JPH0548439B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a gripper device for handling fuel exchangers, in-reactor relay devices, and other various plugs used in fast breeder nuclear reactors.

[Technical background of the invention and its problems]

Refueling of a nuclear reactor is performed by installing a refueling machine inside the reactor vessel, which penetrates a shielding plug provided at the top of the reactor vessel and handles the reactor core components. In addition, the installation work of the in-core relay device that transfers the replacement core components to this refueling machine, and the installation work of the horizontal sodium fluoroscopy equipment for observing the core components are also carried out in the same way as the installation of the refueling machine described above. .

When the nuclear reactor is operated, the fuel exchanger, in-core relay device, horizontal sodium fluoroscopy device, etc. are pulled out of the reactor, and various plugs are inserted into the shielding plug through holes.

The installation and removal of the fuel exchanger, in-core relay device, horizontal sodium fluoroscopy device, and various plugs into the reactor is performed using a gripper device. This gripper device includes a transport casing in which the above-mentioned equipment is suspended by grippers and transported to a shielding plug through-hole which is a storage area for the equipment, and a transport casing that is moved up and down within the transport casing and suspended by the grippers. The gripper drive mechanism is controlled to insert equipment into the nuclear reactor from inside the transport casing or to pull out the equipment from inside the nuclear reactor into the transport casing.

However, conventional devices of this type have had the following problems.

That is, as shown in FIGS. 5a and 5b, the transportation casing 3, which houses the gripper drive mechanism 2 with the gripper 1 on the bottom so as to be movable up and down, is connected to the shielding plug through hole 5 of the reactor body 4. It is connected to the top via a connecting tube 6, and the inside thereof is shielded from the outside.
In this state, the door valve 7 provided at the lower end of the transportation casing 3 is opened, the hoisting mechanism 8 is driven, and the wire 9 suspending the gripper drive mechanism 2 is let out. As a result, the gripper drive mechanism 2
moves down inside the transport casing 3 with its guide rollers 10 along guide rails 11 formed inside the transport casing 3.

Then, after gripping the gripper 1 by connecting the gripper 1 to the handling cap 13 provided on the head of the shielding plug 12 installed in the shielding plug through hole 5, the winding mechanism 8 is driven to wind up the wire 9. Then, the shielding plug 12 is pulled out from the shielding plug through hole 5 as shown in FIG. 5b. Thereafter, the through plug 12 is stored inside the transportation casing 3, the door valve 7 is closed, and the door valve 14 provided in the shielding plug through hole 5 is closed, and then the shielding plug 12 is transported. In addition, 15 in the figure is a sealing member. Further, the installation of the shielding plug 12 into the shielding plug through hole 5 is performed by the reverse procedure of the above-mentioned extraction.

However, as shown in FIGS. 6a and 6b, when a small-diameter device 16 such as the fuel exchanger that is housed inside the shielding plug through hole 5 is attached or removed, the gripper drive as described above is required. Mechanism 2
is regulated by the shielding plug through hole 5 and the above equipment 16
cannot be lowered to the storage position. Therefore, in the past, instead of the gripper drive mechanism 2 guided along the inside of the transport lacing 3, a small-diameter gripper drive that can be inserted into the inside of the shielding plug through hole 5 as shown in FIGS. 6a and 6b has been proposed. A mechanism 17 is used to perform this work.

However, it is extremely troublesome to replace the gripper drive mechanism depending on the workpiece.
This results in a decrease in work efficiency. Moreover, the small-diameter gripper drive mechanism 17 that can be inserted into the shielding plug through hole 5 moves up and down inside the transport casing 3 without being guided like the gripper drive mechanism 2, so it moves up and down along with the up and down movement. It is easy to cause sideways vibration. As a result, a positional shift easily occurs between the lowered position of the gripper drive mechanism 17 and the opening of the shielding plug through hole 5, resulting in a problem that it is difficult to smoothly insert the gripper drive mechanism 17 into the shield plug through hole 5. It was hot. Furthermore, it is necessary to prepare gripper drive mechanisms of various shapes, which increases the amount of material and is uneconomical.

[Purpose of the invention]

The present invention has been made in consideration of these circumstances, and its purpose is to replace the gripper drive mechanism with respect to the replacement work of various equipment installed in the nuclear reactor through the shielding plug through hole. It is an object of the present invention to provide a highly practical gripper device that can be easily and efficiently operated without any need for gripping.

