JPH07128483A - Controlling for reactor internal pump handling device - Google Patents

Abstract

PURPOSE:To reduce exposure to radiation and to save manpower. CONSTITUTION:By placing a guide screw 4 for attaching and detaching RIP (Reactor Internal Pump) motor 3 from an RIP 2 arranged on a pressure vessel 1, a drive mechanism guides and moves up and down the RIP motor 3 according to the rotation of the guide screw 4 driven by a guide screw drive device 5 during maintenance and inspection. A drive motor controlling device 7 controls a drive motor 6. A velocity detecting part 7c detects the close contact of RIP motor 3 with the RIP 2 when a rotation velocity signal lowers below a set signal set in advance, and outputs a termination signal. A sequence circuit 15A releases the operation command after the lapse of a specified time after the operation command was given and when the termination signal is output.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a boiling water reactor (BW).
The present invention relates to a control device for a reactor internal pump handling device for mounting and removing a reactor internal pump used in R).

[0002]

2. Description of the Related Art In a boiling water reactor (BWR), boiling water in a reactor pressure vessel is circulated by a reactor internal pump (hereinafter referred to as "RIP") to adjust the reaction. RIP is an alternative to a device that circulates boiling water in a reactor pressure vessel by installing a conventional circulating water system. By adopting RIP, it has become possible to contribute to system simplification and safety. .

RIPs require periodic inspections (maintenance inspections) to maintain stable performance. At the time of maintenance inspections, various RIPs are used for labor saving of work, reduction of exposure dose, and safety.
A handling device is used. RIP handling devices are roughly classified into those that handle the impair shaft and the like from the upper portion of the reactor pressure vessel, and those that handle the motor and the like from the lower portion of the reactor pressure vessel.

FIG. 5 shows a conventional RIP that handles a motor and the like.
It is a figure for explaining a control device of a handling device.

In the figure, the R is shown below the reactor pressure vessel 1.
It is equipped with IP2. The RIP motor 3 is attached to the lower part of the RIP 2.
A RIP handling device is installed to attach and detach the RIP motor 3 during maintenance and inspection of the RIP 2.

This RIP handling device is composed of two long bolt-shaped guide screws 4 each having a threaded shaft, a guide screw driving device 5 for rotating the guide screws 4, and a drive motor for driving the guide screw driving device 5. 6 is a main element. further,
A drive motor control device 7 that controls the drive motor 6 as a control device of the RIP handling device, a sensor 8 that detects the rotational position of the motor to control the drive motor 6, and an operation that gives a drive / stop command to the drive motor control device 7. There is a sequence circuit 15 including a switch 9 and an auxiliary relay 10.

In this drive system, it is desired that a low speed and a large torque be obtained at the time of starting. Therefore, the drive motor 6 is an AC servomotor, and the sensor 8 is a resolver.

The drive motor controller 7 is roughly divided into a power section 7a for supplying electric power to the drive motor 6 and a control section 7b for controlling the supplied electric power while detecting the rotational position of the drive motor 6 by a sensor 8. ing.

At the time of maintenance and inspection, as a handling device for the lower part of the reactor pressure vessel 1, as shown in FIG. 5, first, two shafts were provided with rotary screws between the bottom 2a of the RIP 2 and the guide screw driving device 5. The guide screw 4 is installed. The guide screw 4 has a screw hole 3b in which a rotary screw receiving groove (not shown) is formed on the bottom of the RIP motor 3.
The guide screw 4 and the
The IP motor 3 is configured to be movable in the vertical direction in the drawing. As a result, the RIP motor 3 separated from the RIP 2 is rotated by the guide screw driving device 5 so that the RIP motor 3 is removed downward for maintenance and inspection.

Next, when the RIP motor 3 is attached to the RIP 2, when the operation switch 9 for lifting the RIP motor 3 in the state shown in FIG. 5 is turned on, the auxiliary relay 10 is excited and the contact 10a is closed. An operation command is given to the control unit 7b of the drive motor control device 7. next,
A drive signal is output from the control unit 7b to the power unit 7a, and drive power is output from the power unit 7a to the drive motor 6. As a result, the drive motor 6 rotates, the power is transmitted to the guide screw driving device 5, and the guide screw 4 rotates.

When the guide screw 4 rotates, the RIP
The RIP motor 3 is lifted by the rotation screw receiving groove of the screw hole 3b through which the guide screw 4 formed in the bottom portion 3a of the motor 3 penetrates.

