JPH04212096A - Apparatus for recovering foreign matter - Google Patents

Abstract

PURPOSE:To provide the title apparatus capable of certainly recovering the minute foreign matter present under environment into which the hand can not be introduced by operation carried out while visually confirming the foreign matter. CONSTITUTION:A foreign matter recovering apparatus 1 is equipped with the work unit 3 approaching a fuel assembly 201, the guide fin 9 fixing the work unit 3 to the fuel assembly 201 to position the same, the moving table movable with respect to the work unit 3, the recovery probe 18 sent by the moving table 10 to enter the minute spaces in the fuel assembly and performing the recovery work of foreign matter and a remote operation part 5 operated on the basis of the working state of the recovery probe 18 to operate the recovery probe 18 from a remote area.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a foreign matter collection device for collecting and removing small foreign matter that exists in spaces that are difficult for people to enter, for example.

0002

2. Description of the Related Art Magic hands, forceps, and the like are generally used to collect foreign objects that have entered narrow gaps. In addition, medical endoscopes are used to collect foreign objects that exist in spaces that are difficult for people to enter or reach with their hands, and medical endoscopes that use biopsy forceps to directly remove and recover foreign objects are used. Vacuums and the like are known in which foreign matter is collected by vacuum suction using a nozzle.

[0003] Among these, endoscopes enter into the human body and photograph the inside of the internal organs, and are remotely controlled from outside the human body to remove affected areas with forceps and to remove parts of the human body from the inside. treatment.

Furthermore, in nuclear power generation, for example, a fuel assembly 201 as shown in FIG. 19 is used. This fuel assembly 201 is composed of pipe-shaped fuel bodies 202 filled with nuclear fuel. The total length of the fuel assembly 201 is set to about 4 m, for example.
The gap 203 between each fuel body 202 is, for example, 2 to 3 mm.
is set to . Furthermore, FIG. 19 shows a fuel body 202
A fuel assembly is shown in which... are arranged in an 8x8 arrangement.

[0005] Reference numerals 204 and 205 in FIG. 19 indicate an upper tie plate and a lower tie plate. and the lower end is retained.

Reference numeral 206 designates a plurality of spacers (only one shown) that are arranged along the longitudinal direction of the fuel bodies 202 and hold intermediate portions in the longitudinal direction of the fuel bodies 202. This spacer 206 has a mechanism for holding each fuel body 202 individually. Furthermore, external springs 207 are interposed between the upper ends of the fuel pairs 202 and the upper tie plate 204.

For example, before use, the fuel assembly 201 is stored in a storage pool 208 for storing fuel, as shown in FIG. And fuel assembly 20
1 is suspended, and the water depth at the location where the fuel assembly 201 is stored is approximately 10 m.

Furthermore, the fuel assembly 201 is stored in the pool 208 not only before use. For example, when some kind of trouble occurs in a nuclear reactor, it may be necessary to temporarily store the fuel assembly in use and inspect the inside of the fuel assembly 201.

[0009]

[Problem to be solved by the invention] By the way, pool 20
If foreign objects such as screws or metal pieces get into the fuel assembly 201 submerged in the fuel assembly 201, it is necessary to collect these foreign objects. However, the fuel assembly 201 is generally placed in a high-pressure environment where intense radiation is present and at a depth of 10 meters. Further, the gaps 203 between the fuel bodies 202 are set to about 2 to 3 mm, which is small.

[0010] For this reason, it is impossible to directly collect the foreign matter manually, and a device that can be remotely operated from a position sufficiently distant from the fuel assembly 201 is required to collect the foreign matter. .

[0011] Furthermore, the endoscope as described above is attached to the fuel assembly 2.
It is also possible to apply this method to the recovery of foreign substances in 01. In a medical endoscope, a doctor directly operates the endoscope while looking through the eyepiece, and the operating distance of the remote control is set to, for example, about 1 meter. Further, the transmission of operating force for direction adjustment, forceps driving, etc. is performed by flexible wires. Furthermore, the outer diameter of the endoscope is generally set to 5 mm or more.

For this reason, the collection of foreign matter is carried out in the fuel assembly 201.
The endoscope must be carried out from a remote location sufficiently far away from the fuel assembly 201, the endoscope must be reached and set in the fuel assembly 201, and the endoscope and forceps must be inserted into the gaps 203 between the fuel assemblies 202. , and it is difficult to accurately drive forceps or the like to collect minute foreign objects. In addition, foreign objects
If the object is collected by vacuum suction without visual recognition, it is difficult to accurately bring the vacuum nozzle close to a predetermined position of the object.

[0013] The purpose of the present invention is to remove minute foreign matter that exists in an environment that cannot be penetrated by human hands.
It is an object of the present invention to provide a foreign matter collection device capable of reliably collecting foreign matter through operations performed while visually recognizing them.

[0014]

[Means and operations for solving the problems] In order to achieve the above object, the present invention provides a main body that approaches an object, a main body fixing portion that fixes and positions the main body with respect to the object, and a main body that approaches the object. Based on images showing the working status of the moving mechanism, which is moved by the moving mechanism, the collection unit, which is sent by the moving mechanism and enters the minute space in the object to collect the foreign matter, and the recovery unit. The system is equipped with a remote control unit that can be operated by a user to operate the recovery work unit from a remote location.

Further, the present invention provides a main body that approaches an object, a main body fixing portion that fixes and positions the main body with respect to the object, and a main body that approaches the object in one direction and contacts the object. A moving mechanism section that can be moved in the direction of separation, a collection section that is sent by the moving mechanism section and enters into a minute space in the object to collect the foreign matter, and a collection section that is able to move the foreign matter into the target object's field of view. A fiber scope that follows the recovery work unit and photographs the working status of the recovery work unit while the machine is moving, and sends the captured images to a remote location.
The robot is operated based on images taken by the robot, and is equipped with a remote control unit that drives the moving mechanism and allows the collection unit to collect foreign objects from a remote location.

The present invention also provides a main body that approaches an object, a main body fixing portion that fixes and positions the main body with respect to the object, and a device that enters into a minute space in the object and collects foreign objects. A recovery work unit, a fiber scope that captures the recovery work unit and foreign objects in its field of view and photographs the working status of the recovery work unit, and a recovery work unit and the fiber scope that can be integrated and viewed in multiple directions. A positioning mechanism section for moving and positioning, a display section for displaying an image taken by a fiberscope at a remote location, and a remote control section for operating at a remote location based on the image projected on the display section. , and a control section that controls the positioning mechanism section and the recovery operation section based on the output of the remote control section. Further, the present invention is provided with an attitude adjusting means for changing the orientation of the main body and adjusting the attitude of the main body with respect to the object. Further, the present invention makes it possible to reliably collect minute foreign objects that exist in environments where human hands cannot enter by operations that are performed while visually recognizing them.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples of the present invention will be described below with reference to the drawings. A first embodiment of the invention is shown in FIGS. 1-4.

Reference numeral 1 in FIG. 1 refers to a foreign matter recovery device (hereinafter referred to as "foreign matter recovery device") for recovering foreign matter, such as screws and metal pieces that have entered the fuel assembly, or water scale and dust attached to the fuel assembly, in nuclear power generation equipment. (referred to as a recovery device).

This recovery device 1 includes a working unit 3 as a main body fixed to the lower end of a linearly extending circular pipe-shaped support pole 2 and submerged in water, and a controller placed at a predetermined position above the water. The remote control unit 5 has a remote control unit 5 with The controller 4 is arranged, for example, outside the fuel storage pool and controls the working unit 3.

The working unit 3 is submerged into water by operating the support pole 2, reaches a depth of about 10 m, for example, and approaches a fuel assembly (not shown). As shown in FIG. 2, the work units 3 include a rectangular fixed table 6 indicated by a two-dot chain line, and a plurality of work units 3 provided below the fixed table 6 and arranged vertically and parallel to each other. It has guide shafts 7 and 8.

Furthermore, the working unit 3 is provided with a plurality of guide fins 9 serving as main body fixing parts. The guide fins 9 are arranged at the front of the working unit 3, and are arranged substantially parallel to each other at regular intervals in the width direction of the working unit 3, that is, in the direction of the arrow X in FIG.

