JPH0442638B2 - - Google Patents

Description

Detailed Description of the Invention [Field of Application of the Invention] The present invention relates to a containment system for monitoring various equipment, piping, etc. in a containment vessel that cannot be easily accessed by workers, such as a reactor in a nuclear power plant. This relates to a mechanism for transporting the inside of the container inspection device to the outside of the containment vessel, or for transporting it from outside the containment vessel to the inside.

[Background of the invention]

Taking a nuclear reactor power plant as an example, it includes a pressure vessel whose main structure is a nuclear reactor, and various equipment, piping, valves, etc. installed around it.
A reactor containment vessel is provided to prevent radiation leakage into the external environment.

Even during normal operation, monitor whether the above equipment functions are operating normally. Even if an abnormal condition occurs internally, the content and location of the abnormality can be discovered early to prevent an accident. There is a strong demand for prevention.

During operation, it is virtually impossible for site workers to enter due to the radioactivity and high temperatures characteristic of nuclear power plants. Therefore, in the case of repair or maintenance, it is necessary to stop the operation of the plant, but this poses a problem in that it takes time to discover the exact location of the abnormality.

Against this background, inspection devices that remotely collect information inside the reactor containment vessel are being developed.

FIG. 1 shows the functional blocks of the containment vessel inspection device. Inspection vehicle 1 is containment vessel 3 (hereinafter referred to as PCV3)
The inspection route 20 is laid out around the main equipment 10, 11, 12, and 13 within the area. The inspection vehicle 1 is equipped with detectors for equipment monitoring and environmental monitoring, such as a thermometer, hygrometer, television camera, radiation dose rate meter, and mancrophone, and is characterized by its ability to perform measurements while moving. The data obtained here is based on the operation panel 30 installed outside the PCV.
sent to. Therefore, if Plato operation monitoring can be made remote, and in particular if the details of the failure can be ascertained using this inspection device, preparations for repairs and maintenance can be made before Plato operation is stopped, thereby reducing the radiation exposure of field workers. be able to. Furthermore, since repair time can be shortened, it can contribute to improving Plato's operating rate.

On the other hand, regarding the inspection equipment, it is not possible to enter the PCV3 while the Plato is in operation, so if the equipment breaks down or parts deteriorate, the PCV3 will remain airtight and the inspection vehicle will be removed. A mechanism is required to collect the inspection vehicle 1 and return the inspection vehicle 1 to the PCV 3 after a failure or parts replacement.

Conventionally, the inspection vehicle 1 running on the monorail track was
The equipment for recovering outside the PCV 3 is as follows: (1) A movable rail is placed in an airtight room provided on the way from the PCV 3 to the outside so as to run horizontally, and is connected to each fixed rail laid inside and outside the airtight room. Provided for. By providing the inspection vehicle 1 with a self-propelled function, it is possible to carry out inspections by installing a device that moves the inspection vehicle 1 from a fixed rail to a movable rail or from a movable rail to a fixed rail for loading and unloading, or by installing a rescue vehicle separately from the inspection vehicle 1. A device is known that is connected to a vehicle 1 and guides the inspection vehicle 1 out of the PCV.
However, in this device, it is necessary to incorporate a self-propelled drive device in addition to the traction device (for example, a trolley chain) of the inspection vehicle 1, which increases the overall size of the inspection vehicle. Therefore, the movement range of the inspection vehicle 1 is limited within the PCV 3 where various plant equipment, piping, etc. are installed. In addition, during normal operation, the self-propelled drive unit does not operate and is in a standby state, so in order to ensure the reliability of the self-propelled drive unit, which is only used once a year, it is necessary to There will also be a need for surveillance checks.

(2) A device has also been proposed that connects an inspection vehicle and a driving vehicle, and when the inspection vehicle transfers onto the movable rail, separates the coupler and draws the movable rail into an airtight chamber. However, this device requires a drive vehicle and a coupler for towing it in addition to the inspection vehicle, so the mechanism of the towing unit is complicated. The inspection vehicle cannot be separated unless it is on movable rails, so airtight rooms can only be installed in rooms with movable rails. Also,
Since this is a device that separates the inspection vehicle 1 and carries it out of the PCV 3, there was no problem even if the inspection vehicle 1 did not have a self-propelling function. However, when transporting the inspection vehicle 1 into the PCV again after repairs and maintenance, the accuracy of the stopping position of the inspection vehicle 1 on the movable rail must be high. Furthermore, if a spring mechanism is used for the coupler, the coupler on the drive vehicle side and the coupler on the inspection vehicle side may not mesh well due to positional displacement due to thermal expansion. Therefore, if you think about the delivery, it is necessary to make fine adjustments to the position.

In addition, as described in Japanese Patent Application Laid-open No. 56-114791, for example, there is a traveling path for driving an inspection vehicle into the reactor containment vessel, and a travel drive for driving a driving vehicle for the inspection vehicle along this traveling path. and an airtight chamber provided on the wall of the reactor containment vessel in which an inspection vehicle is stored, and when the inspection vehicle is stored in the airtight chamber,
One that is separate from the drive unit has been proposed.

