JPH0763879A - In-pile remote control work device - Google Patents

Abstract

PURPOSE:To provide an in-pile remote control work device for the maintenance and inspection of a neutron flux monitor housing which has a high working precision and can be withdrawn from a core by remote controls when trouble occurs. CONSTITUTION:This device consists of a working mechanism 21 to grip a neutron flux monitor housing 9 and drive a working head circularly, and an extending mechanism 23 to move the working mechanism 21 horizontally, an elevating mechanism 24 to move the working mechanism 21 vertically and a supporting shell 22 to contain every mechanism when it is installed in a core. Every mechanism is equipped with the primary drive power source and the secondary drive power source to return the mechanism to the place to be contained in case of the failure of the primary one.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-reactor remote working device for repairing and inspecting a neutron flux monitor housing inside a reactor pressure vessel.

[0002]

2. Description of the Related Art A remote working device for working inside a reactor pressure vessel is disclosed in, for example, Japanese Patent Laid-Open No. 62-1680.
As described in Japanese Patent Publication No. 96 and Japanese Patent Publication No. 63-58294, a multi-joint arm in which a cylindrical furnace charging device is installed on the upper portion of a control rod drive mechanism housing and a working head is attached to the hand, The work is carried out by feeding it out of the furnace charging device into the furnace.

[0003]

SUMMARY OF THE INVENTION Welding work, cutting work,
When performing the repair work of the in-core structure including the inspection work of the processed part, precise relative positioning between the in-core structure to be repaired and the work head is required, and it is sufficient when processing reaction force is generated. It is necessary to hold the work head with sufficient rigidity. Especially in the repair work of the neutron flux monitor housing near the bottom of the reactor, in the narrow environment surrounded by the control rod drive mechanism housing, precise processing and inspection work are performed with the neutron flux monitor housing body as the reference for the working position. There is a need to.

However, in the prior art, the operation origin of the articulated arm for positioning the working head is located near the furnace charging device installed on the upper part of the control rod drive mechanism housing and should be far away from the repair work position. become,
Furthermore, due to the restrictions for housing the multi-joint arm inside the furnace charging device and the restrictions on the movement in a narrow environment in the furnace, it is necessary to downsize the multi-joint arm and increase the degree of freedom. Since it is difficult to obtain sufficient mechanical rigidity, there was a problem that precise relative positioning between the furnace internal structure to be repaired and the work head was difficult, and it was difficult to obtain sufficient rigidity to receive the processing reaction force. .

Further, an apparatus for performing work in a nuclear reactor is required as a basic function to be able to surely recover outside the reactor when an abnormality occurs in the apparatus itself. Especially for devices that use the upper part of the control rod drive mechanism housing as a scaffold,
Even in the event of an abnormality, it is required to pass through the core support plate and the upper lattice plate and recover the product outside the reactor.

However, in the prior art, no measure is taken in the device configuration when an abnormal operation of the drive unit occurs, and in particular, the joint drive unit of the multi-joint arm is stopped and locked. In this case, there has been a problem that the multi-joint arm extended to the passage holes of the core support plate and the upper lattice plate is caught and it becomes impossible to recover the device.

The object of the present invention is suitable for precisely repairing and inspecting a neutron flux monitor housing in a narrow furnace environment, and it is possible to recover the neutron flux monitor housing outside the reactor even if an abnormality occurs in the drive system. A remote working device in a furnace is provided.

[0008]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a remote working device in a furnace with a working head for performing repair and inspection work,
The circulator around the center axis of the neutron flux monitor housing and the orbiting mechanism that has a cavity for introducing the neutron flux monitor housing into the orbit center and the center of the neutron flux monitor housing by holding the neutron flux monitor housing from the side. A working mechanism consisting of a clamp mechanism that positions the shaft at the center of rotation of the orbiting mechanism, an upper end that is supported by contacting the core support plate hole, and a lower end that is installed above the control rod drive mechanism housing. A hollow pillar-shaped support shell with a vertically long window that opens and closes the working mechanism on the side, and a payout mechanism that pays out the working mechanism from the inside of the support shell to the neutron flux monitor housing and stores it inside the support shell, and a payout mechanism. It is composed of an elevating mechanism that is combined to elevate and lower the working mechanism, and further, a circulation mechanism, a clamp mechanism, and a feeding machine. And as the driving means of the elevating mechanism is accomplished by having a sub-drive source main drive and the main drive for driving the respective mechanisms to generate the operation for returning the respective mechanisms in the storage position when stopped.

[0009]

[Function] After the remote working device in the reactor is put into the reactor and seated on the control rod drive mechanism housing, the working mechanism is extended from the inside of the support shell toward the neutron flux monitor housing, and then the neutron is moved to a working position near the bottom of the reactor. The work mechanism is lowered along the bundle monitor housing, the work mechanism is clamped to the neutron flux monitor housing at the descent point, and remote repair and inspection work is performed. Furthermore, since the work mechanism clings to the neutron flux monitor housing at a position close to the repair inspection target position,
The work origin of the work head on the work mechanism becomes the center of the neutron flux monitor housing to be repaired, and the positioning operation required for the work of the work head depends on the orbital movement centering on the neutron flux monitor housing and the degree of freedom of the work head itself. Limited to a narrow range of positioning operations. Further, the reaction force received by the work head is received by the neutron flux monitor housing at a position close to the reaction force generation position via the clamp mechanism of the work mechanism.

Further, the horizontal positioning operation of the working head is performed by a payout operation by a payout mechanism located in a space above the control rod drive mechanism housing and free of interference.
The work mechanism is divided into the orbiting operation of the work head by the orbiting mechanism, and the work mechanism can be lowered to the work position with high precision while hugging the work mechanism in the neutron flux monitor housing.
The space around the neutron flux monitor housing surrounded by the control rod drive mechanism housing is effectively used as an area occupied by the working mechanism.

Further, when the main drive system of each mechanism in the apparatus is stopped, the sub drive system is driven by remote operation from outside the furnace to forcefully position each mechanism to the storage position, and the feeding mechanism and the work are performed. The entire mechanism is stored inside the support shell.