The guide fins 9 protrude from the working unit 3 and are inserted into the gaps between the rod-shaped fuel bodies that are arranged in parallel and make up the fuel assembly. The guide fins 9 position the working unit 3 in the X direction, prevent it from shifting, and fix it to the fuel assembly with the front edge of the fixed table 6 in contact with the fuel assembly. Here, it is conceivable that portions that come into contact with the fuel body, such as the front edge of the fixed table 6 and the guide fins 9, are made of radiation-resistant resin or the like.

The working unit 3 is provided with a moving table 10 as a moving mechanism section made of a rectangular plate. This movable table 10 is vertically installed on the lower surface side of the fixed table 6 with its longitudinal direction facing in the front-rear direction. The movable table 10 is arranged at the middle part of the fixed table 6 in the width direction. Furthermore, the movable table 10 can be freely slid in the front and rear directions of the work unit 3, that is, in the direction of arrow Y in FIG.

That is, as shown in FIGS. 2 and 3, the movable table 10 is integrally formed with a rack 11 extending in the longitudinal direction on one plate surface thereof. The movable table 10 has a pinion 13 of a motor 12 arranged and fixed above the fixed table 6 and whose rotating shaft is led out to the lower surface of the fixed table 6, screwed into the rack 11 of the movable table 10. ing.

The movable table 10 receives the rotational force of the motor 12 through the rack 11 and pinion 13, and moves forward and backward in the Y direction while being guided by the guide shafts 7 and 8. Furthermore, the movable table 10 can be stopped at any position while moving in the Y direction. Here, the motor 12 is hermetically covered with a motor casing 12a that prevents water from entering. As the motor 12, a motor such as a servo motor or the like that can be adjusted in an arbitrary displacement amount is employed.

Further, a rotatable rotary plate 14 is connected to the movable table 10. The rotary plate 14 is arranged to face the lower edge of the movable table 10, and is pivotally supported by the movable table 10 at its intermediate portion. The rotating plate 14 has its rear upper end facing an underwater air cylinder 15 which is arranged and fixed at the rear of the movable table 10.

Further, the rotary plate 14 has a coil spring 16 connected at one end to the movable table 10, and the other end thereof is connected to the rear end side of the rotary plate 14. The rear end of the rotary plate 14 is pushed downward by the piston 17 protruding from the underwater cylinder 15, and the rotary plate 14 is rotatably displaced in the direction of the arrow θ in the figure while pulling the coil spring 16 and elastically deforming it, and the front end thereof Turn the part upward. Further, when the piston 17 is retracted and the rotating plate 14 is released from the pressing force of the underwater cylinder 15, the rotating plate 14 directs its front end downward, for example, due to the biasing force of the coil spring 16.

A recovery probe (hereinafter referred to as probe) 18 as a recovery work unit is provided at the tip of the rotary plate 14. The probe 18 is, for example, shaped like a needle with a sharpened tip, and its outer diameter is set to, for example, 2 mm or less. Further, the probe 18 has its proximal end fixed to the distal end of the rotating plate 14. The probe 18 extends along the longitudinal direction of the rotary plate 14, and projects forward from the tip of the rotary plate 14 with its direction fixed relative to the rotary plate 14. .

The probe 18 is displaceable together with the rotary plate 14, and its sharp tip is moved up and down by a predetermined amount as the piston 17 of the underwater air cylinder 15 moves up and down.

That is, the probe 18 moves together with the movable table 10 via the rotary plate 14 and enters the gap between the fuel bodies, which is a minute space. The probe 18 is aligned in the Y direction by moving together with the movable table 10, and further aligned in the θ direction by rotating together with the movable plate 14. be exposed. Here, it is conceivable to drive the probe 18 by interlocking the motor 12 and the submersible air cylinder 15 to scratch and collect water scale, dirt, etc. adhering to the fuel body. moreover,
A probe swinging mechanism 14a serving as a recovery work section swinging mechanism is composed of a rotary plate 14, an underwater air cylinder 15, a coil spring 16, and the like.

Further, as the probe 18, it is conceivable to employ a vacuum probe that sucks in foreign matter, a magnetic probe that attracts foreign matter, or the like. If a vacuum probe is employed, a suction nozzle 19 is used as the probe, as shown in FIG. Then, the submersible pump 20 placed in the reactor water is driven to suck in the foreign matter through the suction nozzle 19, and the sucked foreign matter is transferred to a collection system installed between the suction nozzle 19 and the submersible pump 20 and having a filter 21 inside. - It is conceivable that the waste be collected in the space 22.

In addition, 23 in FIG. 2 indicates a fiber.
It is a scope. The fiber scope 23 has a distal end 24 which is composed of a tubular imaging section with a diameter of 2 mm or less, an illumination device, etc. arranged in a row, and the distal end 24 is fixed to the movable table 10. ing. The fiber scope 23 has its tip 24a directed toward and close to the tip of the probe 18, and the probe is placed in its field of view.
It holds the tip of the bulb 18.

The fiber scope 23 has optical end faces such as an imaging section and an illumination unit oriented obliquely with respect to the axis. The field of view of the imaging unit is illuminated by illumination. After the image is captured through an optical element such as a prism and transmitted, it is transferred to a CCD (charge cd) provided on the side of the remote control unit 5, for example.
(upled device).

Furthermore, the fiber scope 23 is configured to move its tip 24 together with the moving table 10, so that the tip 24 follows the movement of the probe 18 and is moved while moving. The tip of the probe 18 is always photographed.

FIG. 1 shows how the fiber scope 23 sucks and adsorbs metal pieces, etc., or scrapes off limescale, dirt, etc. adhering to the fuel body. The images are displayed on an eyepiece 26 connected to the tip 24 via a flexible cable 25 extending between underwater and above water, and on a monitor 26a connected to the eyepiece 26. Here, the image photographed by the fiber scope 23 may be directly displayed on the monitor 26a.

The remote control section 5 is composed of a controller 4, the eyepiece section 26 disposed near the controller 4, and the monitor 26a. Further, the remote control unit 5 has joysticks 27, 27, etc. on the operation panel 4a of the controller 4, and furthermore, the controller 4 and the work unit 3 are connected by a plurality of flexible cables 28. Connected via... and,
The remote control unit 5 is operated by an operator (not shown) on the monitor 26a.
By operating the controller 4 while looking at the image displayed, the motor 12 and the underwater cylinder 15 can be driven independently, for example. Furthermore, this foreign matter collection device 1 is operated as follows to collect foreign matter.

First, the support pole 2 is operated and the working unit 3 is submerged in water. For example, the water depth is about 10
Guide fins 9 are inserted between the fuel bodies at position m,
The working unit 3 is positioned and fixed to the fuel assembly. Then, the controller 4 is operated at a position on the water far away from the fuel assembly, the motor 12 is driven, and the probe 18 and fiber scope 23 enter the gap between the fuel assemblies. do.

Then, the foreign object and the tip of the probe 18 are displayed on one screen by the fiberscope 23, and the controller 4 is operated while looking at the eyepiece 26 on which this screen is displayed. Ru. Then, for example, the motor 12 and the underwater air cylinder 15 are driven arbitrarily and simultaneously, the probe 18 is positioned, and the foreign matter is collected.

That is, in such a recovery device 1, the working unit 3 to which the probe 18 and the fiber scope 23 are attached approaches the fuel assembly, and the working state is photographed by the fiber scope 23. Then, the probe 18 collects foreign matter that has entered the minute space between the fuel bodies. Therefore, it is possible to collect minute foreign objects from a remote location while visually recognizing them, even if they exist in a special environment where a person cannot enter or touch them with their hands.

Furthermore, the probe 18 and the fiber scope
a motor 12 for displacing and positioning the pulley 23, and
Since the underwater air cylinder 15 etc. are attached to the work unit 3, the probe 18 and the fiber scope 2
The positioning of step 3 can be performed efficiently, reliably, and with high precision.

