JPH05245781A - Maintenance working device - Google Patents

Abstract

PURPOSE:To enable a job for maintenance work to be carried out through remote control in keeping both in and out rooms interrupted intact by installing a first plug for uplifting an adjustable suspension scaffold free of lifting motion via a wire, and a second plug being fitted from the second opening installed in a ceiling in the room, closing it, and pulling the scaffold in the horizontal direction as the wire, respectively. CONSTITUTION:A first plug 93 is fitted in a first opening 15 installed in a room ceiling 92 from the outside, filling up this opening 15. Next, an adjustable suspension scaffold is uplifted via a wire 3. At this time, this scaffold is equipped with a maintenance tool, and maintenance work is carried out by means of remote control. In addition, a second plug 94 is fitted in a second opening 16 installed in this room ceiling 92 from the outside, filling up this opening 16, and this suspension scaffold is pulled in the horizontal direction via the wire 3. With this constitution, the scaffold is approached to an optional maintenance spot in the room, through which the maintenance work can be done through the remote control in keeping both in and out rooms interrupted intact.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention is applied to maintenance work such as internal inspection, repair, dismantling, etc. in cells of nuclear fuel reprocessing facilities, vacuum vessels of fusion reactors, tanks of large tankers, large tanks, etc. A device for maintenance work.

[0002]

2. Description of the Related Art FIG. 7 is an explanatory view of a cell of a conventional nuclear fuel reprocessing facility. In the figure, in a nuclear fuel reprocessing facility, a large container 90 of several meters in diameter and height for processing, storing, and storing high radioactive materials such as fission products is confined in a room called cell 1 surrounded by thick concrete. Has been. Once the nuclear fuel reprocessing facility is put into operation, the large container 90 is exposed to a high radiation environment, so that it cannot be approached by workers or the like. For this reason,
The large container 90, the piping, etc. are manufactured by sufficiently examining and managing the materials, design, processing, etc. so that maintenance is unnecessary.

[0003]

As described above, in the nuclear fuel reprocessing facility, the large container 90 for processing, storing and storing highly radioactive substances such as fission products, the piping, etc. are made of materials that do not require maintenance. The design, processing, etc. have been thoroughly studied and managed, but during the operation period of the nuclear fuel reprocessing facility, problems such as leakage of solutions containing highly radioactive substances occurred from these large containers and pipes. In this case, the workers cannot enter the cell 1 unless thorough decontamination is performed and the side wall 91, the ceiling wall 92, etc. of the cell 1 are destroyed, and maintenance work takes many years. And requires a lot of labor.

[0004]

SUMMARY OF THE INVENTION A maintenance work device according to the present invention is intended to solve the above problems, and is fitted from the outside into a first opening formed in a ceiling of a room to close it for maintenance. It is equipped with a tool to perform a remote maintenance work on a gondola that can be lifted up and down via a rope, and is fitted from the outside into a second opening formed in the ceiling of the chamber. And a second plug for laterally pulling the gondola through the closing cord.

[0005]

That is, in the maintenance work apparatus according to the present invention, the first plug is fitted from the outside into the first opening formed in the ceiling of the room, and the first plug is hung up and down through the closing rope. A gondola equipped with a maintenance tool to carry out maintenance work by remote control.A second plug is inserted from the outside into a second opening drilled in the ceiling of the room. The first plug hangs the gondola equipped with maintenance tools and lifts it up and down, and the second plug pulls laterally to move the gondola to an arbitrary location to be maintained in the room. Maintenance work can be performed by remote control with the indoors and outdoors blocked while approaching.

[0006]

1 to 6 are explanatory views of a maintenance work apparatus according to an embodiment of the present invention. In the figure, the maintenance work apparatus according to the present embodiment is applied to maintenance work such as inspection, repair, and disassembly of the inside of the cell of the nuclear fuel reprocessing facility. In the nuclear fuel reprocessing facility, high radioactive materials such as fission products are emitted. A few meters in diameter and height for processing, storing, and storing substances
The large container is enclosed in a room called Cell 1 surrounded by thick concrete. Once the nuclear fuel reprocessing facility goes into operation, this large container is placed in a high radiation environment, making it inaccessible to workers and the like. For this reason, this device moves on the entire area of the cell 1 on behalf of a worker to approach a location to be maintained, and performs maintenance work by remote control. For example, the structure of the conventional cell 1 is changed. No impact, little increase in construction cost, no need to install equipment such as manipulators and rails in the cell 1 requiring maintenance, and therefore no need to change the arrangement of equipment in the cell 1. is there.