[Summary of the invention]

The present invention relates to a hollow transport casing that is installed via a door valve into the opening of a through hole formed in a shielding plug of a fast breeder reactor, and a cylindrical gripper that is provided inside the transport casing and has a gripper at the lower end. In a gripper device having a drive mechanism and a hoisting mechanism provided at the upper end of the transportation casing and driving the gripper drive mechanism up and down via a wire rope, an opening large enough to accommodate the gripper drive mechanism is provided at the lower end. A cylindrical gripper/guide housing is provided in the transport casing so as to be movable up and down while restricting movement in the horizontal direction; a chamfered portion that engages with a tapered surface formed on the upper end peripheral edge of the gripper drive mechanism is provided at the lower end opening of the gripper guide housing; The present invention is characterized in that an engaging portion is provided on the outer circumferential surface of the gripper drive mechanism to engage a key or a keyway provided along the vertical direction.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

FIG. 1 to FIG. 4 are diagrams showing the structure and operation of the embodiment device. Note that the same parts as those of the conventional device will be described with the same reference numerals.

As shown in FIG. 1 and the main structure of this device, a gripper drive mechanism 21 including a gripper 1 is housed in a gripper guide housing 22, and as shown in FIG.
1 is moved up and down within the transport casing 3 integrally with the gripper/guide housing 22.

That is, the gripper guide housing 22 has a cylindrical shape in which the gripper drive mechanism 21 can be housed, and has an inwardly projecting flange portion 23 formed on its upper portion and a tapered portion chamfered on the inner peripheral surface of its lower end. There are 24. Further, a guide roller 25 is provided on the outer circumference of the gripper/guide housing 22 and is guided by a guide rail 11 provided on the inner circumferential surface of the transport casing 3. Along this guide, the transport casing 3 It has a structure that allows it to move up and down. still,
The range of vertical movement of the gripper guide housing 22 is limited to the inside of the transport casing 3 by a stopper 26 provided at the lower end of the transport casing 3.

By the way, this gripper guide housing 2
The gripper drive mechanism 21 housed inside the
It has a tapered portion 27 chamfered on the circumferential surface of the head. This taper portion 27 and the gripper
The gripper drive mechanism 21 is inserted from the lower end of the gripper/guide housing 22 by self-orientation with the tapered portion 24 of the guide housing 22 to achieve mutual center alignment. At this time, the gripper drive mechanism 21 is directionally positioned by fitting a key 28 provided on its circumferential surface into a key groove 29 provided on the inner circumferential surface of the gripper/guide housing 22. inserted into. The gripper drive mechanism 21 is integrally housed within the gripper housing 22 with its head locked to the flange portion 23.

The gripper drive mechanism 21 is suspended by the wire 9 passing through the gripper guide housing 22, and is controlled to move up and down from the inside of the transport casing 3 to the shielding plug through hole 5. The vertical movement of the gripper drive mechanism 21 is driven by the winding mechanism 8. Then, the gripper drive mechanism 21 is connected to the transport casing 3.
While the gripper drive mechanism 21 is inside the gripper drive mechanism 21, the gripper drive mechanism 21 is housed inside the gripper guide housing 22, and the gripper guide housing 22 has its flange portion 23 locked to the head of the gripper drive mechanism 21. , the gripper drive mechanism 21
It is designed to move up and down inside the transport casing 3 integrally with the transport casing 3.

In addition, the gripper drive mechanism 21 is transferred to the transport casing 3.
When the gripper guide housing 22 is further lowered from the inside of the transport casing 22, the gripper drive mechanism 21 is separated from the gripper guide housing 22 and becomes independent. It will go down. As a result, only the gripper drive mechanism 21 enters into the shielding plug through hole 5. And gripper guide housing 22
When the gripper drive mechanism 21 is hoisted away from the gripper guide housing 22, its position is aligned by the self-orientation action of the tapered portions 24 and 27, and after the gripper drive mechanism 21 is integrally housed in the gripper guide housing 22. , this grippa
It will rise inside the transport casing 3 together with the guide housing 22.

According to this device configured in this manner, the gripper drive mechanism 21 moves up and down inside the transport casing 3 integrally with the gripper guide casing 22, and its up and down movement is guided by the guide body. Since this is carried out in a stable state, for example, when handling a large-sized device such as the shielding plug 12 that protrudes from the upper part of the shielding plug through hole 5 as shown in FIG. The operation can be performed in exactly the same way as the conventional device shown. In other words, the gripper drive mechanism 21 and its gripper guide housing 22 work together and function in the same way as the conventional gripper drive mechanism 2.
It becomes possible to carry out the replacement work stably and efficiently.