Further, the positioning of the probe 18 and the fiber scope 23 in the Y direction is performed by the motor 12, and the positioning of the probe 18 in the θ direction is performed by the underwater air cylinder 15. Therefore, positioning by motor control is only possible in one direction, and probe 1
8 can be easily brought close to foreign objects. Then, it is possible to bring the probe 18 and the fiber scope 23 close to a local part of the fuel assembly.

Furthermore, if a vacuum probe or a magnetic probe is used as the probe 18, there is no need for the probe to come into contact with a foreign object, so positioning can be performed reliably even in the Y direction only. foreign matter can be collected. Further, it is also possible to employ an ultrasonic probe as the probe 18.

Furthermore, since positioning by motor control is performed in only one direction, only one motor is required, and the work unit 3 can be made small and lightweight. Furthermore, the configuration of the controller 4 can be simplified. Also,
By once removing the guide fins 9 from the fuel assembly, the working unit 3 can be moved in the X direction.

[0044] Furthermore, it is conceivable to utilize differences in the state of reflection of light to confirm the presence of water stains and the like. and,
It is not possible to know exactly where water scale is present just by looking at the light intensity, etc., but by touching or scratching it with the probe 18, you can check the condition of the water scale, etc. You can know exactly where you are. Then, it becomes possible to palpate the fuel assembly, and the state of the fuel assembly can be known more accurately. Furthermore, in order to remove or collect foreign matter, it is also possible to spray a water stream using a probe or to create bubbles by blowing air bubbles out from a probe.

[0045] If only the foreign matter is removed, it is conceivable that the foreign matter once removed may re-adhere to the fuel assembly, but if a means for recovering the removed foreign matter is provided as shown in FIG. can be collected, and re-adhesion of foreign matter can be prevented.

The image captured by the fiber scope 23 is affected by the resolution of the CCD, etc., but the fiber scope 23 and probe 18 enter the fuel assembly and approach foreign objects. Therefore, a highly accurate image is displayed on the remote control unit 5. Since the motor 12 is capable of adjusting the amount of displacement arbitrarily, the probe 18 and fiber scope 23 can be driven, displaced, and moved with high precision.
Positioning is possible. Further, the recovery device 1 can also be used for inspecting and inspecting fuel assemblies. moreover,
Positioning of the work unit 3 in the direction of gravity can be performed by suspending the work unit 3 using a winch or the like.

In this embodiment, the rack 11 and pinion 13 are used to transmit the power of the movable table 10, but the present invention is not limited to this. It is also possible to use . Also,
It is also possible to use a motor to drive the rotating plate 14, and in this case, the operability of the rotating plate 14 can be improved. Furthermore, if the working unit 3 is incorporated into a remotely controlled submersible, the support pole 2 and the like become unnecessary. The main parts of the second embodiment of the present invention are shown in FIGS. 5 to 7. Note that the same parts as in the above-mentioned embodiment are given the same reference numerals, and the explanation thereof will be omitted.

Reference numeral 2 in FIG. 5 indicates a support pole whose upper end is exposed above water, and reference numeral 3 indicates a working unit fixed to the lower end of this support pole 2 and submerged in water. . The working unit 3 is fixed to the fuel assembly by guide fins 9 provided at the front, and is positioned in the lateral direction, that is, in the X direction in the figure.

Furthermore, the working unit 3 has a probe (not shown) serving as a recovery working section, and a fiber scope 23 that keeps the tip of the probe in view at all times. A TV camera and a monitor are connected to the other end (not shown) of the fiber scope 23. and,
The work unit 3 moves the probe and the tip 24 of the fiber scope 23 between the fuel bodies by sliding the moving table 10 back and forth using a motor housed in a motor casing 12a. to enter.

[0050] The work unit 3 is operated by an operator who operates a controller while watching a monitor (not shown) at a remote location on the water to connect the probe and the fiber.
The scope 23 is controlled to collect foreign matter present in minute gaps between fuel bodies.

[0051] The work unit 3 also includes posture adjustment means 3.
1 is provided. This attitude adjustment means 31 includes four attitude sensors 32a to 32a provided at the front of the work unit 3.
32d, and four water flow generation parts 33a to 32d, which are provided at the rear of the working unit 3 and spray water flow backward. As shown in FIGS. 6 and 7, the posture adjusting means 31 has posture sensors 32a to 32d and water flow generating parts 33a to 33d disposed at, for example, four corners of the front and rear parts of the work unit 3. There is.

In other words, the attitude adjustment means 31 is turned ON by contacting the fuel assembly when the front part of the working unit 3 touches the fuel assembly at the initial time when the working unit 3 is fixed to the fuel assembly. Based on the positional relationship between the contact sensor and the posture sensor that is turned off without contact
detects the inclination of the fuel assembly.

[0053] Then, the attitude adjustment means 31 adjusts a part of the water flow generating parts 33a to 33d corresponding to the contact sensor that is OFF so that the contact sensor separated from the fuel assembly comes into contact with the fuel assembly. Select and drive the water flow generator. Then, the posture adjustment means 31 injects a water stream toward the rear, and uses the thrust generated by the water stream generators 33a to 33d or the difference in thrust between the water stream generators 33a to 33d to adjust the inclination of the work unit 3. and adjust the posture of the work unit 3.

That is, in the foreign matter recovery device 36 having such an attitude adjustment means 31, the attitude adjustment means corrects the inclination of the working unit 3 with respect to the fuel assembly, and automatically adjusts the attitude of the working unit 3. . Therefore, changes in the center of gravity of the work unit 3 can be absorbed, and the work unit 3
It is possible to reduce the weight of the fuel assembly, and the working unit 3 does not damage the fuel assembly.

In other words, when the movable table 10 or the like is driven, the center of gravity of the working unit 3 also moves, causing the working unit 3 to tilt and shift its position, making it difficult to align the working unit 3 with respect to the fuel assembly. It may become difficult. In order to adjust the posture of the tilted working unit 3 and align the working unit 3 with the fuel assembly, in advance,
It is necessary to carefully consider the connection position between the support pole 2 and the work unit in accordance with the moving center of gravity, or to balance the work unit 3 by additionally attaching a weight to the work unit 3 at the time of initialization.

Furthermore, if the working unit 3 is tilted, when the operator pulls the support pole 2 forward, for example, the working unit 3 may be manually pressed against the fuel assembly with a uniform force. That's difficult. If the pressing force is too strong, the fuel assembly is likely to be damaged. And motor phone
Due to the buoyancy of the thing 12a, the work unit 3 tends to tilt in the water.

However, by providing the above-mentioned posture adjustment means 31 in the work unit 3, changes in the center of gravity can be automatically absorbed and tilting can be prevented, and the posture of the work unit 3 can be kept constant. can be kept. Further, there is no need to additionally attach a weight at the time of initialization, and the weight of the work unit 3 can be reduced.

Furthermore, for example, all the attitude sensors 32a to
After 32d is turned on, by making the thrusts of the water flow generating parts 33a to 33d equal and further constant, it is possible to press the working unit 3 against the fuel assembly with uniform and constant pressure. In addition, it is possible to prevent the work unit 3 from pressing the fuel assembly with excessive and uneven force and damaging the fuel assembly. In addition, as the posture sensors 32a to 32d,
It is conceivable to employ a contact sensor, a pressure sensor, etc. The main part of the third embodiment of the present invention is shown in FIG. Note that the same parts as in each of the above-mentioned embodiments are given the same reference numerals, and the explanation thereof will be omitted.

That is, in the second embodiment described above,
A water jet type is used as the water flow generator,
Although a plurality of water jet type water flow generation sections are provided, in the foreign matter recovery device 37 of this third embodiment, one screw 34 is provided as the water flow generation section. The attitude of the working unit 3 is adjusted by the screw 34 and the rudder 35.

The working unit 3 shown in FIG. 8 is a screw 3.
4 is arranged facing rearward approximately in the center of the rear part. moreover,
The working unit 3 has a rudder 35 behind the screw 34 that can be rotated up and down. The front portion of the working unit 3 is pressed against the fuel assembly by the thrust of the screw 34, and its vertical inclination is adjusted by the rudder 35, which changes direction based on the output signal of the contact sensor. Note that the posture of the work unit 3 in the X direction is kept substantially constant by the guide fins 9 . For this reason, rudder 3
The posture adjustment according to No. 5 only needs to be performed in one direction, that is, in the Z direction. A fourth embodiment of the invention is shown in FIGS. 9 and 10. Note that the same parts as in each of the above-mentioned embodiments are given the same reference numerals, and the explanation thereof will be omitted.