That is, as shown in FIG. 1, the ceiling wall 9 of the cell 1 is
Openings 15 and 16 are provided at four corners near the two corners, and the openings 15 and 16 are provided with radiation shielding plugs 93 and 94, respectively. One of these openings 15 is for opening the work gondola 2 and the other three openings 1 are about 200 mm in diameter.
6 has a large diameter of about 500 to 1000 mm, the plug 93 has a large diameter, and the other plugs 94 have a small diameter. However,
These dimensions vary depending on the purpose and method of work and are not necessarily limited. On top of each of the plugs 93, 94, there is a hanger 9 for moving and installing the plugs 93, 94 themselves.
5 and a stopper 86 for mounting and fixing one end of the wire 3 is attached to the lower part. One end of each wire 3 is a stopper 86 of each plug 94 having a small diameter, and the other end has a large diameter. It is attached to the stopper 86 of the plug 93 in a loosened state.

Further, as shown in FIGS. 3 and 6, instead of these plugs 93 and 94, temporary plugs 19 and 20 to be inserted into the openings 15 and 16 are provided.
The plug 20 is inserted into the small opening 16 instead of the small-diameter plug 94, and its outer shape and dimensions are the same as those of the small-diameter plug 94. This small diameter plug 2 for temporary installation
No. 0 has a double cylinder structure, and the inner rotary cylinder 25 is a bearing 26 which is fixed above and below the outer cylinder 32.
It is rotatably supported by. A flange 24 is attached to an upper portion of the rotary cylinder 25, and a wire drum 23 and a drive unit 22 for rotating the wire drum 23 are attached to an upper surface of the flange 24. The drive unit 22 includes a motor, a brake, a detector for detecting the rotational position and speed of the wire drum 23, and the like, which are not shown. Wire drum 2
The wire 40 wound around the wire 3 is rotatably supported by the box 28 attached to the lower part of the rotary cylinder 25.
It is sandwiched loosely by two pulleys 30 and 31, and is guided so as not to come off the rolling surface of the pulleys 30 and 31. One ends of two springs 29 are attached to the box 28, and the other ends of the springs 29 are attached to opposing outer cylinders 32, respectively. The outer cylinder 32 is made of lead or steel and has a radiation shielding ability, and the dose rate of radiation on the outer upper surface of the ceiling wall 92 can be suppressed with a minimum increase. A suspension ring 21 for moving and installing the plug 20 itself is attached to the top of the plug 20. The plug 19 is inserted into the large opening 15 instead of the large-diameter plug 93. The structure and mechanism of the plug 19 are the temporary small-diameter plug 20.
However, a slip ring (not shown) is mounted on the drive unit 22a for transmitting signals and power to and from the gondola 2.

As shown in FIG. 4, the gondola 2 is provided with a visual camera 5 for disassembling and repairing a large container, and a pair of manipulators 4 with 6 degrees of freedom, and a control signal and power for the manipulators 4 via a plug 19. A transmission device 11 for transmitting to an external controller 49, a tool 14 for cutting, welding, etc. necessary for maintenance work are attached, and a storage container 12 for storing cut pieces after disassembly is further provided at the center of the gondola 2. The winding drum 9 so that it can be moved up and down by the hanging wire 13.
A drive unit 10 for rotating the winding drum 9 and the like are attached. By manipulating the manipulator 4 upward so that the manipulator 4 is in a contracted state, the manipulator 4 is configured in an axial shape so that the manipulator 4 can be housed within a circle having an outer dimension smaller than that of the plug 19 inserted into the large opening portion 15.
Can pass up and down without interfering with. A suspension 8 is provided on the top of the gondola 2, and the wire 3
9 and a large number of wires 40 are connected and fixed, and a turning mechanism 7 is attached so that the wires 9 and 40 can be turned. Unlike the other wires 40, the wire 39 is a wire cable in which power lines and signal lines required for the gondola 2 for controlling the manipulator 4, for the driving unit 10, for the tool 14, etc. are combined.

