JPH051919B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Industrial Application] This invention is a nuclear reactor dismantling device used for dismantling a cylindrical reactor wall, which is a concrete structure, during decommissioning and dismantling of a nuclear reactor. It's about robots.

[Conventional technology]

To date, the radioactive concrete structure of a nuclear reactor has not been dismantled, but when decommissioning of a nuclear reactor that has reached the end of its service life is implemented in the future, the above-mentioned dismantling work will be required. is expected. In general, methods for demolition of concrete structures include controlled blasting methods that control the size and shape of crushed materials, mechanical methods that use impact, hydraulics, or grinding, and thermal methods that use flames, electrical heating, etc. Regardless of the construction method, there are special circumstances when the target is a radioactive reactor shield wall. Since humans cannot enter the reactor walls, equipment for handling and positioning tools is needed, but such equipment does not exist so far as demolition is in the future. .

Since such equipment handles radioactive materials, its operation must be accurate, reliable, and reliable. Moreover, if the maintenance of the device is complicated, it will take a lot of effort and time to ensure high reliability, and the cost of maintenance will increase significantly. For this reason, it is desired that the device has a simple mechanism and fewer failures.

Additionally, small nuclear reactors have narrow walls, such as 2,700 mm in diameter, and work must be carried out within that narrow cylinder, so there is a need for miniaturization.

[Problem that the invention seeks to solve]

In view of the above-mentioned circumstances, this invention aims to provide a demolition robot that can handle and position tools with high reliability within the walls of a nuclear reactor enclosure, and furthermore aims to reduce maintenance costs. It also aims to satisfy the demands of simplifying the mechanism and downsizing the device for use in small nuclear reactors.

[Means for solving problems]

In order to solve the above-mentioned problems, this invention provides a robot for disassembling a nuclear reactor with a lifting device installed above a cylindrical reactor shield wall, and a lift device installed inside the reactor shield wall. The robot body has a structure that includes a robot body that is suspended by a rope, and the robot body has a fixing part that has a plurality of legs that extend and contract radially in the horizontal direction and comes into contact with the inner surface of the reactor wall, and The arm part has a work arm on the upper part, which is provided to be horizontally rotatable relative to the fixed part via a rotation support mechanism, and is equipped with a work device for breaking walls. The structure includes a vertical movement mechanism consisting of a screw mechanism that moves the work arm up and down, and a forward and backward movement mechanism consisting of a screw mechanism that moves the work arm forward and backward in the horizontal direction.

[Function] The robot body is suspended inside the reactor shield wall by the rope of the lifting device, and after reaching the predetermined position, the legs of the fixed part are extended radially and the tips are attached to the reactor shield wall. Press firmly against the inner surface and fix the fixing part inside the reactor enclosure wall.

A working device for breaking walls, such as a cutting machine, is attached to the working arm. It faces a predetermined direction on the inner surface of the shield wall, and is moved up and down by the vertical movement mechanism of the arm portion to be located at a predetermined height. Then, the cutting machine moves forward horizontally using the forward and backward movement mechanism of the arm, approaches the inner surface of the reactor shield wall, starts the cutting machine, and then feeds the cutting machine to close the reactor shield wall. Cutting the wall, i.e. concrete. In this manner, the cutting machine operates in a cylindrical coordinate system to perform work.

〔Example〕

Figure 2 is a system diagram of a construction method for dismantling the reactor shield wall 2 by grinding and cutting using the reactor dismantling robot 1 of the present invention. Interior space 3 of wall 2
is the space where the reactor main body such as the reactor pressure vessel was housed.

Reactor Shiyahei Wall (hereinafter abbreviated as Shiyahei Wall) 2
A rotating frame 5 is provided on the support structure 4 installed above, and on this rotating frame 5,
Lifting devices, that is, four winches 6 in this embodiment, are installed, and a robot body 7 is suspended by winch ropes 6a. In addition, 8
is the control panel for lifting and turning. Further, in the embodiment, the structure is hung from four, but any structure such as three may be used as long as it can be hung stably.

As shown in FIGS. 1 and 3, the robot main body 7 includes a fixing part 9, and a leveling machine 10 and a rotating support mechanism 30 (FIGS. 3 and 4) on this fixing part 9.
The arm part 11 is installed via the arm part 11.