The RIP motor 3 is finally housed and attached to the RIP 2, but whether or not it is completely housed,
It is determined whether the lower portion of the RIP 2 and the lower portion of the RIP motor 3 are in close contact with each other. At this time, if they are in close contact, the operation switch 9 is turned off and the contact 10a is opened. When the drive command to the drive motor control device 7 is released, the drive power is not supplied from the power unit 7a of the drive motor control device 7, and the drive motor 6 is stopped.

[0013]

However, the above-mentioned RIP handling device is provided for reducing radiation exposure and labor saving, but conventionally, it is conventionally determined whether or not the RIP 2 and the RIP motor 3 are in close contact with each other. The worker visually confirms the risk of radiation exposure at that time, and there is a problem that the radiation exposure cannot be reduced.

That is, in the prior art, RIP2 and RIP
The work was ended by visually deciding whether or not the IP motor 3 was in close contact. The RIP 2 is attached to the reactor pressure vessel 1, the RIP motor 3 is a guide screw 4
This is because it is not easy to detect the contact state with a sensor or the like because it is connected to the lower guide screw driving device 5 and moves up and down only by.

However, when the reactor is in operation, the lower part of the reactor pressure vessel 1 in which the RIP 2 is arranged has a very high radiation dose, so that the operator who visually confirms is exposed to the radiation. There's a problem.

Therefore, the present invention provides a control device for a reactor internal pump handling device, which can detect that a reactor internal motor and a reactor internal pump are in close contact with each other without human intervention to reduce the exposure of workers. The purpose is to provide.

[0017]

SUMMARY OF THE INVENTION According to the present invention, a motor for driving a reactor internal pump arranged in a reactor pressure vessel is guided downward from the lower part of the reactor internal pump in order to remove and install it during maintenance. A drive mechanism that installs the screw and guides and moves the motor in the vertical direction according to the rotation of the guide screw, a guide screw drive device that rotates the guide screw of the drive mechanism, and a drive that drives the guide screw drive device. A motor, a speed sensor that detects a rotation speed of the drive motor, and a drive power is supplied to the drive motor based on a drive signal according to an operation command, and the drive motor is controlled by capturing the rotation speed signal from the speed sensor. Drive motor controller for In the control device of-flops handling equipment,
When the motor is attached to the reactor internal pump, the motor is moved upward by the rotation of the guide screw of the drive mechanism, and the motor is brought into close contact with the reactor internal pump based on the state quantity of the drive motor. And a means for canceling the operation command when the operation command is issued and a predetermined time has elapsed, and when the operation part outputs the stop signal. It is a thing.

Another invention is to install a guide screw from the lower part of the reactor internal pump to the lower part of the reactor internal pump in order to remove and attach the motor for driving the reactor internal pump arranged in the reactor pressure vessel at the time of maintenance and inspection. In addition, a drive mechanism that guides and moves the motor in the vertical direction according to the rotation of the guide screw, a guide screw drive device that rotates the guide screw of the drive mechanism, and a drive motor that drives the guide screw drive device. A speed sensor that detects the rotation speed of the drive motor, and a drive motor that supplies drive power to the drive motor based on a drive signal according to a driving command and that controls the drive motor by taking in the rotation speed signal from the speed sensor. Reactor internal pump handling with controller When the motor is attached to the reactor internal pump, the motor is moved upward, and the position signal of the motor based on the rotational speed from the state amount of the drive motor and the speed sensor is used. A detection unit that outputs a stop signal by detecting that the motor is in close contact with the reactor internal pump; and a stop signal output by the detection unit after a predetermined time has elapsed after the operation command is issued. A means for canceling the operation command is provided.

[0019]

According to the present invention, when a motor is attached to the reactor internal pump, an operation command is issued, and after a predetermined time has elapsed,
The detection unit detects that the motor is in close contact with the reactor internal pump based on the state quantity of the drive motor, outputs a stop signal, and cancels the operation command. Therefore, it is not necessary for a worker to visually confirm that the motor is in close contact with the reactor internal pump, and it is possible to reduce radiation exposure and save labor.

According to another aspect of the invention, when a motor is attached to the reactor internal pump, after a predetermined time elapses after an operation command is issued, the detection unit causes the position signal of the motor based on the state quantity of the drive motor and the rotation speed from the speed sensor. By detecting that the motor is in close contact with the reactor internal pump by and, a stop signal is output and the operation command is canceled. Therefore,
The position signal of the motor is added to the detection that the motor has come into close contact with the reactor internal pump, so that more reliable detection is possible, and the worker does not have to visually confirm that the motor has come into close contact with the reactor internal pump. Often, radiation exposure is reduced and labor is saved.

