JPH0829579A - Method and apparatus for inspecting/repairing inside of reactor - Google Patents

Abstract

PURPOSE:To perform maintenance, inspection, repair and surface reforming at the welded part in a reactor stably and efficiently using a space walking work robot. CONSTITUTION:The inventive apparatus comprises a space walking robot handling unit, a winder for winding a composite cable 29 containing an optical fiber, and a space walking work robot 31 connected with the composite cable 29. The robot 31 comprises a robot propulsion unit 42, a laser light irradiation unit 40 introduced through an optical fiber 32, and a tactile mechanism 45 fixed with an ultrasonic probe 71. The robot propulsion unit 42 propels the space walking work robot 31 to walk to a required welding part W in a reactor and then the welded part W is irradiated with a pulsating laser light from the laser irradiation unit 40 which touching the welded part W with the tactile mechanism 45. Physical inspection is made at the welded part by measuring an ultrasonic vibration generated upon irradiation with laser light using the ultrasonic probe-71 while improving the surface strain at the welded part.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inspection / repair method and apparatus for inspecting / inspecting and repairing a welded part in a nuclear reactor, and more particularly to a welded part or core of a core shroud of a light water reactor. The present invention relates to a method and apparatus for inspecting and repairing in-reactor that enables remote inspection to perform inspection / inspection and repair of welded parts of lower plenum and downcomer.

[0002]

2. Description of the Related Art In a light water reactor, an underwater television camera is attached to the end of a mast or a long rod in order to secure the soundness of the welded part in the reactor, and the mast or the long rod is mounted on the reactor floor. It is operated and inserted into the reactor, and the underwater television camera is moved inside the reactor to bring it closer to the welded part, and the welded state and its deteriorated state are visually inspected.

However, the underwater television camera attached to the tip of the mast or the long rod is accurately aligned with the welding portion in the nuclear reactor, and the underwater television camera is stably directed toward the welding portion without causing camera shake. It is difficult to hold, let alone move the underwater television camera stably along the welding line of the welded part, it is very difficult work,
It was difficult even for a skilled person.

Welds in the reactor include a weld on the inner surface of the core shroud, a weld on the lower core plenum, and a weld on the downcomer formed by the reactor pressure vessel and the core shroud. Welds on inner surface of core shroud, outer wall of core shroud at downcomer, inner wall of reactor pressure vessel, welds of jet pump, riser brace arm, etc., shroud support of lower core plenum, reactor pressure lower mirror, control rod drive housing (Hereinafter referred to as CRD housing.), Welds such as stub tubes and bulkheads are located in a narrow space several meters below the reactor floor, and it is difficult to visually inspect these welds while moving the underwater television camera. Met.

From this point of view, an underwater swimming type inspection robot having a high degree of freedom of movement has been developed, and some of these inspection robots are equipped with an underwater television camera.

[0006]

The underwater swimming inspection robot equipped with an underwater television camera has improved the degree of freedom of movement in that it can be freely moved by remote control in a reactor filled with water. I didn't like the lack of stability. In addition, this inspection robot only performs visual inspection to visually observe the welded part in the reactor with an underwater television camera, physically inspects and inspects the welded part in the reactor,
The repair work could not be performed.

Therefore, the inside of the nuclear reactor can be freely moved by remote control, the soundness of the welded portion inside the nuclear reactor can be accurately confirmed, and not only visual inspection but also physical inspection and inspection can be effectively performed. In the unlikely event that a defect occurs, repair the welded part, and if no defect occurs, perform surface modification (improvement of surface stress state) for preventive maintenance. The problem was how to configure the inspection / repair device.

The present invention has been made in consideration of the above-mentioned circumstances, and the inspection / inspection / repair / surface modification of a welded portion in a nuclear reactor can be stably and efficiently performed by using a swimming work robot having a high degree of freedom of movement. It is an object of the present invention to provide a method and device for inspecting and repairing a nuclear reactor that can be frequently performed.

Another object of the present invention is to stably set a swimming work robot in a narrow welded portion in a nuclear reactor and to irradiate a pulsed laser beam in a line segment along a weld line of the welded portion. It is an object of the present invention to provide a method and apparatus for inspecting / repairing a nuclear reactor, which physically inspects / inspects / repairs a welded portion or performs surface modification.