Normally, during operation of the nuclear fuel reprocessing facility, the radiation shielding plugs 93 and 94 are attached to the openings 15 and 16, respectively, but a solution containing a highly radioactive substance can be supplied from a large container or pipe. When a trouble such as leakage occurs, as shown in FIGS. 2 and 5, the greenhouse 41 equipped with a radiation shield 51 and shielded from the outside is covered with the openings 15 and 16. Install. A rail 42, a carriage 43 guided by the rail 42 to travel, a master-slave type manipulator 52, a shielding window 48 for internal observation, and the like are attached to the greenhouse 41. A hook 44 is attached to the tip of the carriage 43, and a drum 44 for winding the wire 46 and a driving motor 45 thereof are attached. Greenhouse 41
Inside, a cradle for the temporary large-diameter plug 19 and a pedestal 50a for the large-diameter plug 93 are installed at opposite positions on a straight line passing through the center of the large opening 15, and the straight line The rail 42 is arranged so as to pass through. This is because the carriage 43 that uses only one rail 42 in the greenhouse 41 and moves in one direction is used.
If a slightly larger size of 1 is allowed, a rail for movement,
The carriage and the like may be arranged in two directions, and the use thereof is not limited. Furthermore, the power line and signal line for the drive unit 22a of the gondola 2 and the temporary large-diameter plug 19 are drawn out of the greenhouse 41 and connected to the external controller 49.

In this way, the green house 41 is provided with the opening 1
After being installed so as to cover around 5, 16, the hook 4 is attached to the hanging tool 95 of the small diameter plug 94 by the manipulator 52.
7 is used to hang up the plug 94, and in this hung state, one end of the wire 3 attached from the stopper 86 at the lower part of the small-diameter plug 94 to the stopper 86 at the lower part of the large-diameter plug 93 by the manipulator 52 is attached. Remove and mount 50b
The upper temporary small diameter plug 20 is connected to the other end of the wire 40. Then, after accommodating the small-diameter plug 94 in the gantry 50c, the hook 47 is removed by the manipulator 52, and the small-diameter plug 1 is hung on the suspension ring 21 of the small-diameter plug 20 for temporary installation.
Hang it down to 6. Since the gantry 50b is open at the opening 16 side, the wires 3 and 40 move without winding around the gantry 50b. After setting the three temporary small-diameter plugs 20 in the small openings 16 in this way respectively,
The same applies to the large-diameter plug 93.
The three wires 3 attached to the stopper 86 below the plug 93 in the state of being lifted inside are pulled up by the manipulator 52. At this time, the drive section 22 of each small-diameter plug 20 for temporary installation is operated, and the wire 40 is sent out by the amount of the wire 3 that is sequentially drawn. In this way, the manipulator 52 secures the wire 40 from each temporary small-diameter plug 20 to the hanging portion 8 on the top of the gondola 2. And
After the large-diameter plug 93 is installed on the pedestal 50a, the temporary large-diameter plug 19 is suspended in the large opening 15. Furthermore, the wire 40 of each small-diameter plug 20 for temporary installation is wound up to be in a tensioned state, and this state is used as the origin of the work coordinates of the gondola 2.

Thus, the plugs 19, 20 and the wires 40 are
After completing the preparations, etc., the gondola 2 is moved to a place where maintenance work is required. For example, when the gondola 2 is horizontally moved in the direction of the small diameter plug 94a, it is installed in place of the small diameter plug 94a. Small diameter plug for temporary installation 2
Only the wire 40 of 0a is wound up, and the wire 39 of the temporary large-diameter plug 19 is sent out by the same amount as the wound up amount. The other two wires 40 of the temporary small-diameter plug 20 are also wound in accordance with the movement of the gondola 2. At this time, as the gondola 2 moves, the pulleys 30, 31
As a result, the rotary cylinder 25 is rotated, and twisting of the wire 40 and disengagement of the pulleys 30 and 31 from the rolling surface are prevented so that the wire 40 does not loosen midway, thereby stabilizing the movement control of the gondola 2. it can. That is, in the movement control of the gondola 2, since the work coordinates with the initial position of the gondola 2 as the origin are known, it is only necessary to give the target coordinate position to be moved by the coordinates with the openings 15 and 16 as the reference. The winding and unwinding amounts of the wires 39 and 40 are all automatically calculated and controlled by the controller 49. Further, the movement control of the gondola 2 in the vertical direction is possible only by giving similar movement coordinates.

