48 of a ball screw, respectively.

These nuts 47, 48 are also screwed into a feed screw 49 formed from the center with the direction of the threads being reversed.

Pins 50 are provided protruding from the side surfaces of the nuts 47 and 48, respectively, and these pins 50 are inserted into the guide grooves of the guide plate 51.
2 is fitted.

Connecting plates 52 and 53 are provided on the lower surface of each guide plate 45 and the lower surface of each guide plate 51 to connect these lower surfaces. A total of eight motors 54 are fixed to the upper surface of the substrate 24, the upper surface of the connecting plates 52 and 53, and the lower surface of the table 25 for independently driving each feed screw.

Note that the rotational force of each motor 54 is transmitted to each corresponding feed screw via a chain. Furthermore, each motor 54 is controlled by a control circuit (not shown) so that the amount of rotation is the same.

As shown in FIG. 11, the table 25 includes a heat receiving plate 4.
A gripping mechanism 60 for gripping is attached at four locations. These gripping mechanisms 60 are mainly composed of a piellonet-type rotary hook 62 that is connected by inserting into a hook hole 61 formed in the end surface of the heat receiving plate 4 and rotating it. Specifically, as shown in FIG. It is configured as shown. That is, the shaft 63 of the rotary hook 62 passes through a hole 64 provided in the table 25. A cylindrical body 65 is fitted onto the shaft 63, and a rotary wheel 66 is attached to the lower end of the cylindrical body 65 in the figure. A thread 67 is formed on the outer periphery of the cylindrical body 65, and this thread 67 is screwed into a nut 68. The nut 68 is fixed to the lower surface of the table 25. Six flanges are fixed to the upper end surface of the cylinder 65 in the figure, and a bearing 70, a spacer 71, a load cell 72, a spacer 73, and a bearing 74 are coaxially mounted in the above order between the flange 69 and the rotating hook 62. It is interposed. On the other hand, a disk 75 is fixed to the lower end of the shaft 67, and a load cell 76 and a rotary wheel 77 are coaxially fixed to the lower surface of the disk 75. A bearing 78 is inserted between the disc 75 and the rotating wheel 66.

In this gripping mechanism 60, the rotary hook 62 is inserted into the hook hole 61 provided in the heat receiving plate 4, and in this state, the rotary hook 62 is rotated by 90 @ using the rotary wheel 77. I'm trying to prevent it from coming off. At this time, the required distance adjustment between the surface with the hook hole 61 and each rotating hook 62 is performed by rotating each rotating wheel 66. Each rotation wheel 66 for height adjustment and each rotation wheel 77 for rotating the rotation hook 62 are driven separately by separate motors installed in the motor box 55. Note that the load cells 72 and 75 are used to detect the state of load applied when the heat receiving plate 4 is attached or removed, and to position the height of the rotary hook 62.

For example, when removing the heat receiving plate 4 shown in FIG. 1, the workbench 22 is extended, the table 25 is brought into contact with the heat receiving plate 4, and the rotating hook 62 is inserted into the hook hole 61 and rotated to fix it, that is, to grip it. let At this time, workbench 2
2 is further extended and when the sum of the load signals of the four load cells 72 becomes equal to the weight of the heat receiving plate 4, the fixing clasp 5 is loosened to allow the workbench 22 to support the load of the heat receiving plate 4.

At this time, the rotary wheel 66 for adjusting the height of the rotary hook 62 is rotated to adjust the weight of the heat receiving plate 4 to be equally distributed. A TV camera 81, 82, 83, 84 mounted on the table 25 is used to determine the relative position between the rotary hook 62 and the heat receiving plate 4. These TVs
Among the cameras, TV cameras 82 and 83 are installed so as to be able to selectively protrude from the side surface of the table 25 so as to monitor the outside of the heat receiving plate 4 in the width direction.

A rotation mechanism 91 that can selectively rotate the direction of the workbench 22 by 180 degrees is disposed in a portion of the cask 12 near the maintenance/inspection port 11 .

This rotation mechanism 91 is movably arranged on the rail 15, and is specifically constructed as shown in FIGS. 13 and 14. That is, the support frame 9 is placed on the rail 15.
2 is attached movably along the rail 15. There are four gears 93 and 94 inside the support frame 92.
．． A rotary frame 97 is rotatably supported by 94 and 95.