However, in the above-mentioned conventional technology, the inspection vehicle enters and exits the reactor containment vessel through the door and through the normal entrance and exit of the adjacent airtight chamber along the same running route, which poses the problem of interfering with normal access. It was hot.

Further, after the inspection vehicle is separated from the drive device, it is transported into the airtight chamber using a chain and a link mechanism, resulting in a complicated configuration and troublesome operation.

Therefore, in order to solve the above-mentioned former problem, it is necessary to either use the normal entrance/exit for inspection vehicles to enter, or to prevent them from entering/exiting.

Moreover, in order to solve the latter problem, it is necessary to make the inspection vehicle run under gravity.

[Purpose of the invention]

The present invention has been made in view of the above-mentioned circumstances, and it is possible to prevent a moving object from entering and exiting the airtight room only when it enters or not at all, so as not to interfere with normal entrance and exit, and to provide the moving object with a self-propelled function. It is an object of the present invention to provide a device for carrying out and putting in an inspection device inside a containment vessel, which allows the inspection vehicle to be carried out of the airtight room, carried in and restored without adding any additional equipment.

[Summary of the invention]

In order to achieve the above object, the first invention
A track installed in the first room, a movable body guided by the track, a means for indexing and moving the movable body, and at least one vehicle installed in the first room.
a second room that is adjacent to the first room through a door and has a movable rail inside that connects to the track; and the movable body is placed in the second room. In the loading/unloading device for the inspection device inside the containment vessel, which is separated from the travel drive device when stored and is loaded/unloaded by the movement of the movable rail, the door is installed on the ceiling of the second room, and , the above-mentioned track is installed above the door, a means for engaging and disengaging the movable body from the above-mentioned track, and a means for carrying the engaged and disengaged movable body into and out of the above-mentioned second room. It is characterized by having been established.

Further, in order to achieve the above object, a second invention provides a track installed in a first room, a movable body guided by the track, and means for indexing and driving the movable body. , a second room having at least a portion installed in the first room, adjacent to the first room through a door, and having a movable rail connected to the track inside the second room; , in the loading/unloading device of the containment vessel inspection device, in which the moving body is separated from the traveling drive device when stored in the second room, and is loaded/unloaded by movement of the movable rail; The said door is provided on the side and ceiling of the said second room, and the said track branches from the said track and reaches into the said second room through the door provided on the side of the said second room. ,
an upwardly sloping trajectory that branches off from said trajectory and reaches above the door on the ceiling of said second room; and means for carrying out said trajectory through said second room's ceiling onto said upwardly sloping trajectory. It is characterized by having been established.

〔Example〕

Next, an embodiment of the present invention will be described with reference to FIGS. 2 to 10.

FIG. 2 is a schematic explanatory diagram of the suspension of the inspection vehicle 1 and the index drive means in this embodiment.

The weight of the inspection vehicle 1 is the weight of the trolley 8 and the traveling rollers 8.
It is supported by a guide rail 4 via a.

7 is an index rail, and there is a trolley chain 5 in it.
is provided. The hook 6 attached to the trolley chain 5 is detachably engaged with the trolley chain 5, and by driving the trolley chain 5, the trolley chain 5 and the inspection vehicle 1 can be moved.

The main methods for moving the inspection vehicle 1 along the track include, in addition to being towed by the trolley chain 5, a method in which the inspection vehicle 1 body is provided with a self-propelling function, and a method in which the inspection vehicle 1 body is pushed out using air. Conceivable. However, when considering the inspection route inside the PCV, there are not only horizontal sections but also almost vertical up and down sections, so the trolley chain traction method is recommended from the viewpoint of stable running or inspection of the reduction of the running road cross section. Suitable for this device.

When the PCV 3 shown in FIG. 1 is provided with a track and a traveling body (in this example, a bogie 8 and an inspection vehicle 1) as shown in FIG. There are technical difficulties in inducing restoration into PCV3 from outside.

In order to solve the above problems, the following various embodiments can be considered regarding the method of implementing the present invention.

(1) As will be described in detail later with reference to FIG.
The guide method returns to the airtight chamber 2 by gravity (hereinafter referred to as the gravity traveling loading/unloading method).

(2) As will be explained in detail later regarding Figure 10,
A method in which a water tank or the like is provided on the PCV wall 100 to connect the inside and outside of the PCV 3, and the liquid is carried in and out by passing through the liquid (hereinafter referred to as the liquid penetration method).

(3) As will be explained in detail later with reference to FIG. 11, a method is provided in which the running rail 9 is installed at the top of the airtight chamber 2 and the inspection vehicle 1 is carried in and out from the ceiling of the airtight chamber 2 (hereinafter referred to as the airtight chamber ceiling loading and unloading method). ).

Examples of each of the above-mentioned systems will be sequentially described below.