Reference numeral 41 in FIG. 9 denotes screws or metal pieces that have entered the fuel assembly in nuclear power generation equipment.
Alternatively, it shows a foreign matter collection device (hereinafter referred to as a collection device) that collects foreign matter such as water scale and dirt attached to the fuel body.

Reference numeral 41 in FIG. 9 denotes screws or metal pieces that have entered the fuel assembly in nuclear power generation equipment.
Alternatively, it shows a foreign matter collection device (hereinafter referred to as a collection device) that collects foreign matter such as water scale and dirt attached to the fuel body.

This recovery device 41 includes a working unit 43 as a main body that is fixed to the lower end of a linearly extending support pole 42 and submerged in water, and a working unit 43 that is placed at a predetermined position above water, for example, outside a nuclear reactor. A remote control unit 44 is provided.

The working unit 43 is submerged in water by operating the support pole 42, for example, at a depth of about 10 m.
and approaches a fuel assembly (not shown). Then, as shown in FIG. 10, the work unit 43 has two
It has a rectangular box-shaped casing 45 shown by a dotted chain line,
Furthermore, this casing 45 is provided with a main body fixing part (hereinafter referred to as a fixing part) 46 that protrudes from the casing 45.

The fixing part 46 has plate-shaped guides 47, 47 between which the fuel assembly is inserted, and these guides 47, 4.
It has four clamps 48 which are located outside the fuel body 7 and have a plurality of grooves arranged in parallel inside thereof in accordance with the arrangement of the fuel bodies. The fixed part 46 is fixed to the guides 48 and 4.
After inserting the fuel assembly between the spaces 8 and 8, the fuel assembly is clamped between the clamps 48, the fuel body is fitted into the grooves of the clamps 48, and the casing 45 is placed against the fuel assembly. Fix it.

The work unit 43 is also provided with forceps 49 as a collection work section. The forceps 49 are disposed at the tip of a flexible wire 50 that includes, for example, an inner cable and an outer cable and extends across the inside and outside of the casing 45, and is placed, for example, near the proximal end of the clamp 48. It is located in The forceps 49 receives the rotational force of a forceps driving motor 51 fixed to the outside of the casing 45 through a cam 52 and a link 53 that are engaged with each other, and a proximal end connected to the link 53. The signal is transmitted by, for example, an inner cable of the flexible wire 50 to open and close.

[0067] The forceps 49 is connected at a midway portion to a forceps rotation mechanism section 54 in the figure, and is also connected to a positioning mechanism section 55 to be described later. The forceps 49 receives the rotational force of the forceps rotation motor 56 constituting the forceps rotation mechanism section 54 through a flexible shaft 57, a helical gear section 58, etc., and rotates the forceps 49 around its axis. Rotate.

Furthermore, the reference numeral 59 in FIG. 10 indicates a fiber scope. The fiber scope 59 has a distal end 60 comprised of tubular imaging sections arranged in a row, illumination, and the like. And the fiber scope 59 is
The tip portion 60 is brought close to and opposed to the forceps 49, and the forceps 49 is placed in the field of view. Furthermore, the fiber scope
The tip 59 fixes the tip 60 to the positioning mechanism 55.

The optical end face of the fiber scope 59, which includes an imaging section, illumination, etc., is oriented obliquely with respect to the axis. The field of view of the imaging unit is illuminated by illumination. After the image is captured through an optical element such as a prism and transmitted, it is transferred to a CCD (charge
coupled device).

Further, the fiber scope 59 has a tip end 60 in the fiber scope swinging mechanism section shown at 61 in the figure.
are connected. And the fiber scope 59 is
The forceps rotation mechanism section 6 is installed in parallel with the forceps driving motor 51.
The rotational force of the forceps rotation motor 62 constituting the forceps rotation motor 62 is transmitted through the flexible shaft 63, the gear section 64, etc., and the rotational force of the forceps rotation motor 62 is transmitted to the distal end section 60 in the left-right direction of the casing 45 centering on the proximal end side, that is, in the figure. Swing around the Y axis inside.

The positioning mechanism section 55 uses three first to third feed motors 65, 66, 67 and the driving force of these three feed motors 65, 66, 67 using a rack and pinion mechanism. It has three moving bodies 68, 69, and 70, first to third, which are transmitted and move in a straight line. Further, in the positioning mechanism section 55, the flexible wire 50 of the forceps 49 and the tip end 60 of the fiber scope 59 are connected to a third movable body 70 formed into a plate shape.

Then, the positioning mechanism section 55 moves each of the moving bodies 68 to 70 and the other two moving bodies by the first feed motor 65.
The two feed motors 66 and 67 are integrally moved in the left-right direction of the casing 45, that is, in the X direction in the figure. Also, the second
The second and third moving bodies 69 are moved by the feed motor 66 of
, 70 and the third feed motor 67 are moved in the longitudinal direction of the casing 45, that is, in the Y direction in the figure. Further, the positioning mechanism section 55 uses a third feed motor 67 to move the third moving body 70 in the vertical direction of the casing 45, that is, in the direction of arrow Z in the figure.

[0073] The positioning mechanism section 55 has the first to third
By selecting and driving the three feed motors 65 to 67, the forceps 49 integrated with the third moving body 70 and the tip 50 of the fiber scope 59 are moved, and the tip 50 is moved between the forceps 49 and the tip 50 of the fiber scope 59.
9 and move it to an arbitrary position between the fuel bodies. Then, the forceps 49 are placed in the field of view of the fiber scope 59.
Position the forceps 49 while keeping it in place.

Here, the first to third feed motors 65 to 6
7. For the forceps driving motor 51 and the forceps rotation motor 62, motors such as servo motors capable of adjusting an arbitrary displacement amount are employed.

Further, as shown in FIG. 9, the remote control section 44 includes an operation panel 71 and a controller 7 as a control section.
2, and a monitor 73 as a display section. The remote control unit 44 connects the operation panel 71 and the controller 72, and also connects the monitor 73 and the fiber scope 59. Further, the remote control unit 44 connects the controller 72 to a connector box 74 in which the conductors of each motor of the working unit 43 are collected underwater.

[0076] Then, the remote control section 44 displays on the monitor 73,
A fiber scope 59 receives the photographed image. Then, the remote control unit 44 displays on the monitor 73,
A state in which the forceps 49 enters between the fuel bodies and collects foreign matter is displayed.

Furthermore, the remote control unit 44 has a plurality of joysticks 75 protruding from the operation panel 71. The remote control unit 44 is operated by an operator (not shown) on the monitor 7.
While looking at the image displayed in 3, press the joystick 75...
By operating the controller 7 from the operation panel 71
Send command signal to 2. Then, the remote control unit 44 individually controls each motor provided in the underwater work unit using the controller 72, and connects the forceps 49 and the fibers.
Positioning with the scope 59, driving, etc. are performed.

That is, in such a foreign matter recovery device 41, the working unit 43 to which the forceps 49 and the fiber scope 59 are attached is brought close to the fuel assembly, and the working unit 43 is brought close to the fuel assembly, and the working unit 43 is moved to the monitor 73 located at a remote location. While displaying the status, the forceps 49 are used to collect foreign matter that has entered the minute space between the fuel bodies. For this reason, people may enter the
Foreign objects that exist in special environments that cannot be accessed by hand can be recovered from a remote location while being visually recognized.

Furthermore, after the working unit 43 is fixed to the fuel assembly by the fixing part 46 and this working unit 43 is roughly positioned with respect to the fuel assembly, the positioning mechanism part 55 is driven to remove the forceps 49 and the fiber assembly. - The scope 59 is precisely positioned. For this reason, forceps 4
9 and the fiber scope 59 can be positioned with high precision.