The fixing part 9 is provided with two stages of telescopic cylinders, ie, four or six (four in the example) radially extending legs 12, which extend and contract in the horizontal direction, and a pressing plate 12a is provided at the tip of each leg 12. attached.

The arm portion 11 has a drive screw 14 that is horizontal to the bottom 13a of a cylindrical main body frame 13 with a wide cutout on the side, and a lower part of the drive screw 14 is screwed into the drive screw 14 to rotate the drive screw 14. At this time, a reciprocating carriage 15 is provided which is driven by the drive screw 14 and moves forward and backward in the horizontal direction.
This carriage 15 has a vertical drive screw 1.
6. The end portion is screwed into this drive screw 16,
A work arm 17 is provided which is driven by the drive screw 16 and moves up and down when the drive screw 16 is driven to rotate. A cutting machine holder 19 is provided which is driven by the driving screw 18 and moves back and forth in the same direction as the forward and backward movement direction of the carriage 15 when the drive screw 18 is rotationally driven. is installed.

The cutting machine 20 is a grinding cutting machine, 20a is its blade, and 20b is a blade cover.

Further, the leveling machine 10 is connected to the robot main body 7.
As shown in FIG. 4, which is a skeletal system model diagram of the The two legs 10a are supported by the fixed part 9 in a height-adjustable manner. Further, a rotational support mechanism 30 is interposed on the vertical shaft 10c at the center of the leveling machine 10, thereby rotatably supporting the center of the bottom portion 13a of the main body frame 13.

In addition, in FIG. 2, 21 is a gripping device for gripping and carrying out the concrete cut out from the wall 2, 21a is the gripping part, 22 is the gripping device control panel, 23 is a surveillance camera, and 24 is an operation console. , 25 is a monitor, 26 is a cooling water supply device that supplies cooling water to the cutting machine 20, 27 is a recovered cooling water treatment device, 28
is the cooling water related display panel.

Next, the operation will be explained.

In the remote control room, the operator monitors the monitor 25.
The robot 1 is made to work by operating the operation console 24 while looking inside the wall 2.

The robot body 7 is suspended inside by the rope 6a of the winch 6, and after reaching a predetermined height position, the telescoping cylinders of the fixed part 9, that is, the legs 12, are extended radially, and the pressing plate 12a at the tip is pushed back. The fixing part 9 is fixed to the inner surface of the flexible wall 2 by strongly pressing it against the inner surface of the wall 2 in a taut state.

The leveling machine 10 detects the degree of inclination of the work arm 17 using a sensor (not shown), operates according to the degree of inclination, controls the posture of the main body frame 13, and sets the work arm 17 horizontally.

The arm portion 11 of the robot body 7 is rotated by rotating the rotation frame 5 on the support structure 4, and the direction of the working arm 17 is set in a predetermined direction within the flexible wall 2.

Further, a vertical drive screw 16 provided on the carriage 15 of the arm portion 11 is rotationally driven by a drive source (not shown) to set the work arm 17 at a predetermined height.

Furthermore, the horizontal drive screw 14 provided on the bottom 13a of the main body frame 13 is rotationally driven to advance the carriage 15, and if necessary, the horizontal drive screw 18 provided on the work arm 17 is rotationally driven. Then, the cutting machine holder 19 is moved forward, and the cutting machine 20 is brought close to the inner surface of the stiff wall 2.

Note that the above-mentioned turning, vertical movement, and forward movement operations are not limited to the above-mentioned order, and may be performed as appropriate so that the cutting machine 20 is set at a desired position.

Next, the cutting machine 20 is started, and the drive screw 1 is turned on.
By rotationally driving the blade 8 and advancing the cutting machine holder 19, the blade 20a is fed and the stiff wall 2 is cut.

Although not shown in the drawings, a core boring machine is used to drill the rear portion of the inner surface of the stiff wall 2 from above, and cut the inner surface of the stiff wall 2 to a predetermined thickness. After gripping with the gripping part 21a of the gripping device 21, the cutting machine 20 cuts horizontally as described above. In FIG. 2, a portion indicated by a chain line indicates a groove formed by edge cutting by the core boring machine. The concrete cut in this way has an arcuate block shape, which is removed by a gripping device 21. The above-mentioned work is repeated to dismantle the wall 2.