Figure 3 shows an overview of the gravity transport loading and unloading system. Using this diagram, an overview of the gravity transport loading/unloading system will be shown, and then specific examples of each part will be shown. The inspection vehicle 1 normally travels on a running rail 9 using a trolley chain 5. When carrying the inspection vehicle 1 into the airtight room 2, the inspection vehicle 1 is moved to the branch point 120 of the traveling route 9. Therefore, the branch route 21 is controlled and connected to the carry-in rail 122, and the inspection vehicle carry-in/exit door 111 is opened. Since the carry-in rail 122 is sloped downward, the inspection vehicle 1 moves into the airtight chamber 2 by gravity. Next, a method for returning the inspection vehicle 1 to the traveling rail 9 will be outlined. Open the ceiling of airtight room 2. Thereafter, the inspection vehicle 1 is lifted together with the lifting rail 125 using a lifting device (not shown), and the lifting rail 125 is connected to the return rail 123. At this time, branch rail 121
is connected to the return rail 123. In the return operation, the inspection vehicle 1 travels on the return rail 123 due to gravity and returns to the travel rail 9 because the slope is downhill as in the case of carrying in. Hereinafter, explanation will be given using specific examples. FIG. 4 is a diagram showing an embodiment of the branching mechanism. Branch rail 121
is normally connected to the traveling rail 9 side where the index rail 7 is located. The branch rail 121 is rotated up and down by a branch rail drive rod 126 and connected to the carry-in rail 122 and the return rail 123. The position of the branch rail 121 can be determined by the amount of movement of the branch rail drive rod. FIG. 5 is a diagram showing a method of controlling branching to the delivery route at a branching point. First, the time of branching to the carry-in rail 121 will be explained. In the four-vehicle connected inspection vehicle 1, each vehicle has its hook 6 engaged with a hook 127, and is towed and moves along the running rail 9. Hook hook 12
7 is valve-shaped and has hook 6 and hook hook 12
7, the hook 6 is simply inserted into the hook hook 127. When the inspection vehicle 1 comes to the fork, the index rail 7 moves to the traveling route side.
The inspection vehicle 1 comes to the loading rail 121 side. At this time,
The hook 6 connected to the index rail 7 automatically comes off the hook hook 127 and goes to the travel rail 9 side together with the index rail 7, and the hook hook 127 goes to the carry-in rail 121 side together with the inspection vehicle 1.

In this Fig. 5 and the following Fig. 6, for convenience of explaining the plurality of hooks 6 and hook hooks 127 individually, the drawings are shown as hooks 6A, 6B, 127B, 127B, etc. They are identified by adding katakana to the reference number.

The inspection vehicle 1 is driven by the trolley chain until the hook 6 is removed from the hook 127 of the last vehicle. All hooks 127
The inclination of the carry-in rail 121 is determined so that the inspection vehicle 1 travels by gravity before the hook 6 comes off. A method of returning from the return rail to the running rail at the branch point will be explained using FIG. 6. The inspection vehicle 1 comes down the return rail 123 from the rear end. The hook 6 is positioned by an optical sensor 128 so that it can be inserted into the hook 127 of the last vehicle when the inspection vehicle 1 joins the traveling rail 9 at the junction. Therefore,
Once the hook 6 is applied to the hook 127 of the last vehicle, the inspection vehicle can then be driven by the trolley chain 5.

Figure 7 shows the inside of airtight room 2 and PCV3, and airtight room 2
This figure shows the configuration of an embodiment of the inspection vehicle loading/unloading door 111 between the PCV 3 and the inside of the PCV 3. The guide rail 4 in the inspection vehicle loading/unloading door 111 has a structure such that a portion near the inspection vehicle loading/unloading door 111 can be stored in the airtight chamber 2. FIG. 8 is a perspective view of a portion 103 of the guide rail 4 configured to be expandable and retractable so as not to disturb the airtightness of the door. A rack 107 is attached to the telescopic guide rail 103, and the pinion 1
08 is driven by the motor 109,
The telescopic guide rail 103 is driven to extend and contract as shown by the reciprocating arrow E.

The contact sensor 110 is connected to the guide rail 4 inside the PCV 3.
By contacting the end face 112 of the PCV 3, it is detected that the telescopic guide rail 103 is securely connected to the guide rail 4 in the PCV 3. In addition, contact sensor 1
10 comes into contact with the end surface 113 of the guide rail 4 in the airtight chamber 2 or the sub-airtight room 101, so that when the inspection vehicle loading/unloading door 111 is closed, the telescopic guide rail 103 is sufficiently closed so as not to interfere with its opening/closing operation. Detect that it has been stored. According to the above explanation, the guide rail 4 does not interfere with maintaining airtightness at the inspection vehicle loading/unloading door 111. However, since the guide rail 7 has a built-in trolley chain for driving the inspection vehicle 1 as shown in FIG.
It is difficult to avoid interference with the door by expanding and contracting it like this. Therefore, the inspection vehicle loading/unloading door 111
has a structure that allows it to be opened and closed to the left and right from the center of the index rail 7 as indicated by the arrow 114 in FIG. The inspection vehicle loading/unloading door 111 has a structure that maintains airtightness inside and outside the room. For example, in the inspection vehicle loading/unloading door 111, the contact portions of both doors and the contact portions between both doors and the index rail 7 are made of a sealing material such as rubber. FIG. 9 shows an embodiment of the airtight maintenance means for the index rail 7 in the airtight chamber 2. As shown in FIG. The slot-shaped opening at the bottom of the index rail 7 is covered with a resilient sealing material 102 such as rubber, and is structured to open left and right when the hook 6 that transmits the power from the trolley chain 5 to the inspection vehicle 1 passes. It is becoming.