Furthermore, when moving the forceps 49 from one gap to another, the first
By driving the three third feed motors 65 to 67, it is possible to move only the necessary parts, ie, the forceps 49 and the fiber scope 59, to the desired positions. Therefore, it is possible to easily move the forceps 49 from one gap to another. And forceps 49
and the fiber scope 59 can be accurately positioned at any desired location in the fuel assembly.

[0081] Furthermore, since the forceps 49 are provided, any foreign matter found can be reliably removed. Further, if a means is provided to collect the foreign matter removed by the forceps 49 by suction or adsorption, re-adhesion of the foreign matter can be prevented. Furthermore, it becomes possible to palpate the fuel assembly, and the condition of the fuel assembly can be known more accurately.

Furthermore, it is possible to directly grasp the foreign matter, and it is possible to reliably collect the foreign matter. For example, foreign matter caught within the spacer 206 of the fuel assembly 201 can be removed and recovered. Furthermore, it is also possible to have the forceps 49 scrape off limescale.

[0083] Also, various motors 51, 62, and
Since motors 65 to 67 are capable of adjusting the amount of displacement arbitrarily, the forceps 49 and the fiber scope 59 can be driven, displaced, and positioned with high accuracy.

In this embodiment, the fixing part 46 is integrally provided in the working unit 43, but for example, the working unit 43 can be displaceable with respect to the fixing part 46, and the fixing part 46 can be attached to the fuel assembly. while holding the work unit 4.
3 may be self-propelled along the fuel assembly. In addition, the configuration of each motor etc. of the work unit 43 can be adjusted using forceps 49.
It is possible to omit it as appropriate depending on the degree of freedom required. In addition, a working unit 43 is installed on the remotely controlled submersible.
If this is incorporated, the support pole 42 etc. will become unnecessary. The main parts of the fifth embodiment of the present invention are shown in FIGS. 11 and 12. Note that the same parts as in each of the above embodiments are given the same reference numerals, and the explanation thereof will be omitted.

Reference numeral 81 in FIG. 11 indicates a foreign matter recovery device (hereinafter referred to as a recovery device) that removes and recovers foreign matter attached to or mixed in a fuel assembly for nuclear power generation. As shown in FIG. 9, this recovery device 1 includes a working unit 43 as a main body that is fixed to the lower end of a linearly extending support pole 2 and submerged in water, and a working unit 43 that is placed at a predetermined position above the water. For example, it includes a remote control section 44 located outside the nuclear reactor. The work unit 43 is shown in FIG.
As shown, it has a positioning mechanism section 55.

This positioning mechanism section 55 uses three feed motors 65, 66, and 67, first to third, and the driving force of these three feed motors 65, 66, and 67 using a rack and pinion mechanism. It has three moving bodies 68, 69, and 70, first to third, which are transmitted and move in a straight line. Further, in the positioning mechanism section 55, the flexible wire 50 of the forceps 59 and the tip end 60 of the fiber scope 59 are connected to a third movable body 70 formed into a plate shape.

The positioning mechanism section 55 also connects the third moving body 70 to the second moving body 69, and further connects the second and third moving bodies 69, 70 to the first moving body. It is connected to 68.

Then, the positioning mechanism section 55 moves each of the moving bodies 68 to 70 and the other two moving bodies by the first feed motor 65.
The two feed motors 66 and 67 are integrally moved in the left-right direction of the casing 45, that is, in the X-axis direction in the figure. Also, the second and third moving bodies 69 are moved by the second feed motor 66.
, 70 and the third feed motor 67 are moved in the longitudinal direction of the casing 45, that is, in the Y-axis direction in the figure. Further, the positioning mechanism section 55 is moved to a third position by a third feed motor 67.
The movable body 70 is moved in the vertical direction of the casing 45, that is, in the Z-axis direction in the figure.

In other words, the positioning mechanism section 55 moves the forceps 49 and the fiber scope 59 to the first feed motor 65.
to move it in the X-axis direction, and move it in the Y-axis direction by the second feed motor 66. Furthermore, the positioning mechanism section 55 includes the forceps 49 and the fiber scope 5.
9 is moved in the Z-axis direction by the third feed motor 67.

[0090] Furthermore, the positioning mechanism section 55
The forceps 49 and the fiber scope 59 are moved in the positive directions of the X-Y-Z axes by rotating the feed motors 65 to 67 in the forward direction, and the feed motors 65 to 67 are rotated in the opposite direction. the forceps 49 and the fiber scope 5.
9 in the respective negative directions of the X-Y-Z axes.

[0091] The positioning mechanism section 55 has the first to third
By selecting and driving the three feed motors 65 to 67, the forceps 49 integrated with the third moving body 70 and the tip 60 of the fiber scope 59 are moved, and the tip 60 is moved between the forceps 49 and the tip 60 of the fiber scope 59.
9 and move it to an arbitrary position between the fuel bodies. Then, the forceps 49 are placed in the field of view of the fiber scope 59.
Position the forceps 49 while keeping it in place.

Further, the working unit 43 is provided with an interlock mechanism section 76 as a movement regulating section. This interlock mechanism section 76 includes a guide pin 77 as a locking projection protruding from the second moving body 69, and a comb-shaped guide member disposed above the second moving body 69. It consists of a guide plate 78.

The guide pin 77 is formed into a cylindrical shape and is integrally provided on the upper surface of the second movable body 69. Then, the guide pin 77 is displaced in the X-axis direction and the Y-axis direction together with the second moving body 69, and follows the movement of the forceps 49 and the fiber scope 59.

Further, the guide plate 78 is made of a plate. The guide plate 78 is formed with a plurality of U-shaped slits 79 serving as guide recesses, which are arranged substantially parallel to each other and have one end open and the other end closed in a semicircular shape. The pitch of the slits 79 in the guide plate 78 is set to be approximately equal to the pitch of the fuel bodies constituting the fuel assembly.

Furthermore, the guide plate 78 is, for example, a case.
It is fixed at a fixed position inside the thing 45 and is located near the second moving body 69. The guide plate 78 has the slits 79 arranged along the X-axis direction, and the longitudinal direction of the slits 79 along the Y-axis direction. The guide plate 78 has the closed side of the slits 79 facing the fixing portion 46 side.

Further, the mounting position of the guide plate 78 is set with reference to the fixed portion 46. and,
As schematically shown in FIG. 12, the guide plate 78 opens the slit 7 when the clamps 48 of the fixing part 46 clamp the fuel assembly 201 and fix the casing 45.
9... and the minute (
For example, 2 to 3 mm) gaps 203 are arranged along the Y-axis direction.

[0097] The interlock mechanism section 76 consisting of these guide pins 77 and guide plates 78 allows the forceps 49 to be inserted into one of the gaps 203...
The guide pin 77 is inserted into the slit 79a corresponding to the gap 203a when the guide pin 77 is displaced in the positive direction of the Y-axis from the proper position facing the front. The interlock mechanism 76 then moves the guide pin 77 along the slit 79a, allowing the forceps 49 to move in the positive direction of the Y-axis. Furthermore, the interlock mechanism section 76 allows the forceps 49 that have entered the gap 203a to move within the slit 79a.
is suppressed to a range corresponding to the size of .

[0098] Furthermore, when the forceps 49 is displaced in the positive direction of the Y-axis from an inappropriate position where it is misaligned with respect to the gap 203a, the interlock mechanism section 76 moves the guide pin 77 to the open end side of the slit 79... Lock it to the part located at. The interlock mechanism section 76 is connected to the second movable body 69.
to prevent the forceps 49 from moving in the positive direction of the Y-axis. Here, the thickness of the guide plate 78 is
It is set to maintain sufficient rigidity to lock the guide pin 77. Moreover, in FIG. 12, the fuel body 20
2... are shown schematically.

That is, this recovery device 81 has an interface.
Since the lock mechanism section 76 is provided, the forceps 49 can be easily positioned with respect to the gaps 203 between the fuel bodies 202. Then, the forceps 49 is attached to the fuel body 202...
The fuel assembly 201 remains misaligned with respect to the gap 203 between.
It is possible to prevent the fuel body from moving toward the fuel body 202 and coming into contact with the fuel body 202 . Then, move the forceps 49 to the fuel assembly 201.
It can always be inserted accurately.