[0012]

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

FIG. 1 shows a state in which an embodiment of the apparatus of the present invention is put into a furnace. In FIG. 1, an upper lattice plate 3 and a core support plate 4 for supporting the fuel assembly 2 are present inside the pressure vessel 1. A control rod drive mechanism housing 7 for arranging a control rod guide tube 6 stands on the bottom 5 of the furnace. Further, a neutron flux monitor housing 9 which is welded to and supports the neutron flux monitor guide tube 8 is provided in the furnace bottom portion 5 between the control rod drive mechanism housings 7.

The neutron flux monitor guide tube 8 has its upper end supported by the core support plate 4, and its middle part supported by a stabilizer bar 10. At the top of the pressure vessel 1,
The reactor well 11 is formed, and the reactor water is filled up to the vicinity of the operation floor 13 when the remote work device 12 in the reactor is charged.

A work stage 14 is installed on the operation floor 13 during the repair and inspection work in the furnace. The in-furnace remote work device 12 is operated by a lifting winch 15 to move the work station.
It is hung from wire 14 into the furnace via wire 16. Tube for controlling remote working device 12 in furnace /
The cable bundle 17 is moved up and down together with the wire 16 by the winch 15
And is connected to a work stage 14 or a remote control device 18 installed near the operation floor 13.

The remote working device 12 in the furnace is
The control rod drive mechanism housing 7 passes through the lattice-shaped holes of the upper lattice plate 3, the circular holes of the core support plate 4 for supporting the control rod guide tubes 6 and the space delimited by the stabilizer bar 10.
Be hung on top of. With the installation completed, the lower end of the in-furnace remote work device 12 has a control rod drive mechanism housing 7
It is seated on the upper side, and the upper end is fitted in and supported by the hole of the core support plate 4. After the installation work is completed,
The neutron flux monitor housing 9 is repaired and inspected by remote operation from the operation floor 13 or the work stage 14.

FIG. 2 is a sectional view of an embodiment of the remote working device in the furnace of the present invention. In FIG. 2, the in-reactor remote working device 12 includes a working mechanism 21 for hugging the neutron flux monitor housing 9 and performing repair / inspection work on the neutron flux monitor housing 9 near the reactor bottom 5, and the in-reactor remote working device 12 in the reactor. The working mechanism 21 is housed inside when it is put into the inside, and further, the support shell 22 that serves as a scaffold for installation work of the working mechanism 21 with respect to the neutron flux monitor housing 9, and the working mechanism 21 from the inside of the support shell 22 to the neutron flux monitor housing. It is composed of a feeding mechanism 23 that feeds toward 9 and is housed inside the support shell 22, and a lifting mechanism 24 that is coupled to the feeding mechanism 23 and that moves the working mechanism 21 up and down.

The support shell 22 has a cylindrical shape, and has a taper-shaped projection 22a at the lower end which is inserted into the upper hole 7a of the control rod drive mechanism housing 7. The protrusion 22a aligns the central axis of the support shell 22 with the central axis of the control rod drive mechanism housing 7 during the loading operation. Further, a tab 22b is provided on the side surface of the support shell 22 which is in contact with the hole 4a of the core support plate 4, and by engaging the tab 22b and the control rod guide tube fixing pin 19 of the core support plate 4, the support shell 22 is supported. The direction around the longitudinal axis of 22 is uniquely determined.
At the end of in-reactor installation, a vertically long window 22c for letting out the working mechanism 21 is formed on the side surface of the lower end portion of the support shell 22 facing the neutron flux monitor housing 9, and at the upper end portion of the window 22c. A roller 22d used for forcibly storing the feeding mechanism 23 is provided.

The elevating mechanism 24 is a direct acting actuator 24.
a, sliding mechanism 24b, rail 24c, winch mechanism 24
d, a wire 24e, a power connecting portion 24f, and a cable bear 24g. Linear actuator 24a
Is a main drive source of the elevating mechanism 24, and is composed of a hydraulic cylinder, a pneumatic cylinder, an electric type direct-acting actuator having a high back drivability, or the like, one end of which is connected to the upper portion of the support shell 22, and the other. Is connected to the upper end of the sliding mechanism 24b. The sliding mechanism 24b supports the feeding mechanism 23 at the lower end, and along the rail 24c formed in the inner surface of the support shell 22 in the longitudinal direction, the support shell 22 is driven by the driving force of the linear motion actuator 24a. Glide inside.

The sub-driving source of the lifting mechanism 24 is a winch mechanism 24d provided on the upper portion of the support shell 22 and a winch mechanism 2
4d and an upper end portion of the sliding mechanism 24b, and a power connecting portion 24f connected to the wire 24e and the winch mechanism 24d. When the direct-acting actuator 24a of the main drive source is stopped, the sliding mechanism 24b is operated by the winding operation of the winch mechanism 24d via the wire 24e.
Also, the feeding mechanism 23 and the working mechanism 21 connected to this are forcibly raised. Further, the winch mechanism 24d is operated by connecting the operation pole 17 fed from the work stage 14 to the power connecting portion 24f and rotating the operation pole 17 from outside the furnace. The cable bear 24g is a flexible duct having one end connected to the inner surface of the support shell 22 and the other end connected to the upper end of the sliding mechanism 24b.

The tube / cable bundle 17 connected to the feeding mechanism 23 and the working mechanism 21 is a cable bear 24.
It is guided to the upper end of the support shell 22 through the inside of g.
Due to the support of the cable bear 24g, the tube / cable bundle 17 is supported by the support shell 22 against the vertical movement of the sliding mechanism 24b.
Move inside to smooth.

The feeding mechanism 23 has a parallel link 23a connecting the lower end of the sliding mechanism 24b and the upper end of the working mechanism 21, and a linear motion actuator 2 connecting the diagonals of the parallel link 23a.
3b. The direct-acting actuator 23b is a main drive source of the feeding mechanism 23, and is composed of a hydraulic cylinder, a pneumatic cylinder, an electric direct-acting actuator having high back drivability, or the like. By contracting the linear motion actuator 23b, the working mechanism 21 is extended from the inside of the support shell 22 toward the neutron flux monitor housing 9.

Next, the operation of one embodiment of the apparatus of the present invention will be described with reference to FIGS.

FIGS. 3 to 6 show a process in which the in-reactor remote working apparatus 12 of the present invention is put into the furnace and the working mechanism 21 is installed in the neutron flux monitor housing 9.

As shown in FIG. 3, the in-reactor remote working device 12 is suspended by a wire 16 and is suspended from an upper lattice plate 3 and a core support plate 4.
And pass through the stabilizer bar and descend.