[0010]

In order to solve the above-mentioned problems, an in-reactor inspection / repair device according to the present invention is provided on a reactor pit floor surface or a reactor floor as described in claim 1. An installed swimming robot handling device, a cable winding device that is provided in this swimming robot handling device and that winds a composite cable containing an optical fiber so that it can be drawn out, and a composite cable that is drawn out from this cable winding device. A swimming type working robot connected to the swimming type working robot, wherein the swimming type working robot is a robot propulsion device for propelling the robot itself by being lowered into a water-filled nuclear reactor; and a pulsed laser guided by the optical fiber. It is equipped with a laser light irradiation optical device for irradiating light, and an antenna mechanism in which an ultrasonic probe is attached to the antenna in an antenna-like manner. The welded portion is allowed to swim, and the laser light irradiation optical device irradiates the welded portion with pulsed laser light in a state where the antenna mechanism is in contact with the welded portion to improve the surface stress state of the welded portion and the laser. The ultrasonic vibration generated during light irradiation is measured with an ultrasonic probe to perform a physical inspection of the welded portion.

In order to solve the above-mentioned problems, the in-reactor inspection / repair device according to the present invention has a body work frame having a front shell and a rear shell as described in claim 2. The main body shell is watertightly coupled to form a main body shell, and the main body frame has a built-in laser light irradiation optical device for irradiating pulsed laser light guided by an optical fiber in a line segment shape and irradiating the main body frame with a robot. A cross movement propulsion device that applies propulsive force in a direction orthogonal to the propulsion direction of the propulsion device; and a balancer mechanism with a weight that stabilizes swimming of the swimming work robot and changes the propulsion direction of the cross movement propulsion device. Due to the cooperative operation of the cross movement propulsion device and the balancer mechanism, the line-shaped pulsed laser light from the laser light irradiation optical device is melted in a state of being orthogonal to the welding line. It is obtained so as to move the welding line direction of the parts.

Further, in order to solve the above-mentioned problems,
As described in claim 3, the in-reactor inspection / repair device according to the present invention accommodates a work surface monitoring system for observing a work surface of a welded part in a body shell of a swimming work robot, The monitoring system includes a reflection optical system that guides the light from the weld surface, a detection device such as a CCD camera that detects the light guided through the reflection optical system, and a shutter device that opens and closes the light to the detection device. The shutter device closes the shutter while the pulsed laser light is being radiated to the welded part, and opens the shutter when it is not radiated to detect the appearance of the laser light irradiation part, the surface temperature, and the plasma generated near the irradiation part. And the condition for improving the surface stress of the welded part is set to a predetermined value.

Furthermore, in order to solve the above-mentioned problems, the in-reactor inspection / repair device according to the present invention is defined in claim 4.
As described above, the laser light irradiation optical device incorporated in the main body shell of the swimming type work robot is a laser light guide optical system that expands pulsed laser light from an optical fiber to form parallel slit laser light. And a laser light irradiation optical system for focusing and irradiating the parallel laser light from the laser light guiding optical system, and the laser light irradiation optical system has a nozzle main body for irradiating pulsed laser light, The nozzle body is provided with a water flow generator that generates a water flow in the laser irradiation axis direction and in a direction orthogonal to the laser irradiation axis at the nozzle exit position to remove air bubbles, and further, as described in claim 5, A Stirling engine is used as the drive source of the device.This Stirling engine emits pulsed laser light and reflects laser light from the nozzle and welds of the nozzle body. The portion for receiving is obtained by a heating unit.

In order to solve the above-mentioned problems, the in-reactor inspection / repair device according to the present invention is, as described in claim 6, at least a part of the front shell of the main body shell of the swimming type work robot. 9. A transparent window of a heat-resistant and pressure-resistant shutter device using a liquid crystal that becomes opaque when irradiated with a pulsed laser beam, and a CCD camera having a visual function is installed in the main body shell. As described above, the front shell of the main body shell is provided with an antenna mechanism, and this antenna mechanism is provided with a plurality of ultrasonic probes at the tip of the structural frame projecting forward from the front shell, and the structural frame is pulsed. Cover with a heat-resistant and pressure-resistant shield that uses liquid crystal that becomes opaque when irradiated with laser light,
Further, as described in claim 8, a purification device for collecting foreign matters such as scattered matters is housed in the front shell of the main body shell,
In this purifying device, the inflow port is opened inside the antenna mechanism surrounded by the shield plate, and the outflow port is opened outside the antenna mechanism.