Since the carry-in rail at the airtight chamber carry-in/exit door 111 is configured in this manner, the airtightness of the airtight chamber 2 can be maintained. Further, the mechanism for moving the inspection vehicle 1 from the airtight room 2 to the return route 123 on the elevator rail 125 is the same as the airtight room ceiling carrying-in/out method.

Next, the liquid penetration method of the guidance method (5) of the inspection vehicle 1 will be explained.

Figure 10 shows a liquid tank 41 in a part of the PCV wall 100.
1 is a conceptual diagram of a system in which a check mark 0 is provided and an inspection vehicle 1 is allowed to pass. Figure a is a horizontal cross-sectional view of the penetrating portion, and figure b is a vertical cross-sectional view. Arrow 411 indicates the inside of PCV3, and arrow 412 indicates the outside of PCV3. Tow track 7,
And the guide rail 4 penetrates the liquid tank 410 and the PCV
After being guided to the outside of PCV 3, it is returned to PCV 3 through liquid tank 410. Therefore, the inspection vehicle 1 can be carried out of the PCV 3 along the tow rail 7 and the guide rail 4. In this case, the inspection vehicle 1 needs to be waterproof. During normal operation, the inside of the PCV is maintained at negative pressure relative to the outside. If an abnormality occurs inside and the pressure rises momentarily, the liquid in the liquid tank 410 may scatter, and the airtightness within the PCV 3 may be destroyed. For this reason,
This can be solved by installing a second airtight chamber (not shown) outside the PCV 3 that surrounds the liquid tank 410, the traction rail 7, and the guide rail 4.

Next, the airtight room ceiling loading/unloading method will be explained. Figure 11 shows the inspection vehicle 1 passing through the ceiling of the airtight room.
FIG.

Guide rail 4 of the inspection route laid inside the PCV,
Lay it and extend it to the top of the airtight room 2. An opening/closing door 301 is provided on the ceiling of the airtight room 2, and the inspection vehicle 1 is guided along the inspection route to just above the opening/closing door 301. Having reached the position directly above the opening/closing door 301,
For example, it can be detected by a limit switch. When detected, the opening/closing door 301 is opened and the inspection vehicle 1 is separated from the towing rail 7 or the guide rail 4 by a detaching device which will be described later.

When the inspection vehicle 1 is received by the attachment/detachment device, the opening/closing door 301 is closed, and the contaminated air in the airtight chamber 2 is replaced with outside air to be purified.

In this way, when the inspection vehicle 1 is taken in and out from the ceiling of the airtight room 2, the tow rail 7 or the guide rail 4
Unlike the case where the airtight chamber door 302 is installed near the front of the airtight room door 302, there is no problem in normal entry and exit of the airtight room 2. Moreover, since attachment and detachment can be performed with only the degree of freedom in the moving direction, the procedure becomes simple.

Even when the inspection vehicle 1 is divided into a first axle 1a equipped with a measuring instrument and a second vehicle 1b equipped with a communication controller, as in the embodiment shown in this figure, two
It has the advantage of being able to receive signals at the same time while connected to the vehicle.

In addition, if a maintenance room 303 is provided next to the airtight room and an opening/closing door (not shown) is provided on the ceiling of this maintenance room 303 to allow the inspection vehicle 1 to enter and exit, there is no need to take it out of the airtight room 2, and there is no need for people to take it out. is repaired in maintenance room 303,
After maintenance, it can be returned to the inspection route.

The method for guiding the inspection vehicle 1 into the airtight chamber 2 or near the airtight chamber 2 has been described above. Next, the method for attaching and detaching the guided inspection vehicle 1 will be described.

The following three types of attachment/detachment can be considered.

(1) How to attach and detach from the index rail 7.

(2) A method in which only the inspection vehicle itself is attached and detached from the trolley 8.

(3) A method for attaching and detaching from the guide rail 4.