In this way, the gondola 2 can be brought close to the entire area of the cell 1, and the swivel mechanism 7 can be used.
Since the direction can be set by, the maintenance work inside the cell 1 can be performed by remotely operating the manipulator 4, the tool 14, etc. mounted on the gondola 2. Especially, even when dismantling, cut cells one by one
Since the work can be continued by storing it in the storage container 12 without taking it to the outside, the work time is shortened and the efficiency is improved. In addition, when the storage container 12 is full,
Storage container 12 from cell 1 to green house 41
Can be moved and replaced with a new storage container by the manipulator 52. Further, after the maintenance work is completed, it is possible to easily restore the original state by the procedure reverse to the above procedure. Since the wire 40 is loosened when the temporary small-diameter plug 20 is pulled out, the box 28 is returned to the same position as when it was inserted by the two springs 29.
The plug 20 can be pulled out without interfering with the small opening 16.

As described above, since the manipulator 4, the gondola 2, etc. can be inserted into the cell 1 only when necessary and can be easily taken out of the cell 1, maintenance of these devices is possible, and normally the wire 3 is used. Only the wire 3 is put in the cell 1, but the wire 3 can be easily replaced when necessary. In particular, since the present apparatus can be used as it is for other cells, it is very economical to prepare only one set for a plurality of cells. Further, the gondola 2 can be moved to the entire inside of the cell 1 only by winding and unwinding the wires 39 and 40, and the existing cell 1 must be equipped with only the openings 15 and 16. In addition, since it is not necessary to install a device for this device in the cell 1, the structure and mechanism of the cell 1 are not significantly affected, and the construction cost of the cell 1 is not particularly high. Further, the present apparatus can be used for a shape other than the most standard rectangular shape of the cell 1 in plan view, such as outside the cell 1 of the nuclear fuel reprocessing facility, a vacuum vessel of a fusion reactor, a tank of a large tanker, It can also be used for maintenance work such as internal inspection, repair, dismantling, etc. where it is difficult for workers to enter large tanks.

[0015]

The maintenance work apparatus according to the present invention is constructed as described above, and the gondola equipped with the maintenance tool is brought close to an arbitrary location to be maintained in the room to be remotely operated while the inside and outside are shut off. Since maintenance work can be performed by
Safe, quick and easy maintenance work can be performed without beam removal.

[Brief description of drawings]

FIG. 1 (a) is a front view of a plug of a maintenance work device according to an embodiment of the present invention, and FIG. 1 (b) is a view on arrow b in FIG. 1 (a).

FIG. 2 (a) is a front view of the temporary large-diameter plug, and FIG. 2 (b) is a view taken along the line bb in FIG. 2 (a).

3 (a) is a cross-sectional view of the temporary large-diameter plug, and FIG. 3 (b) is a view on arrow b in FIG. 3 (a).

FIG. 4 is a perspective view of the gondola.

5 (a) is a front view of the temporary small-diameter plug, and FIG. 5 (b) is a view taken along the line bb in FIG. 5 (a).

6 (a) is a sectional view of the temporary small-diameter plug, and FIG. 6 (b) is a sectional view taken along the line bb in FIG. 6 (a).

FIG. 7 is a perspective view of a cell of a conventional nuclear fuel reprocessing facility.

[Explanation of symbols]

 1 cell 2 gondola 3 wire 4 manipulator 5 visual camera 6 grip 7 turning mechanism 8 suspension part 9 winding drum 10 drive part 11 transmission device 12 storage container 13 suspension wire 14 tool 15 large opening 16 small opening 19 large diameter for temporary installation Plug 20 Temporary small-diameter plug 21 Suspension ring 22 Drive part 23 Wire drum 24 Flange 25 Rotating cylinder 26 Bearing 28 Box 29 Spring 30 Pulley 31 Pulley 32 Outer cylinder 39 Wire 40 Wire 41 Greenhouse 42 Rail 43 Carriage 44 Drum 45 Drive Motors 46 Wires 47 Hooks 48 Shielding windows 49 Controllers 50 Stands 51 Radiation shields 52 Manipulators 80 Racks 81 Electric manipulators 82 Telescopic tubes 83 Carriage 84 Traverses 85 travel rail 86 stop 89 in-cell crane 90 container 91 sidewall (shield) 92 ceiling wall (shield) 93 large-diameter plug 94 diameter of the plug 95 crane 96 the slave arm 97 master arm 98 connecting pipe 99 shielding window 100 Manipulator

Claims (1)

[Claims] 1. A gondola which is fitted from the outside into a first opening formed in a ceiling of a room to close it and which is equipped with a maintenance tool to perform maintenance work by remote control is lifted up and down via a rope. And a second plug that is fitted into the second opening formed in the ceiling of the chamber from the outside and that pulls the gondola laterally through the closing cord. Equipment for maintenance work characterized by.