Next, as shown in FIG. 4, the remote working device 12 in the furnace is seated on the control rod drive mechanism housing 7.

Next, as shown in FIG. 5, the feeding mechanism 2
3, the working mechanism 21 is extended from the inside of the support shell 22 toward the neutron flux monitor housing 9.

Next, as shown in FIG. 6, the work mechanism 21 is lowered by the elevating mechanism 24 until the lower end of the work mechanism 21 approaches the neutron flux monitor housing 9 near the furnace bottom 5 at the work target position.

FIGS. 7 to 9 show an operation procedure for housing the working mechanism 21 inside the support shell 22 when the linear motion actuator 23b of the feeding mechanism 23 is stopped due to a failure.

In FIG. 7, the working mechanism 21 is extended to the outside of the support shell 22 and the linear motion actuator 23b is stopped due to a failure. In this case, the lifting mechanism 24 is used to forcibly pull up the feeding mechanism 23 and the working mechanism 21.

Subsequently, in FIG. 8, the inclined parallel link 2
Since 3a comes into contact with the roller 22d of the support shell 22, as the payout mechanism 23 rises, a pressing force is exerted on the parallel link 23a toward the inside of the support shell 22 to cause the payout mechanism 23 to enter the inside of the support shell 22. It is stored.

At this time, the linear motion actuator 23b is forcibly extended by an external force applied from the roller 22d via the parallel link 23a. In order to ensure this operation, when a pneumatic or hydraulic cylinder is used as the direct-acting actuator 23b, the pressure piping system of the cylinder is opened and the restriction of the extending operation is released. When an electric type linear motion actuator is used as the linear motion actuator 23b, the motor of the drive source and the linear motion transmission mechanism may be released from each other to extend the motion. Try to follow without resistance.

Finally, in FIG. 9, as the feeding mechanism 23 rises, the upper end of the working mechanism 21 is pushed by the roller 22d following the parallel link 23a, so that the feeding mechanism 23 and the working mechanism 21 are completely supported. It is stored inside 22.

Next, the detailed structure and operation of the working mechanism 21 will be described with reference to FIGS.

FIG. 10 is a vertical sectional view showing the construction of the working mechanism 21 constituting the apparatus of the present invention.

The working mechanism 21 comprises an upper mechanism 25 and a lower mechanism 26. Further, the lower mechanism is composed of a clamp mechanism 27, a circulating mechanism 28, and a work head 29.

The upper mechanism 25 is connected to the parallel link 23a of the feeding mechanism 23, and is fed out while maintaining the posture when stored. The upper mechanism 25 is formed with a notch 25a for introducing the neutron flux monitor housing 9 from the end to the center, and rollers 25b and 25c are provided at the tip of the notch 25a.

Further, the upper mechanism 25 includes a support arm 25d.
And the lower mechanism 2 is formed through the rotary hinge 25e.
6 is connected to the lower mechanism 2 with respect to the upper mechanism 25.
6 can take a free posture around the axis of the hinge 25e, and even if the neutron flux monitor housing 9 is tilted, the lower mechanism 26 can be fixed according to the tilt of the neutron flux monitor housing 9.

Further, clamps 25f and 25g composed of pneumatic or hydraulic cylinders are provided at the upper end of the lower mechanism 26 facing the bottom surface of the upper mechanism 25, and the working mechanism 21 is housed inside the support shell 22. When the upper mechanism 25 is extended, the clamps 25f and 25g are extended.
The posture of the lower mechanism 26 is restrained.

Next, the positioning operation in the horizontal plane with respect to the neutron flux monitor housing 9 by the upper mechanism 25 when the working mechanism 21 is extended will be described with reference to FIG.

FIG. 11 shows a sliding mechanism 24b constituting the present invention.
7 is a plan view showing the configuration and operation of the upper mechanism 25. FIG.

The sliding mechanism 24b comprises a sliding portion 24h, a turning portion 24i and springs 24j and 24k. The cylindrical sliding portion 24h is a guide pulley 24 attached to the periphery.
The inner surface of the support shell 22 is slid vertically along the rails 24c formed on the inner surface of the support shell 22 via l. Sliding part 2
On the inner surface of 4h, a swivel portion 24i that rotates around the longitudinal direction of the support shell 22 is provided. The rotational position of the swivel part 24i with respect to the sliding part 24h under no load, that is, the stored position is spanned between the sliding part 24h and the swivel part 24i so as to generate torques in opposite directions to the swivel part 24i. It is determined by the balance of the tensions of the springs 24j and 24k that are applied.

The tab 22b engaged with the control rod guide tube fixing pin 19 of the core support plate 4 at the time of introduction into the reactor is supported by the support shell 22 so that the window 25a faces the neutron flux monitor housing 9.
The rotation direction around the longitudinal direction of is restricted, and further,
Due to the restraint of the rail 24c and the restraint of the springs 24j and 24k, the feeding direction of the upper mechanism 25 is also defined in the direction shown by the solid line arrow in FIG.

However, in reality, the core support plate 4, the control rod drive mechanism housing 7, and the neutron flux monitor housing 9 have an assembly position error at the time of construction and a secular change in shape. There is an error in the position of the neutron flux monitor housing 9 as viewed from the in-reactor remote working unit 12 using the rod drive mechanism housing 7 as a scaffold for installation. Therefore, when the neutron flux monitor housing 9 does not exist in the direction shown by the solid arrow in FIG. 11 during the feeding operation, the roller 25b or 25c at the tip of the upper mechanism 25 contacts the neutron flux monitor housing 9. Then, the turning portion 24i and the upper mechanism 25 are turned by the torque generated from the pushing force of the feeding operation, the feeding direction is corrected to the direction indicated by the broken line arrow in FIG. 11, and the notch 23a is formed.
The neutron flux monitor housing 9 is captured inside.

Next, the construction of the clamp mechanism 27 and the holding operation of the neutron flux monitor housing 9 by the clamp mechanism 27 will be described with reference to FIGS. 10 and 12.

FIG. 12 is a sectional view of the clamp mechanism 27 shown in FIG. In FIG. 12, the clamp mechanism 27 includes two gripping mechanisms 27a and 27b having the same structure, and a sub-driving-source pushing mechanism 27 used when the gripping mechanism 27a or 27b cannot be opened.
and c.