First, FIG. 12 shows an embodiment of the above-mentioned (1) attachment/detachment method from the index rail 7. A pair of dogs 201 fixed to the inspection vehicle 1 are engaged with a hook 6 attached to the trolley chain 5. The above engagement is coupled in a state where it is constrained only in the direction of the index,
The inspection vehicle 1 has its own weight supported by guide rails 4.
Therefore, in order to separate the inspection vehicle 1 from this traveling rail, by providing a space A by cutting out a part of the guide rail 4, when the inspection vehicle 1 moves to the position of the space A, It becomes possible to separate it downward. In FIG. 13, the structure of the dog 201 is changed and a cutout groove 203 is provided in the dog 201.
A shaft 202 is provided with a bearing that smoothly engages with the shaft 202 perpendicular to the
The motor 20 required to further rotate the shaft 202
4 and the shaft 202 are fixed with a joint or the like. Axis 202
At the joint with the hook 6, the outer diameter of the shaft 202 is machined from both sides so that the shaft 202 can be smoothly fitted into the cutout B provided in the hook 6, as shown in FIG. Therefore, by rotating the shaft 202 by 90 degrees by the motor 204 in the coupled state shown in FIG. 13, the dog 201 and the hook 6 can be separated as shown in FIG. 15. FIG. 16 shows an embodiment in which the inspection vehicle 1 is separated using power that pushes it up from below. A pair of opening/closing levers 205 of the T-shaped hook 6 are pivoted with pins 208, and a buffer 207 is attached to one upper end of the opening/closing levers 205. The shock absorber 207 is always biased in the direction of protruding the rod 209 by an internal spring, and pushes the upper end of the opening/closing lever 205 to the left and right. Therefore, the pawl 213 at the other end of the opening/closing lever 205 is moved by lever action with the pin 208 that serves as a fulcrum.
The section is closed. If the inspection vehicle 1 is now pushed up from below and the cam 215 of the double cam 206 pushes the pawl 213 to spread it out, and when the cam 215 passes the pawl 213, the pushing up is stopped and the shock absorber 20 is removed.
7, the pawl 213 closes, and the double cam 20 closes.
6 and fixed inspection vehicle 1 is connected to hook 6 of trolley chain 5. Next, the method of separating the coupling is to push up the inspection vehicle 1 further from the coupled state, and as shown in Fig. 16b, the second stage cam 21
6 pushes the pawl 213 again and expands the first stage cam 215
Open wider. If the inspection vehicle 1 is rapidly lowered from this state, the closing time of the opening/closing lever 205 can be delayed by the action of the shock absorber 207, so that the double cam 206 can be lowered without engaging the pawl 213. The inspection vehicle 1 can then be separated from the hook 6. FIG. 17 shows an embodiment in which a shape memory alloy 217 is used to open and close the opening/closing lever 205. In a normal state, the cam 210 is suspended from the opening/closing lever 205 by the shape memory alloy 217 as shown in FIG. As an example, when cold air is blown onto the shape memory alloy 217 from the cold air blower 218, the shape memory alloy 217 is compressed into a memorized state, the opening/closing lever 205 is opened, and the cam 210 is separated as shown in FIG. In this embodiment, a material that memorizes its shape in a low temperature state is used, but it is also possible to use a material that memorizes a compressed shape in a high temperature state. This case can be realized by passing an electric current directly through the shape memory alloy 217.

Above, an embodiment of separating the inspection vehicle 1 from the towing rail 7 as the first method of attaching and detaching the inspection vehicle 1 has been described. Next, a method of attaching and detaching only the inspection vehicle body from the trolley 8 will be described.

FIG. 18 shows an inspection vehicle on the tow rail 7 or guide rail 4, from the trolley 8 to the inspection vehicle body 219.
A is a schematic diagram of the mechanism for attaching and detaching the
Figure b is a schematic partial sectional front view.

The trolley 8 and the inspection vehicle main body 219 are connected to the opening/closing lever 205
and a cam 210, a plug 211 for signal and power supply, and a receptacle 212. When separating, extend the manipulator 310 and grasp the inspection vehicle body 219 with the saucer-shaped hand 311. In a manner similar to that described for the embodiment of FIGS. 16 and 17, the opening/closing lever 205
They can be separated by opening them and retracting the manipulator 310. On the other hand, when connecting the trolley 8 and the inspection vehicle main body 219, it is necessary to align the opening/closing lever 205 and the cam 210, as well as the signal/power plug 211 and the signal/power receptacle 212. The position detection sensors 214 are for this purpose, and are arranged, for example, at the four corners of the upper panel of the inspection vehicle body 219. The position detection sensor 214 is of a reflective type or a separate type for transmitting and receiving light, and can be installed on the inspection vehicle main body 219 and the trolley 8, respectively. When connecting, extend the manipulator 310, and when the alignment is completed, connect the signal/power receptacle 212.
into the plug 211, and at the same time open/close lever 20.
Just close 5.

This embodiment has the advantage that it can be easily attached and detached because no wiring is required even in the case of a wired device.

Next, an embodiment in which the inspection vehicle 1 is attached and detached from the guide rail 4 described in (3) above will be described. When the index rail 7 and the guide rail 4 are used together as shown in FIG.
does not require a suspension function and may be free in the direction of gravity.