[0021]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a RIP showing a first embodiment of the present invention.
It is a block diagram of the control apparatus of a handling apparatus. 1 showing the prior art, the same reference numerals as those in FIG. 5 indicate the same or corresponding portions, and the difference between the two is that a speed detection unit 7c is additionally provided in the drive motor control device 7 and the configuration of the sequence circuit 15 is changed. That is, the sequence circuit 15A is configured to stop the operation in response to a signal from the speed detection unit 7c.

Here, the speed detector 7c outputs a signal by comparing the detector for detecting the rotation speed signal from the rotation angular speed signal of the drive motor 6 detected by the sensor 8 with the rotation speed signal and a predetermined setting signal. And a comparator that operates.

The sequence circuit 15A includes an operation switch 9
When the auxiliary relay 10 is turned on to output an operation command to the drive motor control device 7, the timer relay 12 is operated to close the contact 12a after a predetermined timer setting time, and then the signal from the speed detector 7c is output. By this, the auxiliary relay 11 is operated to cancel the operation command.

First, when the operation switch 9 is turned on, the auxiliary relay 10 is turned on and the contact 10a is closed. As a result, an operation command is output to the control unit 7b of the drive motor control device 7, and drive power is supplied from the power unit 7a to the drive motor 6. The drive motor 6 starts rotating, and the guide screw 4 is rotated by the guide screw drive device 5, whereby the RIP motor 3 is lifted.

In this process, the operation switch 9 is ON,
The contact 10a is closed, and the timer relay 12 starts the timer operation to open the contact 12a. This is the first
The rotation speed of the drive motor 6 is low, the speed detection unit 7c detects a certain speed or less, and the signal is the sequence circuit 1
5A, the contact 7ca is closed, and the auxiliary relay 11
This is to avoid operating the. In this case, the timer relay 12 is set so that the contact 12a is closed at the timing when the drive motor 6 reaches a speed equal to or higher than a certain speed. Therefore, at the start of rotation of the drive motor 6, the auxiliary relay 11 does not operate and the contact 11b does not open to release the operation command.

After that, when the RIP motor 3 comes into close contact with the RIP 2, the upper part of the RIP motor 3 is blocked by the lower part of the RIP 2 and the rotation of the guide screw 4 cannot be continued. Immediately before this state, the rotation speed of the drive motor 6 suddenly drops below a predetermined value, and the speed detection unit 7c outputs a stop signal to the contact 7ca. At this time, since the set time of the timer relay 12 has elapsed after the start of operation, the contact 12a
Is closed. As a result, the auxiliary relay 11 is turned on and the contact 11b is opened, so that the operation command is released and the operation is stopped by the controller 7b. Therefore, R
When the IP motor 3 comes into close contact with the RIP 2, the power supply to the drive motor 6 is stopped and the drive motor 6 and the like are protected.

As described above, the fact that the RIP motor 3 is in close contact with the RIP 2 indicates that the speed detecting portion 7c of the drive motor control device 7
However, since the sequence circuit 15A outputs the signal for stopping the operation to the drive motor control device 7 in view of the change in the rotation speed by the sensor 8, the operation of the drive motor 6 can be stopped without human intervention. Therefore, it is not necessary to visually judge whether or not the RIP motor 3 and the RIP 2 are in close contact with each other, and it is possible to reduce radiation exposure and save labor.

FIG. 2 shows a RIP showing a second embodiment of the present invention.
It is a block diagram of a handling apparatus.

FIG. 2 shows the conventional example, and the same reference numerals as in FIG. 5 indicate the same or corresponding portions. The difference between the two is that the drive motor control device 7 is additionally provided with a current detection portion 7d and the sequence circuit 15 is provided. Sequence circuit 15A with different configuration
That is.

Here, the current detecting section 7d is composed of the power section 7a.
A detection unit for detecting a current supplied from the drive motor 6 to the drive motor 6,
The comparator comprises a comparator which outputs a stop signal to the sequence circuit 15 when the current signal detected by the detector exceeds a predetermined set signal. Sequence circuit 1
5A has the same configuration as that of the first embodiment shown in FIG.