The gripping mechanism 27a is in contact with the neutron flux monitor housing 9 and serves as a base for positioning the working mechanism 21.
It has an arm 27f provided at one end with a roller 27e that presses against 7d, and the arm 27f is rotated by the force of a spring 27f that is the main drive source of the clamp mechanism 27, so that the neutron flux monitor housing 9 is Hold it.

Further, the gripping mechanism 27a includes an arm 27f.
The grip of the neutron flux monitor housing 9 is released by the actuator 27h composed of a pneumatic or hydraulic cylinder coupled to the. The pushing mechanism 27c is composed of a pneumatic or hydraulic cylinder, is arranged between the gripping mechanisms 27a and 27b, and when the actuator 27h becomes inoperable, it opposes the gripping force of the gripping mechanism 27a or 27b. The neutron flux monitor housing 9 is forced out of the clamp mechanism 27.

Next, the attitude correcting operation of the working mechanism 21 with respect to the neutron flux monitor housing 9 will be described with reference to FIGS. 3 to 6 and 10.

The working mechanism 21 after the feeding operation shown in FIG.
When lowering the work to the work position, the work mechanism 2
In order to avoid interference between 1 and the control rod drive mechanism housing 7 existing in the vicinity thereof, the lower mechanism 26 slides along the neutron flux monitor housing 9, but as shown in FIG. The hinge 25e holds the gripping mechanism 27
By providing the intermediate position between a and 27b, the hinge 2
By the feeding force transmitted via 5e, the gripping mechanism 2
The pads 27d and 27i of 7a and 27b are brought into close contact with the neutron flux monitor housing 9 to keep the posture of the lower mechanism 26 stable even when the neutron flux monitor housing 9 is inclined.

Next, the structure of the circulating mechanism 28 will be described with reference to FIGS. 10 and 13.

FIG. 13 shows B- of the circulating mechanism 28 shown in FIG.
It is a B sectional view. In FIG. 13, the circulation mechanism 28
Is a main gear 2 having a notch 28b for introducing the neutron flux monitor housing 9 into the orbital center and carrying a working head 29.
7a, a plurality of roller bearings 28c for rotatably supporting the main gear 27a, and a sub gear 27d circumscribing the main gear 27a.
, 27e, a synchronous gear 28f circumscribing both of the auxiliary gears 27d and 27e, a rotary actuator 28g of the main drive source of the revolving mechanism 28 and a rotary actuator 28h of the auxiliary drive source, and a rotary actuator. And a differential mechanism 28i for transmitting the torque generated by the rotary actuator 28h to the synchronous gear 28f.

Although FIG. 13 shows the rotational position of the main gear 27a in the housed state, the gap between the contact point between the sub gear 27d and the main gear 27a and the contact point between the sub gear 27e and the main gear 27a is notched. 28b width and more, notch 2
The auxiliary gear 27d or 27e transmits the torque of the synchronous gear 28f to the main gear 27a regardless of the direction of 8b. The differential mechanism 28i includes a drive shaft 28i that applies a torque to the synchronous gear 28f, bevel gears 28l and 28m mounted on an orthogonal shaft 28k provided at an intermediate portion of the drive shaft 28i, and a rotary shaft having one end penetrating the drive shaft 28i. A worm gear 28n coupled to the actuator 28g and bevel gears 28l and 28m at the other end.
A drive pipe 28p having a bevel gear 28o meshing with the
Rotating actuator 2 having the same structure as the drive pipe 28p
Drive pipe 28 having worm gear 28q coupled to 8g and bevel gear 28r meshing with bevel gears 28l and 28m
s.

With the above construction, the rotary actuator 28h is normally stopped and the rotary actuator 2h is stopped.
The torque generated at 8 g causes the worm gear 28n, the bevel gear 28o, the bevel gears 28l and 28m, and the drive shaft 2 to rotate.
The main gear 27a is rotated via 8i, the synchronous gear 28f, and the auxiliary gear 27e, and the working head 29 is rotated around the neutron flux monitor housing 9.

On the other hand, when the rotary actuator 28g fails, the rotary actuator 28h is activated,
The main gear 2 through the worm gear 28q and the bevel gear 28r
By rotating 7a to the storage position, the neutron flux monitor housing 9 is removed from the notch 28b.

According to the embodiment of the present invention described above, the working mechanism 21 is installed on the neutron flux monitor housing 9 near the reactor bottom 5 which is the object of the repair / inspection work, by remote control from the operation floor 13. Is possible.

Further, the lower mechanism 26 of the working mechanism 21 is
The positioning operation, which is fixed to the neutron flux monitor housing 9 near the repair / inspection site and required for the work of the work head 29, is the orbital movement around the neutron flux monitor housing 9.
Since the positioning operation is limited to a narrow range due to the degree of freedom of the working head 29 itself, highly accurate positioning operation of the tip of the working head 29 is possible.

Further, since the reaction force received by the work head 29 during the repair work is received by the neutron flux monitor housing 9 near the repair / inspection site via the clamp mechanism 27 of the work mechanism 21, the rigidity of the structure of the work mechanism 21. Can be used effectively to perform high-precision machining work.

Further, the horizontal positioning operation of the work head 29 is performed by the payout operation by the payout mechanism 23 located in the space above the control rod drive mechanism housing 7 where there is no interference and by the orbiting mechanism 28 of the work mechanism 21. The work head 29 is divided into orbiting operations, and the work mechanism 21 can be accurately lowered to the work position while hugging the work mechanism 21 in the neutron flux monitor housing 9. Therefore, the neutron flux monitor housing 9 surrounded by the control rod drive mechanism housing 7 is provided. The surrounding space can be effectively used as an area occupied by the working mechanism 21, and it is easy to improve the driving force and the mechanism rigidity of the operating portion of the working mechanism 21.

Further, the raising / lowering mechanism 24, the feeding mechanism 23, the clamp mechanism 27, and the orbiting mechanism 28 in the remote working device 12 for the furnace are the main drive sources for performing the remote control operation required for the installation work and the repair inspection work in the furnace. Along with this, a sub drive source that forcibly returns each mechanism to the storage position is provided. When the main drive source stops due to a failure, all the sub drive sources are operated by remote control from the operation floor 13. The mechanism can be housed inside the support shell 22 and the remote working device 12 inside the furnace can be collected outside the furnace.