FIG. 19 schematically shows a mechanism for attaching and detaching the inspection vehicle 1 together with the guide rail 4. A part of the guide rail 4 is cut as shown in the figure, and a separation rail 304 is provided. The separating track 304 is supported by a support 305. That is, the support pin 306 attached to the separation rail 304 is supported by a guide hole 307 provided at the tip of the support body 305.

After detecting that the inspection vehicle 1 has moved onto the separation rail 304 using, for example, a limit switch (not shown) provided on the separation rail 304, the separation rail 304 is rotated counterclockwise as shown by arrow H. If so, it can be easily separated from the support body 305. On the other hand, when returning the separation rail 304 to the main line guide rail 4, it is rotated clockwise while being pushed up.

The position of the separation rail 304 can be set anywhere on the guide rail 4, but for example, if it is provided directly above the opening/closing door 301 of the airtight room 2, it can be easily removed and installed from below. .

FIG. 20 is a diagram illustrating the operating principle of gripping the separation rail 304 from above using the overhead traveling manipulator 320 and attaching and detaching it. The ceiling traveling manipulator 320 moves on a traveling rail 321 provided perpendicular to the installation direction of the separation rail 304. When removing the separation rail 304, the two manipulators 320 are extended downward and sandwiched from both sides. If the manipulator 320 is synchronously retracted slightly, moved slightly horizontally in accordance with the direction of the guide hole 307, and extended downward again, the separation rail 304 can be separated from the support pin 306.

Furthermore, if the tip of the manipulator 320 is made flexible, it can be separated by simply expanding and contracting the manipulator 320 without moving the manipulator 320 in the horizontal direction.

FIG. 21 shows a schematic mechanism for detaching and attaching the inspection vehicle 1 from the guide rail 4, as a second embodiment, by cutting off a part of the guide rail 4 and taking out or attaching the inspection vehicle 1 from the empty space. FIG. 21a is a perspective view, and FIG. 21b is a schematic diagram. Guide rail 4 for inspection vehicle 1
In the position of disconnection, the guide rail 4 is curved downwards from the traction rail 7 to increase the relative spacing. Hook 6 attached to trolley chain 5
is free in the direction of gravity, so when guided to this position, the hook 6 and the inspection vehicle 1 are separated. When separating, the slope of the guide rail 4 is made gentle so that the inspection vehicle 1 stops before reaching the empty space, or a stopper is provided at the end of the guide rail 4 and this stopper is operated at all times. Alternatively, the stopper may be released remotely only when the inspection vehicle 1 is taken out or taken out.

As an example, when the inspection vehicle 1 is taken out from a state where it is stopped at the position a in this figure, the transport vehicle 309 is introduced to the airtight chamber 2. This running car 309
A manipulator 310 that can be expanded and contracted in the vertical direction is mounted on the top of the device. Manipulator 310
A saucer-shaped hand 311 for holding the inspection vehicle 1 is attached to the tip. The opening/closing door 301 of the airtight chamber 2 is opened, the manipulator 310 is extended upward, and the inspection vehicle 1 is held with the saucer-shaped hand 311. By aligning the stop position of the inspection vehicle 1 with the position of the opening/closing door 301 in advance, you can easily move the inspection vehicle 1 to the saucer-shaped hand 3 by just looking at the image from the television camera.
It can be kept in 11.

Thereafter, the carrying-in/out vehicle 309 is moved in the horizontal direction, and when the inspection vehicle 1 reaches the empty part of the guide rail 4, the manipulator 310 is retracted so that the inspection vehicle 1 can be recovered by the traveling vehicle 309. When returning the inspection vehicle 1 to the guide rail 4, the process may be reversed.

FIG. 22 shows a schematic configuration of an embodiment in which the towing rail 7 is bent upward and separated from the guide rail 4 at the position where the inspection vehicle 1 is separated, thereby widening the relative distance.
The procedure for loading and unloading the inspection vehicle 1 is the same as that shown in FIG. 19, so a description thereof will be omitted.

The attachment and detachment of the inspection vehicle 1 has been described above, and next, the method of carrying the attached and detached inspection vehicle 1 out of the airtight chamber 2 or bringing it in from the outside will be explained.

The inspection vehicle 1 that has been installed and removed in the airtight room 2 can be carried outside by a person, but if for some reason the inside of the airtight room 2 or the surrounding area becomes contaminated with radioactivity. If this is the case, a device to do this remotely will be required.

FIG. 23 shows an embodiment of a system in which the inspection vehicle 1 guided to the separation rail 304 is attached, detached, and stored by a manipulator-equipped traveling vehicle 323. In FIG. 28, a is a schematic front view, and b is a side view of the same. The method of partially dividing the guide rail 4, attaching and detaching the inspection vehicle 1 between the sections, and storing the inspection vehicle 1 in the loading/unloading vehicle 309 has been described above. Here, the embodiment shown in FIG. 18 (where a separation rail 304 is provided) will be considered. The outer door (not shown) of the airtight chamber 2 is opened, and the traveling vehicle 323 is introduced into the airtight chamber 2.