Note that each gear is selectively driven by a motor (not shown). Therefore, when the motor is driven, the rotating frame 97
rotates as shown by a solid line arrow 98 in the figure. Rotating frame 97
A passage hole 99 is formed in the center of the body to allow the workbench 22 holding the heat receiving plate 4 and the articulated boom 13 to pass therethrough without any hindrance. A pad 100 controlled by a motor is provided inside the wall forming the passage hole 99 so as to be movable forward and backward. That is, this rotation mechanism 91 positions the workbench 22 that grips the heat receiving plate 4 or does not grip the heat receiving plate 4 in the passage hole 99, and in this state advances each pad 100 to sandwich the workbench 22. Rotating frame 97
By rotating the workbench 22, rotational force can be applied to the workbench 22. As shown in FIG.
A rotating shaft 101 directed in the longitudinal direction is inserted.

Therefore, when a rotational force is applied to the workbench 22, the workbench 22 rotates around the rotating shaft 101.

Note that this rotation is regulated by the rotation stopper 102, and is locked when it has rotated 180 degrees.

As shown in FIG. 1, the earthen wall of the cask 12 has an opening 111 for receiving and passing the heat receiving plate 4 between the inside and the outside.
is formed. This opening 111 is always hermetically closed by a transport cask 112 for transporting the heat receiving plate 4 or a door opening/closing mechanism 113 which will be described later. That is, when transporting the transport cask 112, it is closed by the door opening/closing mechanism 113, and when the heat receiving plate 4 is being replaced, it is closed by the transport cask 112. 1 shows a state in which the transport cask 112 is closed, and FIGS. 15 and 16 show a state in which the transport cask 112 is closed to the door opening/closing mechanism 113.

As shown in FIGS. 15 and 16, the transport cask 112 includes a cask body 122 that accommodates the heat-receiving plate 4 therein, and is formed so that the accommodated state can be maintained by a holder 121.
Door body 1 that airtightly covers the opening of this cask body 122
It consists of 23. And the cask body 122
An opening 11 provided in the cask 12 is located at the opening edge of the cask 12.
A sealing mechanism 1 that maintains airtightness when the cask body 122 is placed on the earthen wall of the cask 12 so as to cover the cask 1
24 are provided. Further, a sealing mechanism 125 for maintaining airtightness is also attached to the door body 123.

Note that the door body 123 has a bin 126 that can be inserted and removed from the outside.
The attached state is maintained by the locking action of.

On the other hand, the door opening/closing mechanism 113 is configured as follows. That is, as shown in FIGS. 15 and 16, guide rails 131 and 132 are provided on both sides of the opening 111 on the inner surface of the clay wall of the cask 12, and drive mechanisms 133 and 134 are provided on the guide rails 131 and 132. The door body 135 is movably supported through the door. Door body 13
5 is formed into a box shape with an opening facing upward. A lifting mechanism 136.1 is provided between the door body 135 and the drive mechanism 133.134 to raise and lower the door body 135 in cooperation with each other.
37 are arranged. Further, a sealing mechanism 138 is attached to the upper end surface of the door body 135 to maintain airtightness between the upper end surface and the inner surface of the clay wall of the cask 12.

A support mechanism 140 is disposed within the door body 135 via a lifting mechanism 139. A plurality of rotary hooks 141 protrude from the upper surface of the support mechanism 140 and are rotationally driven by a drive mechanism provided within the support mechanism 140 .

These rotary hooks 141 are connected to the transport cask 11 described above.
By being selectively inserted into the hook hole 142 provided in the door body 123 of No. 2 and controlling the rotation in this state,
The door body 123 is supported by a support mechanism 140.

Note that all the controls of each drive element and rotating element described so far are performed by a remote control device (not shown).

Additionally, TV cameras are installed at various locations to facilitate control.

Next, an example of the operation when replacing the heat receiving plate 4 using the remote maintenance device configured as described above will be described.

Before the transport cask 112 is placed, the door opening/closing mechanism 11
The opening 111 is secretly closed by the door body 135 of No. 3. That is, the door body 135 is located below the opening 111 under the control of the drive mechanisms 133 and 134, and the door body 135 is raised to a position where the sealing mechanism 138 performs its sealing function under the control of the elevating mechanisms 136 and 137. be.

When replacing the heat receiving plate 4, first, an empty transport cask 112 is placed so as to cover the opening 111 of the cask 12. The transport cask 112 to be placed is empty, but has a door body 123 attached thereto, and the inside is maintained at approximately the same pressure as the inside of the cask 12. Moreover, the sealing mechanism 124 exhibits a sealing function by being placed.