In the embodiment of the present invention, the linear drive actuator 23b is used as the main drive source of the feeding mechanism 23.
However, even if a rotary actuator is connected to any of the joints of the parallel link 23a to constitute the main drive source of the feeding mechanism 23, it is clear that the same effect can be obtained.

Further, in the embodiment of the present invention, the roller 22d is provided at the upper end portion of the window 22c of the support shell 22, but the parallel link 2 is used when the feeding mechanism 23 is forcibly stored.
It is obvious that the same effect can be obtained even if the contact portion at the upper end of the window 22c is formed in a smooth curved surface shape so that the sliding movement of 3a can be realized.

Further, in the embodiment of the present invention, the rollers 25b and 25 are provided at the tip of the notch 25a of the upper mechanism 25.
Although c is provided, the notch 2 is provided so that slip occurs between the neutron flux monitor housing 9 and the tip of the notch 25a.
It is obvious that the same effect can be obtained even if the tip of the 5a is formed into a smooth curved surface.

Furthermore, in the embodiment of the present invention, the differential mechanism 28i of the orbiting mechanism 28 and the rotary actuator 28 are used.
g and the rotary actuator 28h, the worm gear 2
Although connected by 8n and 28q, a rotary type actuator 28g and a rotary type actuator 28h having a breaking function are used, and a transmission mechanism having a high back drivability such as a spur gear is used. Differential mechanism 28
In combination with i, in normal operation, the rotary actuator 28h is braked to rotate the rotary actuator 28g.
In case of malfunction, the rotary actuator 28g blur
It is obvious that the same effect can be obtained even if the configuration is applied.

Next, the structure of another embodiment of the apparatus of the present invention will be described with reference to FIG.

FIG. 14 is a vertical sectional view showing another embodiment of the circulating mechanism which constitutes the device of the present invention. 14, elements similar to those shown in FIG. 10 are designated by the same symbols.

The orbiting mechanism 30 of this embodiment has a rotary actuator 30 having a brake 30b as a main drive source.
a, a rotary actuator 30c having a brake 30d as an auxiliary drive source, and a rotary actuator 30c.
The synchronous gear 28f is driven by the serial drive source configured by connecting the rotary actuator 30a to the output shaft 30e.

In this configuration, during normal operation, the rotation of the output shaft 30e is fixed by the brake 30d, and the synchronous gear 28f is driven by the torque of the rotary actuator 30a. Further, when the rotary actuator 30a is stopped due to a failure, the rotary actuator 30a itself is fixed by fixing the rotation of the output shaft of the rotary actuator 30a by the brake 30b. As a new output shaft of 30c, a rotary actuator 3
The synchronous gear 28f is driven by 0c.

According to this embodiment, the structure of the mechanism can be made simpler than that of the circulating mechanism 28 shown in FIG.

In this embodiment, the rotary actuator is
Although the controllers 30a and 30c have a brake function, the same effect can be obtained even if they are replaced by rotary type actuators each having a transmission mechanism with low back drivability that does not use a brake. That is clear.

Next, the structure of still another embodiment of the apparatus of the present invention will be described with reference to FIG.

FIG. 15 is a vertical sectional view showing still another embodiment of the circulating mechanism which constitutes the device of the present invention. In FIG. 15, the same elements as those shown in FIG. 10 are designated by the same symbols.

The orbiting mechanism 31 of this embodiment is a rotary actuator 31 having a clutch 31b as a main drive source.
a, a drive shaft 31d having a power connecting portion 31e which is connected to an operation pole 32 input from above the work stage 14 as an auxiliary drive source. The synchronous gear 28f is the drive shaft 3
A torque is obtained from the gear 31c connected to the clutch 31b via the gear 31f at the end of 1d.

In this structure, during normal operation, the clutch 31b is engaged and the rotary actuator 31 is connected.
The synchronous gear 28f is driven by a. Further, when the rotary actuator 31a is stopped due to a failure, the clutch 31b is disengaged, put into the operation pole 32 furnace, and then connected to the power connecting portion 31e.
4, the drive shaft 31d is remotely operated via the operation pole 32 to drive the synchronous gear 28f.

According to the present embodiment, since the auxiliary drive source is remotely operated from the work stage 14 only by mechanical connection, the tube / cable bundle 17 is cut so that the remote work device in the furnace can be operated. Even when power supply to the tube 12 via the tube / cable bundle 17 is interrupted, the orbiting mechanism 31 can be returned to the storage position and the in-reactor remote working device 12 can be recovered outside the incinerator.

In this embodiment, when the auxiliary drive source is operated, the rotary actuator 3 is operated by the clutch 31b.
1a and the drive shaft 31d are disconnected, but instead of using a rotary actuator having a clutch function, a rotary actuator having a high back drivability, such as a stepping motor, is used. It is obvious that the same effect can be obtained even if the rotary actuator is driven by the drive shaft 31d to rotate.

Next, the construction of another embodiment of the apparatus of the present invention will be described with reference to FIGS.

FIG. 16 is a vertical cross-sectional view showing the structure of another embodiment of the in-reactor remote working apparatus of the present invention, and FIG. 17 is a vertical cross-sectional view showing the structure of the feeding mechanism of this embodiment. In FIG. 16, the same symbols are attached to the same elements as those shown in FIG.

The feeding mechanism 33 of this embodiment is composed of a horizontal multi-joint mechanism that connects the lifting mechanism 24 and the working mechanism 21.

FIG. 17 shows the structure of the joint portion of the feeding mechanism 33. The joint portion includes a fixed portion 33a and a rotating portion 3 which are rotationally coupled by bearings 33c and 33d.
3b, a rotary actuator 33e having a main drive source brake 33f, and a rotary actuator 33h having an auxiliary drive source brake 33i.

Further, the fixed portion 33a and the rotating portion 33b are constituted by connecting the rotary actuator 33e and the rotary actuator 33h in series via the output shaft 33g of the rotary actuator 33h. It is connected to the drive source.

In this structure, during normal operation, the blur
The rotation of the output shaft 33g is fixed by the key 33i, and the feeding mechanism 33 is driven by the torque of the rotary actuator 33e. Further, when the rotary actuator 33e is stopped due to a failure, the rotation of the output shaft 33j of the rotary actuator 33e is fixed by the brake 33f, and the rotary actuator 33e itself is rotated. With a new output shaft of 33h, the rotary actuator 33
The feeding mechanism 33 is driven by the torque h. According to this embodiment, the self-weight load of the working mechanism 21 can be supported only by the vertical mechanism rigidity of the feeding mechanism 33 including the horizontal articulated mechanism. Therefore, the driving force for supporting the own weight load of the working mechanism 21, which is required in the feeding mechanism 23 based on the parallel link shown in the embodiment of FIG. 2, is not required, and the tube / cable bundle 17 is cut. Alternatively, it is possible to prevent the weight of the working mechanism 21 from dropping due to the failure of the main drive source of the feeding mechanism 33.