For example, a television camera (not shown) mounted in an airtight room or a traveling vehicle 323 is used to align the camera so that it is directly below the opening/closing door 301.

A manipulator 325 with a gripping mechanism 324 attached to its tip is extended upward and aligned with the separation rail 304 by rotation of the gripping mechanism 324.

Here, the separation rail 304 is gripped from below by the opening/closing operation of the gripping mechanism 324. After gripping, it is stored in the traveling vehicle 323 according to the procedure described in the embodiment shown in FIG.

Further, when attaching and detaching is performed using the overhead traveling manipulator 320 of the embodiment shown in FIG. 20, only the traveling vehicle 323 is used and the manipulator 325 is not necessary.

FIG. 24 shows an embodiment in which an inspection route is guided to the vicinity of the inner door 302 of the airtight chamber 2, and the inspection vehicle 1 that has stopped at a predetermined position is recovered from inside the airtight chamber 2. Since the inspection vehicle 1 weighs several tens of kilograms, it is preferable to use the power manipulator 326.

As an auxiliary means for remote control of the power manipulator 326, a stereoscopic television 327 is employed and attached to the tip of the upper arm of the manipulator 326. If the inspection vehicle 1 is stopped on the separation rail 304, the inspection vehicle 1 can be attached or detached using the saucer-shaped hand 311 attached to the tip of the manipulator 326.

The device for transporting the inspection vehicle 1 from inside the PCV 3 to the outside or vice versa has been described above, but it is easier to attach and detach the inspection vehicle 1 by using wireless communication control means.

Wireless methods include placing an antenna at a predetermined position in the inspection vehicle 1 and the PCV, laying a leaky coaxial cable along the inspection route, and communicating between the antenna on the inspection vehicle 1 side and the leaky coaxial cable, or There is a method of sending and receiving high-frequency signals through signal lines (two parallel lines) and transmitting and receiving signals through capacitive coupling.

Generally, access to the airtight room 2 is through an inner door 30.
2 is closed, the outer door (not shown) will not open. This embodiment also has a similar configuration.

Each of the above embodiments has been described in the case where the present invention is applied to a PCV, but the present invention is not limited to a PCV, but is applicable to carrying out a moving object from a room where it is not easy for people to approach.
It can be widely applied to

〔Effect of the invention〕

Since the configuration is as detailed above, the following effects can be achieved.

According to the first invention, the mobile vehicle enters and exits from the ceiling without using the entrance and exit of the second room adjacent to the first room via the door, thereby preventing the vehicle from interfering with normal access. be able to. Furthermore, since attachment and detachment can be performed with a degree of freedom only in the moving direction, the means are simple. Furthermore, if a maintenance room is set up next to the airtight room, and an opening/closing door is installed on the ceiling of this maintenance room to allow moving vehicles in and out, there is no need to take the vehicle out of the airtight room, and people can repair it in the maintenance room and return it after maintenance. It is possible to return to the inspection route.

According to the second invention, the entrance of the second room adjacent to the first room via the door is used only when a moving vehicle enters, so that it is possible to reduce the hindrance to normal entry and exit. In addition, the mobile vehicle can be carried into and out of an airtight room by gravity without adding a self-propelling function to the mobile vehicle, and without compromising the airtightness of the room in which the mobile vehicle is installed, making it easy to operate. can do.

[Brief explanation of drawings]

FIG. 1 is a functional block diagram of the containment vessel interior inspection device. Figures 2 to 24 show embodiments of the device of the present invention, Figure 2 is a sectional view of the inspection vehicle and index section targeted by the present invention, Figure 3 is a schematic diagram of the system of gravity traveling loading and unloading system, Figure 4 is a perspective view showing the branching mechanism, Figure 5 is an explanatory diagram of branching control to the delivery route at the junction point, Figure 6 is an explanatory diagram of the method of returning from the return rail to the traveling route at the junction point, and Figure 7 is an airtight room, inside a PCV, and a sub-airtight room.
A perspective view of the vicinity of the inspection vehicle entrance/exit door between the inside of the PCV,
Fig. 8 is a perspective view of the guide rail storage section, Fig. 9 is a cross-sectional perspective view of the index rail, Fig. 10 is an explanatory diagram of a method in which a liquid tank is provided in a part of the PCV and an inspection vehicle passes through it, Fig. 11 Figure 12 is a perspective view of the mechanism for loading and unloading the inspection vehicle through the ceiling of the airtight room, Figure 12 is a perspective view showing the relationship between the inspection vehicle and the towing rail and guide rail.
Figures 3, 14, and 15 are cross-sectional views of the mechanism that connects the dock and hook using a motor, respectively. Figure 16 is an explanatory diagram of the operation of the separation mechanism that uses the power to push up the inspection vehicle from below. Figure 17 is opening and closing. An explanatory diagram of the operation of an embodiment using a shape memory alloy for opening and closing the lever,
Fig. 18a is a perspective view of a mechanism for attaching and detaching only the inspection vehicle main body from the inspection vehicle trolley, Fig. 18b is a partial cross-sectional front view showing the outline, and Fig. 19a is a mechanism for attaching and detaching the inspection vehicle together with the guide rail. 19b is a partial front view of the same, FIG. 20 is an explanatory diagram of the operation of the overhead traveling manipulator, FIG. 21a is a perspective view of the attachment/detachment means of the inspection vehicle, and FIG. Fig. 22 is a perspective view of an example of the index rail, Fig. 23a is a front view for explaining the attachment and detachment of the inspection vehicle, Fig. 23b is a side view of the same, and Fig. 24 is for explaining the method of recovering the inspection vehicle. FIG. 1... Inspection vehicle, 2... Airtight room, 3... Reactor containment vessel (PCV), 4... Guide rail, 5... Trolley chain,
6... Hook, 7... Traction rail, 8... Dolly, 9... Traveling rail, 111... Inspection vehicle loading/unloading door, 201... Dock, 219... Inspection vehicle body, 310... Manipulator.