Furthermore, even after the forceps 49 enters the gap 203..., the range in which the forceps 49 can move can be controlled by the size of the slits 79...
02... can be prevented from coming into contact with it.

Furthermore, gaps 203 between fuel bodies 202...
The work of finding the forceps 49 and positioning the forceps 49 with respect to the gaps 203 can be performed without using the fiber scope 59.

[0102] Also, the fiber scope 59 is connected to the fuel body 2.
02... can be prevented from bending. Then, damage to the fiber scope 59 and damage to the fuel bodies 202 can be prevented.

Furthermore, if the operator relies on his or her senses to find the position where the fiber scope 59 is inserted, mistakes are likely to occur. In order to prevent mistakes by the operator, it is necessary to ensure a field of view of the fiber scope 59 as wide as possible to facilitate searching for a predetermined position. However, the interlock mechanism section 76 as described above
If this is provided, mistakes by the operator can be prevented, and the field of view of the fiber scope 59 can be set to the minimum necessary size. The main parts of the sixth embodiment of the present invention are shown in FIGS. 13 to 15. Note that the same numbers are given to the same parts as in each of the above-mentioned embodiments, and the explanation thereof will be omitted.

Reference numeral 91 in FIG. 13 is an interlock mechanism section serving as a movement regulating section. This interlock mechanism section 91 interlocks the movement of the forceps 49 in the X-Y axis directions, and is provided with two proximity sensors, a first and a second, protruding from the second movable body 69. 92, 93 and the second
It consists of a comb-shaped guide plate 94 as a guide member disposed above the movable body 69.

Of these, the guide plate 94 has a plurality of slits 95 arranged parallel to each other at equal pitches. Here, the shape, mounting position, direction, etc. of the guide plate 94 are set to be substantially the same as, for example, the guide plate 78 of the fifth embodiment. Therefore, the explanation of the guide plate 94 is omitted.

Further, the proximity sensors 92 and 93 are integrally provided on the upper surface of the second moving body 69. The proximity sensors 92 and 93 are displaceable together with the second movable body 69 in the X-axis direction and the Y-axis direction, and follow the movements of the forceps 49 and the fiber scope 59.

Furthermore, the proximity sensors 92 and 93 are turned ON when the distance to the object to be detected becomes less than a predetermined value.
Further, the sensor is turned off when the distance to the object to be detected exceeds a predetermined value. And the proximity sensor 92,
93 outputs the output signal to, for example, a controller 72 as a control section of the remote control section 44 shown in FIG.

Further, the proximity sensors 92 and 93 are arranged so that the width thereof is somewhat smaller than the width of each slit 95 of the guide plate 94. Furthermore, the proximity sensor 92,
The slits 93 are arranged obliquely to the direction in which the slits 95 extend. The first sensor 92 is located on the positive side of the X-axis direction and the negative side of the Y-axis direction, and the second sensor 93 is located on the negative side of the X-axis direction and the positive side of the Y-axis direction. It is located on the side.

The proximity sensors 92 and 93 are located below the guide plate 94, that is, on the negative side in the Z-axis direction. The proximity sensors 92 and 93 follow the movement of the forceps 49 when the forceps 49 moves in the positive direction of the Y-axis from the proper position facing a certain gap between the fuel bodies, and close the slit. 95a in the positive direction of the Y axis.

Furthermore, the proximity sensors 92 and 93 are turned on and off depending on the distance to the guide plate 94, and when the proximity sensor 92 and 93 approach the guide plate 94, the distance to the nearest part of the guide plate 94 reaches a predetermined value. Turns ON when the following is reached.

[0111] Here, the material of the guide plate 94 is as follows:
A material is used that allows the guide plate 94 to serve as a dock for the proximity sensors 92 and 93. Specifically, the material of the guide plate 94 is, for example, SU.
S303 etc. are adopted.

Furthermore, 96 in FIG.
It is a limit sensor. This stroke end limit sensor 96 is provided integrally with the second moving body 69, and is disposed at the rear end of the second moving body 69 when the Y-axis direction is the front-rear direction.

The stroke end limit sensor 96 is, for example, a first sensor located on the rear side of the second moving body 69.
It turns on and off depending on the distance from the moving body 68. Then, the stroke end limit sensor 96 detects that when the second moving body 69 moves back in the Y-axis direction and approaches the first moving body 68, the stroke end limit sensor 96 Turns ON when the distance reaches a predetermined value. The stroke end limit sensor 96 then outputs its output signal to the controller 72.

Further, in FIG. 13, reference numeral 97 indicates a position detection section. This position detection section 97 is connected to the first moving body 6
8 as a cylindrical movable part, and a first moving body 68 fixed to the casing 45.
It consists of a plate-shaped fixing part 99 arranged near the.

[0115] This position detecting section 97 has a plurality of detection holes 100 that are opened in a substantially perfect circle formed in the fixed section 99, and these detection holes 100 are arranged in a line at approximately equal pitches in the X-axis direction. They are lined up. Furthermore, the position detecting section 97 includes each detection 1
00 is made to approximately match the size of the gaps 203... between the fuel bodies 202..., and each detection 100 is placed in each gap 20.
3. It is positioned to correspond to the arrangement of...

[0116] Then, the position detection section 97 detects the proximity sensor 9
8 and each detection hole 100 are located at substantially the same height in the Z-axis direction. Then, when the proximity sensor 98 and the fixed part 99 approach each other, the position detection part 97 determines whether the proximity sensor 98 and one of the detection holes 100 face each other from the front, or if the two 98 and 100 are misaligned. detect whether
The detection result is output to the controller 72, for example. Next, the movement regulating section 91 and the stroke end limit sensor 9
6, and the operation of the foreign matter collecting device 101 equipped with the position detecting section 97 and the like will be explained.

First, when the first proximity sensor 92 approaches a part of the guide plate 94 and turns on, the controller 72 controls the first feed motor 65 at the remote control section 44. Even if an operation is performed to move the forceps 49 to the + side in the X-axis direction, a command is outputted so that the forceps 49 do not rotate in the positive direction.

[0118] Furthermore, when the remote control unit 44 is operated to move the forceps 49 to the - side in the X-axis direction while the first proximity sensor 92 is ON, the first feed motor 65 is activated. Accordingly, the forceps 49 is rotated in the opposite direction to move the forceps 49 to the - side in the X-axis direction.

[0119] Conversely, the second proximity sensor 93
In the case of N, the first feed motor 65 does not rotate in the reverse direction, but rotates only in the forward direction. And forceps 49 is X
It moves only to the + side in the axial direction, not to the - side.

Furthermore, if either of the proximity sensors 92 and 93 is ON, the controller 72 controls the second feed motor 66 to prevent the forceps 49 from moving to the + side in the Y-axis direction. Outputs commands to.

[0121] Furthermore, the second movable body 69 retreats to the negative side in the Y-axis direction, and the forceps 49 closes the gaps 203 between the fuel bodies 202.
When the fuel assembly 201 is pulled out from the fuel assembly 201, the proximity sensors 92 and 93 also move backward and away from the guide plate 94
Separate to the negative side in the axial direction. Further, when the stroke end limit sensor 96 approaches the first moving body 68 and the distance between the stroke end limit sensor 96 and the first moving body 68 reaches a predetermined value, the stroke end limit sensor 96 turns ON. .

[0122] In this case, the controller 72
does not restrict the first feed motor 65, and the forceps 49, proximity sensors 92, 93, etc. move freely in the X-axis direction in accordance with operations performed on the remote control section 44.

[0123] Furthermore, it is conceivable that the stroke end of the forceps 49 in the Y-axis direction + side is determined in advance to prevent the forceps 49 from entering too much into the gap 203. Specifically, for example, the position of the closed portion of the slit 95 can be detected using the proximity sensors 92 and 93, and the movement of the forceps 49 can be stopped based on the detection result. In this case, it is possible to prevent mistakes from occurring in operations performed while looking at the monitor 73, and reliability is improved. Furthermore, when the forceps 49 and the like are in a state where they can freely move in the X-axis direction, the position detection section 97 is used to detect the appropriate position of the forceps 49.