Furthermore, when the rotary actuator 33e is stopped due to a failure, the rotary actuator 33e is stopped.
By remotely operating h, the feeding mechanism 33 can be returned to the storage posture, and the remote working device 12 inside the furnace can be collected outside the furnace.

In the present embodiment, the rotary actuator is
The actuator 33e and the rotary actuator 33h are configured to have a braking function, but each actuator does not have a braking function and generates an output torque through a transmission mechanism having low back drivability. It is obvious that the same effect can be obtained by substituting for.

Further, in the present embodiment, the rotary actuator 33e and the rotary actuator 33h are connected in series to constitute a drive source. However, the circulating mechanism 2 shown in FIG.
It is apparent that the same effect can be obtained by using a mechanism having the same structure as the drive source composed of the rotary actuators 28g and 28h of 8 and the differential mechanism 28i as the drive source of the joint portion of the feeding mechanism 33. Is.

Next, the construction of still another embodiment of the apparatus of the present invention will be described with reference to FIG.

FIG. 18 is a constitutional view of another embodiment of the feeding mechanism constituting the device of the present invention. 18, elements similar to those shown in FIG. 2 are designated by the same symbols.

The feeding mechanism 34 of this embodiment is composed of a horizontal multi-joint mechanism for connecting the lifting mechanism 24 and the working mechanism 21, and FIG. 18 shows the structure of the joint portion of the feeding mechanism 34. The joint portion is composed of a fixed portion 34 and a rotating portion 34b which are rotatably coupled by a bearing 34c, and a rotary actuator 34d with a clutch 34g which is a main drive source for coupling between the fixed portion 34a and the rotating portion 34b. To be done. Further, the power connecting portion 3 which is provided on the upper end portion 22f of the support shell 22 and is connected to and driven by the operation pole 35.
4 m and a pulley 34 k driven by the rotation of the power connecting portion 34 m, which is provided inside a cable bear 24 g and a transmission mechanism 34 l provided corresponding to each joint of the feeding mechanism 34, and one end of which is further transmitted. Flexible flexible tube 34j fixed to 34l and fixed to the fixed portion 34a at the other end
And 34k, and a wire 34i that is connected to the pulley 34k and the pulley 34h fixed to the rotating portion 34b and penetrates the flexible tubes 34j and 34k to form a sub-driving source of the feeding mechanism 34.

In this structure, during normal operation, the clutch 34g is connected and the rotary actuator 34d
The feeding mechanism 34 is driven. On the other hand, if the rotary actuator 34d is stopped due to a failure, the clutch 34
After disconnecting g, the operation pole 35 put in from the work stage 14 is connected to the power connecting portion 34m,
By remotely operating each joint of the feeding mechanism 34 from outside the furnace via the cord 34k, the wire 34i, and the pulley 34h, the feeding mechanism 34 is deformed to the storage posture, and the remote working device 12 inside the furnace is moved outside the furnace. to recover.

According to this embodiment, the auxiliary drive source is driven only by mechanical power transmission to the outside of the furnace, so that the tube / cable bundle 17 is cut to remove the remote inside of the furnace. Even when the power supply to the working device 12 is cut off, the remote working device 12 inside the furnace can be recovered outside the furnace.

In this embodiment, the rotary actuator is
Although the motor 34d is provided with a clutch function, even if a rotary actuator having a high back drivability such as a stepping motor, which does not have a clutch function, is substituted, the drive of the joint by the auxiliary drive source is hindered. It is clear that the same effect can be obtained without the above.

Further, in the present embodiment, the wire 34i guided by the flexible pipes 34j and 34k and the pull mechanism are used as the power transmission means between the transmission mechanism 34l and the rotating portion 34b, but the operation of the lifting mechanism 24 Cable bear 24
It is obvious that the same effect can be obtained by using a power transmission means such as a torque tube capable of transmitting power regardless of the deformation of g.

Next, the configuration of another embodiment of the present invention will be described with reference to FIGS.

19 to 22 are explanatory views showing the structure and operation of another embodiment of the apparatus of the present invention. In these figures, the same elements as those shown in FIGS. 3 to 6 are denoted by the same symbols.

As shown in FIG. 19, the support shell 3 of the present embodiment.
6, the portion above the window 36a has a waterproof structure, and further, compressed gas having a pressure higher than the reactor water pressure at the upper end of the window 36a when the remote working device 12 in the furnace is installed in the furnace , The supporting shell 36 from the air pressure source 37 installed outside the furnace
It is supplied inside and the water level of the support shell 36 is maintained near the upper end of the window 36a. Further, the lifting mechanism 38 is the work mechanism 2
In the state in which 1 is stored inside the support shell 36, the working mechanism 21 has an operation range in which the position of the lowermost end portion can be raised above the upper end portion of the window 36a.

With the above construction, the working mechanism 21 is shut off from the reactor water during the operation of putting the remote reactor working device 12 shown in FIG. 19 into the furnace or during the standby period in the reactor water, and the reactor water is discharged. After that, the working mechanism is carried out by the procedure of FIGS. 20, 21, and 22, that is, the procedure of lowering the working mechanism 21 to the feeding position, feeding the working mechanism 21 to the neutron flux monitor housing 9, and lowering the working mechanism 21 to the working position. 21 In-furnace installation is carried out.

According to this embodiment, the working mechanism 21 can be constantly shut off from the reactor water, and in particular, the working mechanism 21
Is effective when it is configured as a welding device or the like requiring waterproof treatment.

[0098]

EFFECTS OF THE INVENTION According to the present invention, a remote operation in a furnace for remotely performing a repair / inspection work for internal structures that cannot be manually performed due to a high degree of radiation exposure, particularly a repair / inspection work for a neutron flux monitor housing A device can be provided.

Further, since the working mechanism is installed directly on the neutron flux monitor housing, it is possible to position the working head for repair / inspection work with high accuracy and improve the repair work with processing reaction force.