Claims (1)

[Scope of Claims] 1. A track installed in the first room, a movable body guided by the track, a means for indexing and moving the movable body, and at least a track installed in the first room. a second room in which one part is installed and is adjacent to the first room through a door installed at the end of the first room, and has a movable rail inside that connects to the track; In the loading/unloading device of the containment vessel inspection device, the moving body is separated from the travel drive device when stored in the second room, and is loaded/unloaded by the movement of the movable rail. The door is installed on the ceiling of the room, and the track is installed above the door, and the movable body is connected to and disengaged from the track, and the movable body is connected to the track. A loading/unloading device for an inspection device inside a containment vessel, characterized in that a means for loading/unloading to a second room of the container is provided. 2. The means for engaging and disengaging the movable body from the track is configured such that the movable body can be engaged with the track by engagement between a cam and a hook, and the hook is provided with an opening/closing lever and a shock absorber, and the cam is connected to and disengages from the track. A double cam structure in which two cams are arranged vertically is used, and by pressing the cam from below, the opening/closing lever is spread out, and the first cam of the double cam and the opening/closing lever are combined. Further, the double cam is pushed to spread the opening/closing lever, and the closing speed of the opening/closing lever is delayed by the action of a buffer, so that the double cam is separated from the hook before the opening/closing lever is closed. A loading/unloading device for an inspection device inside a containment vessel according to claim 1. 3. The means for indexing and driving the moving object is a circular pin that connects the hook attached to the towing device and the dog attached to the moving object, and a notch is provided in the circular pin, and the above-mentioned pin is rotated. 2. A loading/unloading device for an inspection device inside a containment vessel according to claim 1, wherein said hook and dog are connected or separated by means of a means for connecting or separating said hook and dog. 4. The means for engaging and disengaging the movable body from the track includes a trolley fixed to the indexing device and supported by the track, and transmitting and receiving signals and electric power to the lever member that supports the own weight and the loaded load on the trolley. A cam coupled to the lever, another electrical contact corresponding to the electric contact, and a position sensor for detecting the relative position of the trolley and the moving body are provided on one side of the moving body. A loading/unloading device for an inspection device inside a containment vessel according to claim 1. 5. The above-mentioned indexing means is provided with a hook that transmits a tractive force, and the above-mentioned movable body is provided with a dog that engages with the above-mentioned hook, and the above-mentioned hook and dog are not constrained in the direction of gravity. A guide rail that supports the load of the movable body is laid along the track, a separation rail obtained by cutting a part of the guide rail is fixed with a support, and the movable body is transferred to the separation rail. 2. The carrying-in/out device for an inspection device inside a containment vessel according to claim 1, wherein the separation rail is separated from the support body after the separation rail is removed. 6. Claim 1, wherein a liquid tank is provided in a part of the first room, and the track is configured to pass through the liquid tank.
Loading/unloading device for inspection equipment inside the containment vessel described in Section 1. 7 A track installed in the first room, a movable body guided by the track, a means for indexing and driving the movable body, and at least a portion thereof installed in the first room. , a second room that is adjacent to the first room via a door installed at the end of the first room and has a movable rail inside that connects to the track; In the loading/unloading device for the containment vessel inspection device, which is separated from the travel drive device when stored in the second room and is loaded/unloaded by movement of the movable rail, The door is provided at the end of the second room on the side of the first room and on the ceiling, and the door is branched from the track and is located on the end of the second room on the side of the first room to reach the second room. a downwardly sloping trajectory that reaches inside, an upwardly sloping trajectory that branches off from said trajectory and reaches above the door in the ceiling of said second room, and a trajectory that extends above said upward sloping trajectory through the ceiling of said second room. 1. A loading/unloading device for an inspection device inside a containment vessel, characterized in that it is provided with a means for loading/unloading onto a sloped track. 8. The storage according to claim 7, wherein a part of the first room is provided with a liquid tank, and the track is configured to pass through the liquid tank. Loading/unloading device for inside container inspection equipment.