Furthermore, as shown in FIGS. 3 and 4, when replacing a small-diameter device 17 housed inside the shielding plug through hole 5, such as a fuel exchanger, the device is transported together with the gripper/guide housing 22. The gripper drive mechanism 21 that has been lowered to the lower end of the casing 3 is moved to the gripper guide housing 22.
Since the shielding plug separates from the shielding plug and descends independently into the interior of the shielding plug through hole 5, the gripper drive mechanism can be replaced without having to be replaced as in the conventional case. Furthermore, at this time, the gripper drive mechanism 21 is integrally housed in the gripper guide housing 22 as described above, and is stably guided to move up and down within the transport casing 3, so that the gripper drive mechanism 16 is not moved as in the conventional case. It does not cause problems such as sideways shaking. Furthermore, the gripper drive mechanism 21 that is separated from the gripper guide housing 22 is stabilized due to its self-orientation effect.
Since the central position is reliably aligned, and the direction position is aligned by the key 28 and the keyway 29, and the gripper guide housing 22 is rehoused, there is no problem caused by the separate structure.

〔Effect of the invention〕

Therefore, according to the present invention, the following effects can be achieved. That is, in the present invention, a cylindrical gripper guide housing having an opening at the lower end large enough to accommodate the gripper drive mechanism is provided inside the transportation casing so as to be movable up and down while restricting horizontal movement.・By providing an inner protruding part on the upper end opening of the guide housing, which the upper end surface of the gripper drive mechanism comes into contact with, even if the gripper drive mechanism is large enough to be inserted into the through hole of the shielding plug, it will not sway horizontally. It is possible to stably move up and down inside the transport casing without causing any problems. In addition, by providing a chamfered portion on the lower end opening of the gripper/guide housing that engages with the tapered surface formed on the upper edge of the gripper drive mechanism, alignment of the gripper drive mechanism and the gripper/guide housing is facilitated. Therefore, the gripper drive mechanism can be easily accommodated in the gripper guide housing. Furthermore, since the inner circumferential surface of the gripper guide housing is provided with an engaging portion that engages with a key or a keyway provided along the vertical direction on the outer circumferential surface of the gripper drive mechanism,
The gripper provided at the lower end of the gripper drive mechanism can always be held at a constant position, and the positional relationship between the gripper and the device gripped by the gripper can always be kept constant.

[Brief explanation of drawings]

FIG. 1 is a diagram showing a schematic configuration of an embodiment of the device of the present invention, FIG. 2 is an enlarged view of the main parts of the embodiment device, and FIGS. 3 and 4 are diagrams showing the operation of the embodiment device. Diagrams for explanation, Fig. 5 a, b and Fig. 6 a,
b is a diagram for explaining the configuration of a conventional device and its problems. 1...Grip, 2, 17...Gripper drive mechanism, 3...Transportation casing, 4...Reactor main body,
5... Shielding plug through hole, 6... Connection tube, 7, 1
4... Door valve, 8... Hoisting device, 9... Wire, 10... Guide roller, 11... Guide rail, 12... Shielding plug, 16... Equipment, 21
... Gripper drive mechanism, 22 ... Gripper guide housing, 23 ... Flange section, 24, 27
...Tapered portion, 25...Guide roller, 26...
Stopper, 28...Key, 29...Keyway.

Claims (1)

[Claims] 1. A hollow transport casing installed via a door valve into the opening of a through hole formed in a shielding plug of a fast breeder reactor, and a cylindrical gripper drive mechanism provided within the transport casing and having a gripper at its lower end. , a gripper device having a hoisting mechanism provided at the upper end of the transport casing and driving the gripper drive mechanism up and down via a wire rope, the cylinder having an opening large enough to accommodate the gripper drive mechanism at the lower end; A shaped gripper/guide housing is provided within the transport casing so as to be able to move up and down while restricting horizontal movement, and an inner projecting portion is provided at the upper end opening of the gripper/guide housing to which the upper end surface of the gripper drive mechanism comes into contact. In addition, a chamfered portion that engages with a tapered surface formed at an upper end peripheral edge of the gripper drive mechanism is provided at a lower end opening of the gripper guide housing, and a chamfered portion that engages with a tapered surface formed at an upper end peripheral edge of the gripper drive mechanism is provided on an inner circumferential surface of the gripper guide housing. 1. A gripper device comprising an engaging portion that engages with a key or a keyway provided along the vertical direction on the outer circumferential surface of the gripper device.