That is, when the second movable body 69 moves backward and the proximity sensor 98 of the position detection section 97 approaches the fixed section 99, the proximity sensor 98 faces one of the detection holes 100 from the front. For example, the detection result is output to the controller 72 and notified to the operator.

Here, as a method of notifying the operator of the detection result of the position detecting section 97, the proximity sensor 98 and the detection hole 1
It is conceivable to cause an LED to emit light on the operation panel 71 when the 00 and 00 face each other.

[0126] Then, the proximity sensor 98 and the detection hole 100
After the forceps 49 is positioned at an appropriate position, the forceps 49 moves forward toward the fuel assembly 201, and as shown in FIG.
2 and enters into a predetermined gap 203a as shown in FIG.

[0127] Even after the forceps 49 enters the predetermined gap 203a, the interlock mechanism 91 allows the forceps 49 to
The movement of the forceps 49 is restricted, and the forceps 49 moves within the gap 203a without coming into contact with the fuel bodies 202. therefore,
In addition to producing the same effects as the fifth embodiment, it becomes possible to control the movement of the forceps 49 more accurately.

Further, since the interlock mechanism section 91 is constituted by the proximity sensors 92 and 93 and the guide plate 94, the proximity sensors 92 and 9 are connected to the guide plate 94.
No contact with 3. Therefore, the guide plate
The rigidity of the guide plate 94 can be set smaller than the rigidity of the guide plate 78 in the fifth embodiment.
4. It becomes possible to use members with smaller plate thicknesses. The main parts of the seventh embodiment of the present invention are shown in FIGS. 16 and 17.
As shown schematically in Note that the same parts as in each of the above-mentioned embodiments are given the same reference numerals, and a description thereof will be omitted.

Reference numeral 111 in FIGS. 16 and 17 is a fiber scope oscillation mechanism (hereinafter referred to as fiber oscillation mechanism). This fiber swinging mechanism 111 is shown in FIG.
As shown in FIG. 2, the swing mechanism body 112 includes a swing mechanism main body 112 and a rotation support portion 113 integrally projecting from the swing mechanism main body 112. Further, a drive shaft 115 having a threaded portion 114 formed along the outer circumferential surface of the oscillating mechanism main body 112 is attached, and a rotational driving force is applied to the drive shaft 115 from a drive source (not shown). Added. Here, the drive shaft 115
Another possibility is to transmit the rotational driving force via a flexible shaft.

Further, in FIG. 16, reference numeral 116 is a swing plate, and reference numeral 117 is a fiber holding portion integrally connected to the swing plate 116. Of these, the rocking plate 116 has a ball portion 1 at one end in the axial direction.
18, and this ball portion 118 is connected to two flange portions 11 provided on the rotating shaft 115 and arranged approximately in parallel.
It is inserted between 9 and 119. Further, the swing plate 116 has a spring 120 connected to its other end, and is connected to the swing mechanism main body 112 via the spring 120.

Furthermore, the fiber holding section 117 is connected to the tip 60 of the fiber scope 59 and holds the tip 60. In addition, the fiber holding part 1
17 is engaged with the rotation support part 113, and the rotation support part 1
It is supported by 13. And fiber holding section 117
are lined up along the axial direction of the rocking plate 116 together with the ball portion 118 and the spring 120, and the ball portion 11
8 and spring 120.

[0132] Also, the oscillating mechanism main body 112, the oscillating plate 116
, and the attachment relationship of the fiber holding part 117 is such that the fiber holding part 117 does not come off from the rotation support part 113 and the rocking plate 116 moves the ball part 118 to the flange part 119.
, 119 so as to be able to swing in the direction of arrow B in the figure, centering on the ball portion 118.

That is, when a rotational driving force is applied to the drive shaft 115, the drive shaft 115 rotates and is displaced along the axial direction according to the rotation direction. Furthermore, the flange portion 119,1
19 is displaced integrally with the drive shaft 115, and this flange portion 1
19 and 119 push the ball portion 118 of the swing plate 116. Then, the ball portion 118 is connected to the flange portion 119.
, 119 according to the amount of displacement of the flange portions 119, 119. Then, the rocking plate 116 moves the spring 1
While contracting or expanding 20, it swings in the direction of arrow B around the ball portion 118.

Furthermore, when the swing plate 116 swings,
The fiber holding part 117 is displaced integrally with the swing plate 116 while maintaining the engagement relationship with the rotation support part 113. and,
The fiber holding part 117 is tilted about the pivot point between it and the rotation support part 113, and the tip part 60 of the fiber scope 59 is pivoted according to the swinging direction and amount of swinging of the swinging plate 116. Rotate around the heart. Here, spring 1
20 urges the rocking plate 116 and the distal end 60 of the fiber scope 59 to maintain their neutral positions.

That is, this fiber swinging mechanism 111 gives the fiber scope 59 a degree of freedom in the rotational direction (θ direction). Then, the swinging mechanism 111 rotates the tip 60 of the fiber scope 59 around the axis as shown in FIG. , approach direction).

[0136] The swinging mechanism section 111
The scope 59 is swung around its axis, and the fiber
The scope 59 is caused to perform a neck vibration motion. The imaging section, illumination, etc. that make up the tip 60 of the fiber scope 59 perform a neck vibration operation together. Therefore, the direction of the fiber scope 59 can be changed as necessary,
The field of view and observation area of the fiber scope 59 is expanded.

In other words, if the fiber scope 59 is fixed so that it cannot rotate around the axis,
As shown in FIG. 2, the field of view C of the fiber scope 59 is within the range of the field of view preset on the fiber scope 59 itself, and the gap 20 between the fuel bodies 202...
3. Limited by the range of movement.

[0138] Therefore, in the space within the fuel assembly 201, when observing, for example, a position D away from the field of view C in the
from the fuel assembly 201, and remove the fiber scope 59 from the fuel assembly 201.
It is necessary to move the tip portion 60 of the fuel assembly 201 in the Y direction and temporarily extract the tip portion 60 from the fuel assembly 201.

[0139] Then, the working units 3 and 43 are moved and their orientations are changed to approach the fuel assembly 201 from the X-axis direction. Then, the tip end 60 of the fiber scope 59 enters the fuel assembly 201 from the X-axis direction and fixes the position D in its field of view.

However, if the fiber swinging mechanism 111 having the above-mentioned configuration is provided, the field of view of the fiber scope 59 can be easily expanded without moving the working units 3, 43, etc. The area observed by the fiber scope 59 is a field of view E expanded in the X direction with the field of view B as the center, as shown in FIG.

[0141] Therefore, observation of a wide area, which required approaches from two directions in each of the above-described embodiments, can be performed by approaching from one direction. Therefore, the working time can be shortened. Furthermore, if multiple sets of fiber cables are provided, it is possible to observe, for example, a plurality of gaps 203 lined up in the same direction.

[0142] Furthermore, the swinging mechanism 111 is incorporated into the foreign matter collecting devices 41, 81, and 101 of the fourth to sixth embodiments,
It is possible to displace the fiber scope 59 in the X, Y, Z, and θ directions.

Furthermore, by adjusting the positional relationship between the fiber scope 59 and the fiber holding section 117, the fiber
In addition to rotating the scope 59 around the axis,
It is possible to rotate eccentrically. can be shortened. Also, if multiple sets of fiber cables are provided,
For example, a plurality of gaps 203 arranged in the same direction can be observed.

[0144] Furthermore, the swinging mechanism 111 is incorporated into the foreign matter collecting devices 41, 81, and 101 of the fourth to sixth embodiments,
It is possible to displace the fiber scope 59 in the X, Y, Z, and θ directions.

Furthermore, by adjusting the positional relationship between the fiber scope 59 and the fiber holding section 117, the fiber
In addition to rotating the scope 59 around the axis,
It is possible to rotate eccentrically. Note that the present invention is not limited to the above-described embodiments, and can be modified in various ways without departing from the spirit of the invention.

[0146]

As explained above, the present invention comprises a main body that approaches an object, a main body fixing part that fixes and positions the main body with respect to the object, and a moving mechanism part that is movable with respect to the main body. , a recovery work unit that is sent by the moving mechanism unit and enters into a minute space in the object to collect the foreign matter;
The present invention is equipped with a remote control unit that is operated based on an image showing the working status of the recovery work unit and operates the recovery work unit from a remote location.