In this state, the lifting mechanism 139 of the door opening/closing mechanism 113 is
1IJ to raise the support device 114140 to a certain position, and insert the rotary hook 141 into the hook hole 142 provided in the door body 123. Then, the rotary hook 141 is rotated to connect the door body 123 to the support mechanism 140. Next, the pin 126 is removed, and then the support mechanism 140 is lowered, and the door body 135 is also lowered. At this time, sufficient airtightness is maintained by the sealing function of the sealing mechanism 124. Moreover, the door body 123 enters the state completely inside the cask 12 by the above-mentioned control. Next, the drive mechanism 13
3. 134 is controlled to move the door body 135 in a direction away from under the opening 111.

As can be seen from the above operation, the door body 135 moves as shown by the broken line arrow 151 in FIG. Through such control, the inside of the transport cask 112 is
The situation shown in FIG.

Next, with the workbench 22 retracted, the boom support mechanism 14
advance. Due to this forward movement, the articulated boom 13 also moves forward toward the vacuum vessel 2 , and the workbench 22 and the tip side of the articulated boom 13 advance into the vacuum vessel 2 through the passage hole 99 of the rotation mechanism 91 and the maintenance inspection port 11 . . Then, each joint of the boom support mechanism 14 and the multi-joint boom 13 is controlled to advance the multi-joint boom 13 along the axis of the vacuum container 2 . When the tip of the articulated boom 13 reaches the desired position inside the vacuum vessel 2, the workbench 2
2 is extended, and the table 25 of this workbench 22 is brought into contact with the end surface of the intended heat receiving plate 4. In this state, each gripping mechanism 60 is operated to fix the heat receiving plate 4 to the workbench 22.

After fixing, the clasp 5 is loosened, the work table 22 is shrunk, and the heat receiving plate 4 is removed.

After removing the heat receiving plate 4, the boom support mechanism 14 and the multi-joint boom 13 are controlled to retreat the multi-joint boom 13 and the boom Δ support mechanism 14 into the cask 12 along the same route as the forward route. Next, as shown in FIG. 1, the workbench 22 is positioned directly below the opening 111, and then the workbench 22 is extended to carry the removed heat receiving plate 4 into the transport cask 112.

Then, the heat receiving plate 4 is transferred to the conveying cask 112 by the roller 121.
After being fixed inside, each gripping mechanism 60 is uncoupled and the workbench 22 is retracted. Next, the door body 135 is moved to the position shown in FIGS. 15 and 16, and the door body 123 of the transport cask 112 is attached to the opening of the transport cask body 122 by an operation opposite to that described above. When this work is completed, the transport cask [12] is transported to a repair shop. At this time, the opening 11.1 of the cask 12 is hermetically closed by the door body 135. As can be seen from the above-described operation, mounting of a new heat receiving plate 4 can be easily carried out by following the above-described procedure. Figure 17 shows the articulated boom 13.
The positional relationship of each element of the stoker is schematically shown in which the heat receiving plates 4 are replaced one after another using the workbench 22ε.

The above-mentioned example is a case where the heat receiving plate 4 that is completely attached to the ceiling side of the vacuum container 2 is replaced, but when replacing the heat receiving plate 4 that is attached to the bottom part, the following procedure is performed. That is, the slightly extended workbench 22 is positioned within the passage hole 99 of the rotation mechanism 91, and in this state the pad 100 is protruded to sandwich the workbench 22 and the tip of the multi-jointed boom 13.

Next, the rotation frame 97 is rotated 180 degrees. When rotated in this manner, the workbench 22 becomes able to expand and contract downward. Therefore, it is also possible to replace the heat receiving plate 4 that has been attached to the bottom of the vacuum container 2.

As is clear from the movement of the articulated boom 13 described above,
Inside the vacuum container 2, centering on the maintenance inspection port 11,
The multi-joint boom 13 can be moved both clockwise and counterclockwise. Further, as described above, since the rotation mechanism 91 can rotate the workbench 22 around the longitudinal axis of the articulated boom 13, the heat receiving plate 4 located on the ceiling side as well as the heat receiving plate 4 located on the bottom part can be rotated. 4 can also be repaired.