Further, the main drive source and the auxiliary drive source for forcibly returning the respective drive units to the housed state are provided for all the drive units of the in-reactor remote work device, so that the main drive source is stopped due to a failure. In this case, the remote working device inside the furnace can be collected outside the furnace by remote control.

[Brief description of drawings]

FIG. 1 is a vertical sectional front view showing the overall configuration of a reactor pressure vessel provided with an embodiment of the apparatus of the present invention.

FIG. 2 is a vertical cross-sectional front view showing the configuration of an embodiment of a remote working device in a furnace according to the present invention.

FIG. 3 is an explanatory view showing the operation of one embodiment of the in-reactor remote working apparatus of the present invention.

FIG. 4 is an explanatory view showing the operation of an embodiment of the remote working device in a furnace of the present invention.

FIG. 5 is an explanatory view showing the operation of one embodiment of the in-reactor remote working apparatus of the present invention.

FIG. 6 is an explanatory view showing the operation of the main part of the embodiment of the remote working device in a furnace of the present invention.

FIG. 7 is an explanatory diagram showing the operation of the main part of an embodiment of the remote working device in a furnace according to the present invention.

FIG. 8 is an explanatory diagram showing the operation of the main part of an embodiment of the remote working device in a furnace according to the present invention.

FIG. 9 is an explanatory view showing the operation of the main part of the embodiment of the remote working device in a furnace according to the present invention.

FIG. 10 is a vertical cross-sectional front view showing the configuration of a working mechanism that constitutes the remote working device in a furnace according to the present invention.

FIG. 11 is a transverse cross-sectional view showing the operation of the working mechanism constituting the remote working device in a furnace according to the present invention.

12 is a cross-sectional view taken along the line AA of FIG.

13 is a sectional view taken along the line BB of FIG.

FIG. 14 is a vertical sectional front view showing the configuration of another working example of the working mechanism constituting the remote working device in a furnace according to the present invention.

FIG. 15 is a front view showing, in a partial cross section, the configuration of yet another embodiment of the working mechanism constituting the in-reactor remote working apparatus of the present invention.

FIG. 16 is a vertical sectional front view showing the configuration of another embodiment of the in-reactor remote working apparatus of the present invention.

FIG. 17 is a vertical sectional front view showing the configuration of another embodiment of the feeding mechanism constituting the device of the present invention.

FIG. 18 is a perspective view showing a partial cross-section of the configuration of still another embodiment of the feeding mechanism that constitutes the device of the present invention.

FIG. 19 is an explanatory view showing the operation of another embodiment of the in-reactor remote control device of the present invention.

FIG. 20 is an explanatory view showing the operation of another embodiment of the in-reactor remote working apparatus of the present invention.

FIG. 21 is an explanatory view showing the operation of another embodiment of the in-reactor remote control device of the present invention.

FIG. 22 is an explanatory view showing the operation of another embodiment of the in-reactor remote working apparatus of the present invention.

[Explanation of symbols]

1 ... Pressure vessel, 2 ... Fuel rod assembly, 3 ... Upper lattice plate, 4
... core support plate, 5 ... reactor bottom part, 6 ... control rod guide tube, 7 ... control rod drive mechanism housing, 8 ... neutron flux monitor guide tube,
9 ... Neutron flux monitor housing, 10 ... Stabilizer bar, 11 ... Reactor well, 12 ... Reactor remote working device, 1
3 ... Operation floor, 14 ... Work stage, 15
… Lifting winch, 16… Wire, 17… Tube / case
Bull bundle, 18 ... Remote control device, 19 ... Control rod guide tube fixing pin, 20, 32, 35 ... Operation pole, 21 ... Working mechanism, 22, 36 ... Support shell, 23, 33, 34 ... Feeding mechanism, 24, 38 ... Lifting mechanism, 25 ... Upper mechanism, 26 ...
Lower mechanism, 27 ... Clamp mechanism, 28, 30, 31, ...
Circulation mechanism, 29 ... Working head, 37 ... Air pressure source.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takao Funamoto 7-1, 1-1 Omika-cho, Hitachi-shi, Ibaraki Hitachi Ltd. Hitachi Research Laboratory (72) Inventor Takao Shimura 3-chome, Sachi-cho, Hitachi-shi, Ibaraki No. 1 No. 1 Hitachi Ltd. Hitachi factory (72) Inventor Yoshihide Kondo 6-9 Takaracho, Kure City, Hiroshima Prefecture Babcock Hitachi Kure Factory

Claims (16)