Further, in order to solve the above-mentioned problems,
In the nuclear reactor inspection / repair device according to the present invention, as described in claim 9, the swimming type work robot comprises a main body frame in which a front shell and a rear shell are watertightly coupled to each other to form a main body shell. A laser light irradiation optical device having a fixed optical system and a moving optical system for irradiating pulsed laser light guided by an optical fiber in a line segment shape is built into the main body frame of the robot propulsion device. A cross movement propulsion device including a propulsion duct that applies a propulsive force in a direction orthogonal to the propulsion direction, and a balancer mechanism that stabilizes swimming of the swimming work robot and changes the propulsion direction of the cross movement propulsion device. A slide stage mechanism that is movable in the duct axial direction is provided in the propulsion duct, and the moving optical system of the laser light irradiation optical device is attached to the slide stage mechanism. The line-shaped pulsed laser light from the laser light irradiation optical device is scanned in a rectangular range by the sliding operation of the de-stage mechanism, and the line-shaped pulsed laser light is operated by the cooperative operation of the cross movement propulsion device and the balancer mechanism. The laser beam is moved in a rectangular scanning range along the welding line in a state where the laser beam is orthogonal to the welding line.

In order to solve the above-mentioned problems, the nuclear reactor inspection / repair method according to the present invention, as set forth in claim 10, is a composite device that is fed from the cable winding device of the swimming robot handling device. A swim-type work robot connected to the tip of the cable was made to swim in a reactor filled with water, and the antenna mechanism of the swim-type work robot was pressed and brought into contact with a required welded portion in the reactor by a robot propulsion device. In this state, the laser light irradiation optical device irradiates the welded portion with the pulsed laser light from the optical fiber along the welding line direction to improve the stress state of the welded portion, while the pulsed laser light is emitted. Perform a physical inspection of the welded portion by measuring the ultrasonic vibration, and if a defect is found in the welded portion by this inspection, irradiate the above-mentioned defective portion with pulsed laser light for the required time and It is a method to perform Osamu processing.

Further, in order to solve the above-mentioned problems,
As described in claim 11, a method for inspecting and repairing in a nuclear reactor according to the present invention provides a reactor for cross-moving pulsed laser light emitted from a laser light irradiation optical device of a swimming work robot. When moving in the welding line direction of the inner weld, the slide stage mechanism is driven to move the moving optical system of the laser light irradiation optical device within a predetermined range, and pulse laser light is irradiated within this range for batch processing. Is the way.

On the other hand, in order to solve the above-mentioned problems, the in-reactor inspection / repair device according to the present invention, as set forth in claim 12, is a swimming device installed on the floor of the reactor pit or on the reactor floor. Type robot handling device, and a cable winding device that is provided in this swimming type robot handling device and winds a composite cable containing an optical fiber so that it can be drawn out.
And a swimming-type mother ship robot coupled to a composite cable fed from the cable winding device, wherein the swimming-type mother ship robot is a robot propulsion device for propelling the robot itself by being lowered into a water-filled reactor. ， While provided with a cross movement propulsion device capable of propelling in a direction orthogonal to the robot propulsion direction of this robot propulsion device, the swimming mother ship robot enables a plurality of swimming work robots to enter and exit via a composite cable. It is a cable combination.

In order to solve the above-mentioned problems, in the nuclear reactor inspection / repair device according to the present invention, as described in claim 13, the swimming mother ship robot has a closed robot casing, In front of the robot casing, a plurality of robot storage cylinders for storing the swim-type work robot are provided, and the composite cable connected to the swim-type work robot is wound in the robot casing so that the composite work cable can be taken in and out. In addition to accommodating the cable winding device, a laser light guiding optical device for guiding the pulsed laser light from the optical fiber is provided in the beam distribution optical system provided in the cable winding device.

Further, in order to solve the above-mentioned problems, the in-reactor inspection / repair method according to the present invention, as set forth in claim 14, is a composite wound from a cable winding device of a swimming robot handling device. A swim-type mother ship robot connected to the tip of the cable swims in the reactor filled with water to guide it to the required work space in the reactor, and then multiple swimmers connected to the swim-type mother ship robot by a cable. Type work robot is drawn out, swims and press-contacts to the required welding part in the reactor, and while the plural swimming-type work robots are press-contacting to the required welding part in the reactor along its welding line. While irradiating the pulsed laser light to improve the stress state of the welded part, the ultrasonic vibration generated during the pulsed laser light irradiation is measured to perform a physical inspection of the welded part. If granted, a method for performing repair processing of the defect portion by irradiating duration pulsed laser beam to the defect.