[0147] Furthermore, there is a main body fixing part that fixes and positions the main body approaching the object with respect to the object, and a movable part that can move in one direction with respect to the main body and in the direction of approaching and separating from the object. A mechanism section, a collection section that is sent by the moving mechanism section and enters into a minute space in the target object to collect the foreign matter, and a collection section that follows the collection section while keeping the collection section and the foreign matter in its field of view. A fiber scope is used to photograph the working status of the collection work section and send the photographed images to a remote location. , and a remote control unit that allows the collection work unit to collect foreign objects from a remote location.

[0148] Furthermore, there is also a main body fixing part that fixes and positions the main body relative to the object, a recovery work part that enters a minute space in the object and collects the foreign matter, and a collection work part that separates the foreign matter from the work body. A fiber scope that takes pictures of the working condition of the collection work unit within the field of view; a positioning mechanism unit that moves and positions the collection work unit and the fiber scope together in multiple directions; - a display unit that displays images taken by the remote controller, a remote control unit that is operated remotely based on the image displayed on the display unit, and a positioning mechanism unit that operates based on the output of the remote control unit. and a control section for controlling the recovery work section. Further, an attitude adjusting means is provided for changing the direction of the main body and adjusting the attitude of the main body with respect to the object.

[0149] Therefore, the present invention has the effect that minute foreign matter existing in an environment where human hands cannot enter can be reliably collected by an operation performed while visually recognizing it.

[Brief explanation of the drawing]

FIG. 1 is a partially transparent overall view of a first embodiment of the present invention.

FIG. 2 is an overview diagram of a work unit.

FIG. 3 is a cross-sectional view schematically showing a portion along line AA in FIG. 2;

[Figure 4] Explanatory diagram showing the case of using a vacuum probe

FIG. 5 is a partially cutaway perspective view of a working unit according to a second embodiment of the present invention.

FIG. 6 is a schematic diagram showing the working unit from the front.

FIG. 7 is a schematic diagram showing the working unit from the rear.

FIG. 8 is a perspective view showing main parts of a third embodiment.

FIG. 9 is an overall view showing a fourth embodiment of the present invention.

FIG. 10 is an overview diagram showing a part of the work unit as seen through.

FIG. 11 is a perspective view of a part of the work unit.

FIG. 12 is an explanatory diagram schematically showing the functions of the interlock mechanism section.

FIG. 13 is a perspective view of a part of a working unit according to a sixth embodiment of the present invention.

FIG. 14 is an explanatory diagram schematically showing a proximity sensor and its surroundings.

FIG. 15 is an explanatory diagram schematically showing the position detection section.

FIG. 16 is an explanatory diagram schematically showing a fiber scope oscillation mechanism according to a seventh embodiment of the present invention.

FIG. 17 is an explanatory diagram showing the field of view of a fiber scope.

FIG. 18 is an explanatory diagram showing the field of view of the fiber scope when the fiber scope is fixed in the rotational direction.

FIG. 19 is a partially cutaway perspective view of a typical fuel assembly.

FIG. 20 is an explanatory diagram showing a state in which fuel assemblies are stored in a fuel storage pool.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1, 41... Foreign object collection device, 3, 43... Working unit (main body), 5... Remote control part, 9... Guide fin (main body fixing part), 10... Moving table (moving mechanism part), 18... For collection Probe (recovery work unit), 23, 59...Fiber scope, 31...Attitude adjustment means, 46...Main body fixing part, 49...
Forceps (recovery work unit), 55...positioning mechanism unit, 71...operation panel, 72...controller (control unit), 73...monitor (
Display section), 76, 91... Interlock mechanism section (movement regulating section), 77... Guide pin (locking projection), 78, 94
...Guide plate (guide member), 79...Slit (guide recess), 92...First proximity sensor, 93...Second proximity sensor, 97...Position detection section, 111...Fiber scope oscillation Mechanism, 201...Fuel assembly (object).

Claims (8)

[Claims] Claim 1: A main body that approaches an object; a main body fixing part that fixes and positions the main body with respect to the object;
A moving mechanism part that is movable relative to the main body; a collection part that is sent by the moving mechanism part to enter a minute space in the object to collect the foreign matter; and a working state of the collection part. A foreign matter recovery device comprising: a remote control section that is operated based on an image representing the object and operates the recovery operation section from a remote location. 2. A main body that approaches a target object, a main body fixing part that fixes and positions the main body with respect to the target object,
a moving mechanism that is movable in one direction with respect to the main body and in a direction toward and away from the object; A collection work unit that performs collection work, and a collection work unit that follows the collection work unit and photographs the working status of the collection work unit while keeping the collection work unit and the foreign object in view, and sends the photographed image to a remote location. A fiber scope, and a remote control unit that is operated based on images taken by the fiber scope and drives the moving mechanism and collects the foreign matter by the collection unit from the remote location. A foreign matter collection device equipped with an operating section. 3. A main body that approaches a target object, a main body fixing part that fixes and positions the main body with respect to the target object,
A recovery work unit that enters into a minute space in a target object and collects foreign matter, and a fiber scope that captures the work status of the recovery work unit by keeping the recovery work unit and the foreign matter in its field of view. , a positioning mechanism unit that moves and positions the recovery work unit and the fiber scope together in a plurality of directions, and a display unit that displays images taken by the fiber scope at a remote location. , a remote control unit that is operated at the remote location based on the image displayed on the display unit;
A foreign matter recovery device comprising: a control section that controls the positioning mechanism section and the recovery operation section based on the output of the remote control section. 4. [Claim 1], [Claim 2], or [Claim 3], characterized in that an attitude adjusting means is provided for changing the orientation of the main body and adjusting the attitude of the main body with respect to the object. Foreign matter recovery device as described. 5. A main body that approaches a target object, a main body fixing part that fixes and positions the main body with respect to the target object,
A recovery work unit that enters into a minute space in a target object and collects foreign matter, and a fiber scope that captures the work status of the recovery work unit by keeping the recovery work unit and the foreign matter in its field of view. , a positioning mechanism unit that moves and positions the recovery work unit and the fiber scope together in a plurality of directions, and a display unit that displays images taken by the fiber scope at a remote location. , a remote control unit that is operated at the remote location based on the image displayed on the display unit;
a control section that controls the positioning mechanism section and the collection work section based on the output of the remote control section; The collection work is performed when the collection work part is prevented from moving toward the object, and when the collection work part is in a position that faces a minute space in the object and can penetrate into the minute gap. and a movement regulating section that allows the section to move toward the target object. 6. The movement regulating section is integrally provided with a locking protrusion that follows the movement of the collecting working section in a predetermined direction and is displaced together with the collecting working section, and is configured to prevent a minute space in the target object. and a guide recess in a positional relationship corresponding to the locking protrusion, which locks the locking protrusion when the collecting section moves toward the object while being deviated from a minute space in the object. a guide for causing the locking protrusion to enter the guide recess and moving the locking protrusion along the recess when the collection work unit moves while facing the minute space; It is characterized by consisting of a member [
The foreign matter recovery device according to claim 5. 7. A movement regulating section is provided integrally with the main body, and includes a guide member having a guide recess in a positional relationship corresponding to a minute space in the object, and a guide member that controls movement of the collection work section in a predetermined direction. It is comprised of a plurality of proximity sensors that follow and are displaced together with the collection work part to detect the position of the guide recess, and the collection work part is located outside the minute space in the target object and is separated from the target object. a position detection unit that detects the position of the collection work unit when the work is being carried out, and detects whether the collection work unit is in an appropriate position facing the gap; 6. The foreign object collecting device according to claim 5, wherein the positioning mechanism section and the collecting section are controlled based on outputs from a proximity sensor and the position detecting section. [Claim 8] [Claim 2] or [Claim 3] characterized in that a fiber scope oscillation mechanism is provided for rotationally displacing the fiber scope and adjusting the direction of the optical surface. Or the foreign matter collection device according to [Claim 5].