[Claims] 1. A remote work device for performing repair / inspection work of a neutron flux monitor housing inside a reactor pressure vessel, wherein a work head for performing the repair / inspection work and a center axis of the neutron flux monitor housing are orbital centers. An orbiting mechanism having a cavity for encircling the head and introducing the neutron flux monitor housing into the orbital center, and a clamp mechanism for gripping the neutron flux monitor housing from the side and positioning the central axis of the neutron flux monitor housing at the orbital center of the orbiting mechanism. And a vertically elongated window that allows the working mechanism to move in and out on the side surface of the lower end that is supported by the upper end contacting the core support plate hole and the lower end installed on the control rod drive mechanism housing. The hollow cylindrical support shell and the working mechanism are extended and supported from inside the support shell toward the neutron flux monitor housing. And a feeding mechanism that is contained inside,
An in-furnace remote working device comprising an elevating mechanism that is coupled to a feeding mechanism and moves the working mechanism up and down. 2. A main drive source for driving each mechanism as a driving means for the orbiting mechanism, the clamp mechanism, the feeding mechanism and the elevating mechanism, and an operation for returning each mechanism to the storage position when each main drive source is stopped. 2. The in-reactor remote work system according to claim 1, further comprising a sub drive source. 3. A main gear having a notch for introducing the neutron flux monitor housing from the peripheral end to the central part and connected to the work head, two or more auxiliary gears connected to the main gear, and each auxiliary gear. 3. The in-reactor remote working device according to claim 1, wherein the orbiting mechanism is composed of a synchronizing mechanism that rotates in synchronization and a main driving source and a sub driving source that apply a driving force to the synchronizing mechanism. 4. A bevel gear is mounted on an orthogonal shaft provided on a drive shaft connected to a synchronizing mechanism, and two drive pipes each having a second bevel gear which is penetrated by the drive shaft and meshes with the bevel gear at an end thereof, The drive shaft is equipped with a differential drive mechanism which is inserted from both ends of the drive shaft with the orthogonal axis as a boundary, and is connected to each of the two drive pipes via a transmission means such as a worm gear having low back drivability. Whether to connect rotary actuators for main drive and auxiliary drive, or connect rotary actuators for main drive and auxiliary drive having a brake function to each of the two drive pipes, 4. The in-reactor remote work device according to claim 3, wherein the drive source of the circulation mechanism is constituted by any one of the means. 5. A rotary actuator for main drive is connected to a drive shaft connected to a synchronizing mechanism via a clutch, and an operation pole that can be rotated from outside the furnace is connected as a sub drive source. The in-reactor remote working device according to claim 3, wherein a power connecting portion for driving the rotating shaft is provided on the drive shaft to constitute a circulating mechanism. 6. A rotary actuator such as a stepping motor having a high back drivability as a main drive source is connected to a drive shaft connected to a synchronizing mechanism, and a rotary drive can be operated from outside the furnace as a sub drive source. 4. The in-reactor remote work device according to claim 3, wherein the drive shaft is provided with a power connection portion for connecting various operation poles to form a circulating mechanism. 7. A rotary actuator having a brake function or two rotary actuators having low back drivability, one of which is a main drive source and the other of which is a sub drive source, which are connected in series. 4. The in-reactor remote work device according to claim 3, wherein the orbiting mechanism is configured to drive the synchronizing mechanism with the drive source. 8. A main drive source includes a spring mechanism for generating a gripping force for gripping the neutron flux monitor housing, and an actuator for releasing the grip of the neutron flux monitor housing against the gripping force generated by the spring mechanism. 2. A clamp mechanism as an auxiliary drive source, comprising a clamp mechanism including an actuator for pushing the side surface of the neutron flux monitor housing against the grip force generated by the spring mechanism and forcibly releasing the grip. The remote work device in a furnace according to claim 2. 9. A parallel link connecting a lower end of the lifting mechanism and an upper end of a working mechanism, and a main link connected to a joint of either a direct acting actuator or a parallel link of a main driving source connecting diagonally of the parallel link. When the main drive source is stopped while the working mechanism is being extended by the feeding mechanism, the feeding mechanism is composed of the rotary actuator of the driving source and the raising / lowering mechanism is used as the auxiliary driving source of the feeding mechanism. And a side surface of the parallel link and a shoulder portion of the holding mechanism slide on the upper end portion of the window of the support shell to generate a motion for storing the feeding mechanism and the working mechanism in the support shell. The remote work device in a furnace according to claim 1 or claim 2. 10. A rotary type actuator having a braking function or a rotary type having a low back drivability, which constitutes a payout mechanism from a horizontal multi-joint mechanism connecting a lower end portion of an elevating mechanism and an upper end portion of a working mechanism. Two actuators,
A drive source configured by connecting one in series with the main drive source and the other as a sub drive source in series. The in-furnace remote working device according to claim 1 or 2, wherein the remote working device comprises a part. 11. A feeding mechanism is composed of a horizontal multi-joint mechanism connecting a lower end of an elevating mechanism and an upper end of a working mechanism, and a bevel gear is mounted on an orthogonal shaft provided on a drive shaft and penetrated by the drive shaft. Two drive pipes having a second bevel gear that meshes with the bevel gear at the ends are inserted from both ends with the orthogonal axis of the drive shaft as a boundary to form a differential drive mechanism, which has low back drivability, for example. Each of the two drive pipes is connected to a rotary actuator for main drive and auxiliary drive through a transmission means such as a worm gear, or a brake function is provided for each of the two drive pipes. It is characterized in that a rotary actuator for main drive and auxiliary drive is connected or a drive source configured by either means is built in each joint part of the horizontal multi-joint mechanism and the joint is driven by the drive shaft. Furnace remote working device according to claim 1 or claim 2 wherein the. 12. A rotary actuator of a main drive source, which comprises a feeding mechanism composed of a horizontal multi-joint mechanism connecting a lower end portion of an elevating mechanism and an upper end portion of a working mechanism, and further has a clutch mechanism on an output shaft, or In the rotary actuator of the main drive source with high back drivability, each joint part of the horizontal multi-joint mechanism is configured by connecting between the fixed part and the rotary part, which are connected with rotational freedom. The pulley provided in the rotating portion of the joint portion and another pulley provided with a power connection portion for connecting an operation pole that can be rotated from the outside of the furnace are connected via a wire penetrating the flexible tube. 3. The remote working device in a furnace according to claim 1 or 2, wherein the remote working device is coupled to each other to form a sub-driving source of the feeding mechanism. 13. A working mechanism is divided into an upper mechanism whose upper end is connected to a feeding mechanism and a lower mechanism composed of a clamp mechanism, a circling mechanism and a working head, and between the upper mechanism and the lower mechanism. 7. A hinge for freely supporting the posture of the lower mechanism with respect to the upper mechanism is provided in the, and a clamp mechanism for uniquely determining the storage posture of the lower mechanism with respect to the upper mechanism is provided between the upper mechanism and the lower mechanism. 1
In-furnace remote work device described. 14. A direct-acting actuator for a main drive source, which is connected to a payout mechanism and contacts the inner surface of a support shell and slides vertically, and which is connected between an upper end of the sliding mechanism and an upper end of the support shell. And a remote driving winch mechanism for pulling up the sliding mechanism via a wire as a sub-driving source of the lifting mechanism is provided at the upper end of the support shell. Item 2. The in-furnace remote work device according to Item 2. 15. A sliding mechanism of an elevating mechanism is divided into a sliding portion that is in contact with a support shell and a swivel portion that swivels around the slidable portion around an axis in the vertical direction, and the swivel portion is moved in the storage direction by a spring force. A spring mechanism for holding is provided between the sliding part and the swivel part, and a notch for introducing the neutron flux monitor housing from the peripheral end toward the center is provided in the upper mechanism of the working mechanism. The remote working device in a furnace according to claim 1, wherein a curved surface is formed at the tip of the notch, or a roller is provided at the two tips of the notch. 16. The elevating mechanism is configured such that the lower end of the working mechanism is located above the upper end of the window of the supporting shell at the upper limit position of the working mechanism inside the supporting shell, and the supporting mechanism is above the upper end of the window. The remote working device in a furnace according to claim 1, wherein the inside of the shell has a waterproof structure.