On the other hand, in order to solve the above-mentioned problems, the in-reactor inspection / repair device according to the present invention, as set forth in claim 15, is a swimming system installed on the floor of the reactor pit or on the reactor floor. Type robot handling device, and a cable winding device that is provided in this swimming type robot handling device and winds a composite cable containing an optical fiber so that it can be drawn out.
And a swimming-type mother ship robot coupled to a composite cable fed from the cable winding device, wherein the swimming-type mother ship robot is a robot propulsion device for propelling the robot itself by being lowered into a water-filled reactor. , And a cross movement propulsion device capable of propelling in a direction orthogonal to the robot propulsion direction of the robot propulsion device, while the swimming mother ship robot is an optical system that allows a plurality of swimming work robots to enter and exit wirelessly underwater. Combined with.

In order to solve the above-mentioned problems, according to the in-reactor inspection / repair device of the present invention, as described in claim 16, the swimming mother ship robot has a closed cylindrical robot casing. A plurality of robot housings for accommodating the swimming work robots in the robot casing are provided in a recessed manner, and laser light scanning for distributing and scanning the laser light to each swimming work robot in the robot casing. The swimming type work robot is provided with a laser light receiving device for receiving the laser light from the laser light scanning optical device, and the work robot is provided with a laser light irradiation optical device for guiding and emitting the received laser light. In addition, the swimming-type work robot is orthogonal to the robot propulsion device for moving underwater and the robot propulsion direction of the robot propulsion device. It is provided with a cross mobile propulsion device for imparting movement direction.

Further, in order to solve the above-mentioned problems, the method for inspecting and repairing in a nuclear reactor according to the present invention, as set forth in claim 17, is a compound reel fed from a cable winding device of a swimming robot handling device. A swim-type mother ship robot connected to the end of the cable is made to swim in a water-filled reactor and guided to the required work space in the reactor, and subsequently optically coupled to the swim-type mother ship robot underwater wirelessly. Pull out multiple swimming work robots and press them into contact with the required welds in the reactor, and press the swimming work robots into contact with the required welds in the reactor along their welding lines. Pulsed laser light is applied to improve the stress state of the welded part, while ultrasonic vibration generated during pulsed laser light irradiation is measured to perform a physical inspection of the welded part. When observed, it is a method for performing repair processing of the defect portion by irradiating duration pulsed laser beam to the defect.

On the other hand, the internal inspection of the reactor according to the present invention
In order to solve the above-mentioned subject, a repair device is claimed.
As described in 8, the transverse carriage that runs on the work carriage installed on the reactor floor or the floor of the reactor pit, the multistage telescopic telescopic mast supported by the traverse carriage, and the telescopic mast A cable hoisting device that winds up and down, a swimming type work robot housed in the tip mast of the telescopic mast, and a pulsed laser beam housed in the telescopic mast toward the swimming type work robot. A laser beam scanning optical device for scanning,
The tip mast of the telescopic mast is lowered to the working space in the reactor by operating the cable hoisting device, and in this lowered state, the swimming-type work robot is taken out of the tip mast and swims to a required welding portion to be in pressure contact, The swimming type work robot is configured to perform inspection / inspection / repair / preventive maintenance work on the welded portion with the pulsed laser light emitted to the welded portion.

Further, in order to solve the above-mentioned problems,
The nuclear reactor inspection / repair device according to the present invention is, as described in claim 19, provided with a laser beam scanning optical device for guiding a pulsed laser beam from a transverse carriage in a multistage telescopic telescopic mast. The optical scanning optical device is provided with a radiation optical system that emits a pulsed laser beam to the tip end mast of the telescopic mast, while the swimming work robot accommodated in the tip end mast is underwater wireless in the radiation optical system. Are optically coupled to each other, and the pulsed laser light is emitted from the swimming work robot to the welded portion in the reactor.