In the second embodiment, the RIP motor 3 is the RIP2.
When the rotation of the drive motor 6 is blocked due to the close contact with the drive motor 6, the drive motor control device 7 attempts to rotate the drive motor 6 and increases the output torque of the drive motor 6, that is, operates to increase the supply current. This is what we paid attention to. When the supply current value becomes larger than a predetermined value after a lapse of a fixed time after the rotation of the drive motor 6 starts, RIP
The operation is stopped because the motor 3 is in close contact with the RIP 2, and the power supply to the drive motor 6 is stopped.

In the second embodiment, as in the first embodiment, the effects of reducing the radiation exposure and saving labor can be obtained.

FIG. 3 shows a RIP showing a third embodiment of the present invention.
It is a block diagram of the control apparatus of a handling apparatus.

FIG. 3 shows the conventional example and the same reference numerals as in FIG. 5 indicate the same or corresponding portions. The difference between the two is that a torque sensor 13 and a torque converter 14 are additionally provided and the sequence circuit 15 is configured. The difference is that the sequence circuit 15A is used.

Here, the torque sensor 13 detects the output torque of the drive motor 6 and outputs a torque detection signal. The torque converter 14 is composed of a converter for inputting the torque detection signal and converting the signal level, and a comparator for outputting a stop signal when the converted torque signal becomes equal to or higher than a predetermined set signal. Sequence circuit 15A
Has a configuration similar to that of the first embodiment of FIG.

In the third embodiment, the RIP motor 3 is the RIP2.
It is noted that the output torque of the drive motor 6 operates in the direction of increasing when it comes into close contact with.

That is, electric power is supplied from the drive motor controller 7 to the drive motor 6 according to the operation command, and the drive motor 6 starts rotating. Then, when the torque signal after converting the torque detection signal of the torque sensor 13 becomes equal to or more than a predetermined set signal after a predetermined time, the signal is input to the sequence circuit 15A. Along with this, the operation command is canceled and the power supply to the drive motor 6 is stopped as in the first embodiment. Therefore, the drive motor 6 and the like are protected.

According to the third embodiment, as in the first and second embodiments, the effects of reducing radiation exposure and saving labor can be obtained.

FIG. 4 shows a RIP showing a fourth embodiment of the present invention.
It is a block diagram of the control apparatus of a handling apparatus.

FIG. 4 shows the conventional example and the same reference numerals as in FIG. 5 indicate the same or corresponding portions. The difference between them is that a drive motor control device 7 is additionally provided with a speed detecting portion 7c and a position detecting portion 7e. The configuration of the sequence circuit 15 is different from that of the sequence circuit 15B.

Here, the speed detecting section 7c includes a detector for detecting the rotational angular velocity signal of the drive motor 6 detected by the sensor 8 and a comparator for outputting a signal when the rotational speed signal is equal to or higher than a predetermined setting signal. It is composed.

The position detecting section 7e uses a detector for detecting the position signal of the RIP motor 3 based on the rotational angular velocity signal from the sensor 8 and the vicinity of the position where the RIP motor 3 is in close contact with the RIP 2 as a position setting signal, and this signal is exceeded. It comprises a comparator which outputs a signal to the sequence circuit 15B when a position signal is received.

In the sequence circuit 15B, in addition to the configuration of the sequence circuit 15A, when the signal from the position detecting section 7e is input to the sequence circuit 15B and the contact 7ea is closed, if the contact 7ca is closed, The auxiliary relay 11 operates to release the operation command.

In the fourth embodiment, the set position of the position detector 7e is set to a position near the contact between the RIP motor 3 and the RIP 2, and the rotation speed of the drive motor 6 is equal to or lower than a certain value (contact 7ca is The operation is stopped when it is closed). As a result, the drive motor 6 can be stopped more reliably by detecting the close contact.

The fourth embodiment shows the case of the combination of position and speed detection, and the same can be applied to the combination of position and current detection and position and torque detection.

As described above, it is not necessary for a person to monitor that the RIP motor 3 is in close contact with the RIP 2, and when it is in close contact, the operation is automatically stopped and the drive motor 6 and the drive mechanism can be protected. As a result, it is possible to save labor of workers and reduce radiation exposure.

[0048]

As described above, according to the present invention, after the operation command is issued and the predetermined time has elapsed, the detection unit detects that the motor is in close contact with the reactor internal pump based on the state quantity of the drive motor, and then outputs the stop signal. Is output and the worker does not have to visually confirm that the motor has come into close contact with the reactor internal pump in order to cancel the operation command, and radiation exposure can be reduced and labor can be saved.