Therefore, if the multi-joint boom 13 is long enough to cover 180 degrees of the circumference inside the vacuum vessel 2, all the heat receiving plates can be repaired with one remote maintenance device. Furthermore, when using an articulated boom 13 with a length that can cover 90 degrees of the circumference, all heat-resistant walls can be repaired by symmetrically arranging two remote maintenance devices. , even when the vacuum container 2 becomes larger, it can be adequately accommodated.

Note that the present invention is not limited to the embodiments described above. That is, in the above-described embodiment, the heat receiving plate is replaced on the workbench 22, but the workbench may also support a manipulator for replacing heat-resistant tiles, for example. In this case as well, by using the transport cask, the manipulator can be attached to or removed from the workbench without breaking the vacuum state. Also, an image guide may be used instead of a TV camera as the visual device. In addition, various modifications can be made without departing from the gist of the present invention.

[Effects of the Invention] As described above, according to the present invention, even when the vacuum container becomes larger, the structure can be maintained without complicating the structure.
It is possible to provide a remote maintenance device for a fusion reactor that can cover the entire area inside a vacuum vessel.

[Brief explanation of drawings]

Figure m1 is a schematic vertical cross-sectional view of a remote maintenance device for a nuclear fusion reactor according to an embodiment of the present invention, Figure 2 is a schematic internal plan view of the remote maintenance device, and Figure 3 is a diagram showing a system installed in the remote maintenance device. The attachment of the boom support mechanism to the rail is a local side view showing the structure, Figure 4 is a view taken along the line A-A in Figure 3, and Figure 5 is a diagram showing how the boom support mechanism is mounted to the rail. Figure 6 is a front view showing only the base of the workbench, Figure 7 is a top view of the workbench, and Figure 8 is the workbench retracted. Fig. 9 is a longitudinal sectional view of the workbench, Fig. 10 is a view of the workbench cut along line B-B in Fig. 9 and seen in the direction of the arrow, and Fig. 11 is a view of the same workbench. A perspective view of the gripping device mounted on the stand, FIG. 12 is a vertical cross-sectional view of the main parts of the gripping device, FIG. 13 is a side view of the rotary m-structure incorporated in the remote maintenance device, and FIG. 14 is the same The rotation mechanism is shown as C-C in Fig. 13! l! Fig. 15 is a vertical sectional view of the door opening/closing mechanism incorporated in the remote maintenance device, and Fig. 16 is a view of the door opening/closing mechanism cut along the line D-D in Fig. 15. FIG. 17, a view seen in the direction of the arrow, is a diagram schematically showing an example of the operation of the remote maintenance device. ? 1... Fusion reactor, 2... Vacuum vessel, 3... Heat-resistant wall, 4... Heat receiving plate, 5.121... Cock, 10.
...Remote maintenance device, 11...Maintenance inspection port, 12...
Cask, 13... Multi-joint boom, 14... Boom support mechanism, 15... Rail, 22... Workbench, 25
...Table, 60...Gripping mechanism, 91...Rotating mechanism, 111...Opening, 2...Transportation cask, 3...Door opening/closing mechanism.

Claims (1)

[Claims] (1) A cask provided in communication with the vacuum vessel of a fusion reactor, and a multi-jointed joint formed by connecting a plurality of horizontally rotatable joints housed within the cask. a boom, a boom support mechanism that supports the multi-joint boom movably along a rail disposed within the cask, and a boom support mechanism that is attached to the tip of the multi-joint boom and is perpendicular to the longitudinal direction of the multi-joint boom. a workbench that is extendable and retractable in a direction in which the workbench is moved, a gripping mechanism provided on the workbench, a rotation mechanism that selectively rotates the workbench about a longitudinal axis of the articulated boom, and at least the articulated boom; A remote maintenance device for a nuclear fusion reactor, comprising a control device that remotely controls the boom support mechanism, the workbench, the gripping mechanism, and the rotation mechanism. (2) The remote maintenance device for a nuclear fusion reactor according to claim 1, wherein the gripping mechanism is capable of gripping at least one of a structure in the vacuum vessel and a working manipulator. (3) The remote maintenance device for a nuclear fusion reactor according to claim 1, wherein the workbench is equipped with at least one visual device for grasping the situation. (4) The cask is equipped with a connection port for connecting the transport cask in the ceiling and a door for opening and closing this connection port, and a door opening/closing mechanism in the cask that opens and closes the door and the door of the transport cask in conjunction with each other. The remote maintenance device for a nuclear fusion reactor according to claim 1, comprising: a remote maintenance device for a nuclear fusion reactor according to claim 1;