Since the robot 1 described above is a robot with a cylindrical coordinate system, the movement of the work arm 17 is cylindrical, and the movement of the work arm 17 is appropriate for the wall 2, there is no waste, and the work efficiency is high. The control to set the position is easy, and accurate and reliable positioning is performed. Therefore, this robot 1 has sufficiently high reliability. In addition, since the mechanism is simple, there is little risk of failure, and maintenance is easy, which satisfies the need to reduce maintenance costs.

In addition, the forward and backward movement mechanism of the embodiment has two stages of movement: the forward and backward movement of the carriage 15 by the drive screw 14 and the back and forth movement of the cutting machine holder 19 by the drive screw 18, so a sufficiently long stroke is ensured. There is. However, two steps are not necessarily required.

Further, since the arm part 11 has a horizontal adjustment function under it, the coordinate system of the work is well matched to the work target, that is, the inner surface of the shingle wall 2.

Furthermore, since the fixing part 9 fixes the robot body 7 to the flexible wall 2, stable and reliable work can be performed. It is a simple mechanism that takes advantage of this fact, and its movements are simple and efficient.

The above embodiment uses a demolition method using grinding and cutting, so the cutting machine 20 is used as a working device for breaking walls. However, when using a controlled blasting method or a thermal method, , the work equipment for breaking walls used in each construction method is used.

〔Effect of the invention〕

As explained above, the nuclear reactor dismantling robot of the present invention operates in a cylindrical coordinate system, so it is ideal for targeting cylindrical reactor walls and can be used accurately and reliably. can perform highly reliable work. In particular, it is possible to reliably position the work device for breaking walls by moving the arm portion vertically and horizontally using a screw mechanism, and it is possible to exert sufficient resistance against breaking resistance. In addition, since the robot body is lifted and lowered by a lifting device using a rope,
It works fast and is low cost. Furthermore, the mechanism is simple, maintenance is easy, and the need for reducing maintenance costs can be fully met. Furthermore, it is easy to miniaturize the device for use in small nuclear reactors and the like.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of a nuclear reactor dismantling robot showing an embodiment of the present invention, FIG. 2 is a system diagram of a nuclear reactor dismantling method using the reactor dismantling robot of FIG. 1, and FIG. FIG. 1 is a schematic diagram of the main parts of the robot body, and FIG. 4 is a skeletal system model diagram of the same main parts. DESCRIPTION OF SYMBOLS 1... Reactor disassembly robot, 2... Reactor shield wall, 5... Swivel frame, 6... Winch (elevating device), 6a... Rope, 7... Robot body, 9... Fixed part , 10... Leveling machine, 11...
... Arm part, 12 ... Leg, 12a ... Pressing plate,
13...Main frame, 13a...Bottom, 14,
16, 18... Drive screw, 15... Carriage table, 17... Working arm, 19... Cutting machine holder, 20... Cutting machine (working device for breaking walls), 30... Rotating support mechanism .

Claims (1)

[Scope of Claims] 1. A lifting device 6 installed above the cylindrical reactor shield wall 2, and a robot body 7 suspended by a lobe 6a inside the reactor shield wall by the lifting device 6. The robot main body 7 has a fixing part 9 having a plurality of legs 12 that expand and contract radially in the horizontal direction and come into contact with the inner surface of the reactor shield wall, and a rotating part on the top of the fixing part. An arm part 11 that is provided to be horizontally rotatable relative to the fixed part via a dynamic support mechanism 30 and has a work arm 17 provided with a work device 20 for breaking a thin wall.
The arm section 11 includes a vertical movement mechanism 16 consisting of a screw mechanism for vertically moving the work arm 17;
A nuclear reactor dismantling robot characterized by being equipped with forward and backward movement mechanisms 14 and 18 consisting of screw mechanisms that move a working arm 17 forward and backward in the horizontal direction. 2 The arm section 11 includes a horizontal adjustment device 10 that detects the degree of inclination of the work arm 17 and adjusts the attitude of the arm section 11 so that the work arm 17 becomes horizontal.
2. The nuclear reactor dismantling robot according to claim 1, wherein the robot is attached to the fixing part 9 via a.