According to another aspect of the present invention, after a predetermined time has elapsed after an operation command is issued, the detection unit detects that the motor is in close contact with the reactor internal pump based on the state amount of the drive motor and the motor position signal, and then outputs a stop signal. Is output, the reliable detection is performed to cancel the operation command, and it is not necessary for the worker to visually confirm that the motor is in close contact with the reactor internal pump on site, reducing radiation exposure and saving labor. Is planned.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a control device of a reactor internal pump handling device showing a first embodiment of the present invention.

FIG. 2 is a configuration diagram of a control device of a reactor internal pump handling device showing a second embodiment of the present invention.

FIG. 3 is a configuration diagram of a control device of a reactor internal pump handling device showing a third embodiment of the present invention.

FIG. 4 is a configuration diagram of a control device of a reactor internal pump handling device showing a fourth embodiment of the present invention.

FIG. 5 is a configuration diagram of a control device of a reactor internal pump handling device showing a conventional example.

[Explanation of symbols]

 1 Reactor Pressure Vessel 2 RIP 3 RIP Motor 4 Guide Screw 5 Guide Screw Drive Device 6 Drive Motor 7 Drive Motor Control Device 7a Power Section 7b Control Section 7c Speed Detection Section 7d Current Detection Section 7e Position Detection Section 8 Sensor 13 Torque Sensor 14 Torque converter 15A, 15B Sequence circuit

Claims (5)

[Claims] 1. A guide screw is installed downward from the lower part of the reactor internal pump in order to remove and install a motor for driving a reactor internal pump arranged in a reactor pressure vessel at the time of maintenance and inspection.
A drive mechanism for guiding and moving the motor in the vertical direction according to the rotation of the guide screw, a guide screw drive device for rotating the guide screw of the drive mechanism, and a drive motor for driving the guide screw drive device.
A speed sensor that detects the rotation speed of the drive motor, and a drive motor that supplies drive power to the drive motor based on a drive signal according to a driving command and that controls the drive motor by taking in the rotation speed signal from the speed sensor. In a control device of a reactor internal pump handling device having a control device, when the motor is attached to the reactor internal pump, the motor is moved upward by rotation of a guide screw of the drive mechanism, A detection unit that outputs a stop signal by detecting that the motor has come into close contact with the reactor internal pump based on the state quantity of the drive motor; and a predetermined time after the operation command is issued, and by the detection unit. A re-injection device comprising means for canceling the operation command when a stop signal is output. Controller Kuta inter null pump handling device. 2. A guide screw is installed from the lower part of the reactor internal pump downward in order to attach and detach the motor for driving the reactor internal pump arranged in the reactor pressure vessel during maintenance and inspection.
A drive mechanism for guiding and moving the motor in the vertical direction according to the rotation of the guide screw, a guide screw drive device for rotating the guide screw of the drive mechanism, and a drive motor for driving the guide screw drive device.
A speed sensor that detects the rotation speed of the drive motor, and a drive motor that supplies drive power to the drive motor based on a drive signal according to a driving command and that controls the drive motor by taking in the rotation speed signal from the speed sensor. In a control device of a reactor internal pump handling device having a control device, when the motor is attached to the reactor internal pump, the motor is moved upward, and the state quantity of the drive motor and the speed sensor. From a position signal of the motor based on the rotation speed from the detection unit that outputs a stop signal by detecting that the motor is in close contact with the reactor internal pump, and after a predetermined time has been given the operation command, and A means for canceling the operation command when a stop signal is output from the detection unit Controller of the reactor inter null pump handling apparatus characterized. 3. The rotation speed signal from the speed sensor is used as the state quantity of the drive motor of the detector, and when the rotation speed signal becomes lower than a preset setting signal, the motor is supplied to the reactor internal pump. 2. It is arranged to detect that the two are in close contact with each other.
Alternatively, the control device for the reactor internal pump handling device according to claim 2. 4. The current supplied to the drive motor is detected as the state quantity of the drive motor of the detector, and when the detected signal exceeds a predetermined set signal, the motor is brought into close contact with the reactor internal pump. The control device for the reactor internal pump handling device according to claim 1 or 2, wherein the fact that it has been detected is detected. 5. The torque of the drive motor is detected as the state quantity of the drive motor of the detector, and when the detection signal exceeds a preset setting signal, the motor is brought into close contact with the reactor internal pump. The control device for the reactor internal pump handling device according to claim 1 or 2, characterized in that the above is detected.