On the other hand, in order to solve the above-mentioned problems, the in-reactor inspection / repair device according to the present invention is installed on the reactor floor or on the floor of the reactor pit, as set forth in claim 20. The telescopic pole handling device, the telescopic pole handled by the telescopic pole handling device, and the swimming type work robot detachably held by the telescopic pole handling device. The telescopic pole guides a laser for guiding pulsed laser light. While the optical scanning optical device is housed inside, the pulsed laser light emitted from the tip of the telescopic pole by the laser light scanning optical device can be received by the swimming work robot underwater wirelessly. Is set so as to irradiate the welded portion in the nuclear reactor with the pulsed laser light.

Further, in order to solve the above-mentioned problems,
As described in claim 21, the in-reactor inspection / repair device according to the present invention is such that the swimming-type work robot has a body shell in which hemispherical divided shells are openably and closably connected in a bivalve shape,
A robot propulsion device for propelling the main body shell, a cross movement propulsion device for propelling the main body shell in a direction orthogonal to the robot propulsion direction by the robot propulsion device, and a pulse shape received by the laser light receiving device in the main body shell. The apparatus is provided with a laser beam irradiation optical device for guiding the laser beam and irradiating it to the outside, and a suction cup provided on the facing surface of the divided shell for adsorbing and fixing the main body shell.

The in-reactor inspection / repair device according to the present invention is
In order to solve the above-mentioned problems, as described in claim 22, a swimming type robot handling device installed on the floor surface of the reactor pit or on the reactor floor, and an optical fiber provided in this robot handling device are provided. A cable winder that winds the contained composite cable so that it can be drawn out, a swimming mother ship robot that is connected to the composite cable that is taken out from the cable winder, and a swimming work robot that is detachably held by the composite cable. The swimming-type work robot is configured to be optically coupled to the swimming-type mother robot underwater wirelessly, and the pulsed laser beam is emitted from the swimming-type work robot to the welded part in the reactor. Is.

In order to solve the above-mentioned problems, according to the in-reactor inspection / repair device of the present invention, as described in claim 23, the swimming work robot has a cable gripping mechanism made of a shape memory alloy. With this cable gripping mechanism, a mounting cable provided in the middle of the composite cable is detachably gripped.

On the other hand, in order to solve the above-mentioned problems, an in-reactor inspection / repair device according to the present invention has a laser device and a control panel installed on the reactor floor, as set forth in claim 24. This swimming type work has an optical transmission optical system for guiding power and signal laser light from the laser device and the control panel, and a swimming type work robot for receiving the laser beam emitted from the optical transmission optical system. This is a laser beam emitted from a robot to a welded part in a nuclear reactor.

In order to solve the above-mentioned problems, the in-reactor inspection / repair device according to the present invention has a structure in which the optical transmission optical system has a laser beam scanning optical device. It is configured by combining a light emitting tower and a laser light relay robot that guides the laser light from the emitting tower toward a swimming work robot.

Further, in order to solve the above-mentioned problems,
As described in claim 26, the in-reactor inspection / repair device according to the present invention includes a laser device and a control panel installed on the reactor floor, and a laser beam for power and signals from the laser device and the control panel. The telescopic pole handling device for guiding the telescopic pole, the telescopic pole supported by the telescopic pole handling device, and the swimming work robot capable of optically coupling with the tip of the telescopic pole underwater wirelessly. The pole handling device is installed on the upper lattice plate of the nuclear reactor, while the telescopic pole accommodates a laser beam scanning optical device for scanning the power and signal laser beams.

[0033]

In the reactor inspection / repair method and apparatus according to the present invention, a pulsed laser beam is applied to the welded portion in the reactor by using a swimming type work robot capable of swimming in the reactor by itself. This makes it possible to perform laser work for inspection, inspection, repair, and surface modification of welded parts. Inspection, inspection, repair and surface modification of the welded part can be performed by changing the number of irradiations of the pulsed laser light emitted from the swimming work robot and the irradiation energy (laser light output). , Especially narrow-space welds formed by structures in the reactor, such as welds on the inner surface of the core shroud, welds formed by structures in the lower core plenum, downcomers between the reactor pressure vessel and the core shroud. Inspection, inspection, repair, and surface modification work can be performed on the welded part formed on the part. If laser work is performed using a plurality of swimming-type work robots, work in narrow spaces can be performed more efficiently with a large degree of freedom.

In the in-reactor inspection / repair device according to the first aspect of the present invention, the swimming type work robot is coupled to the composite cable fed out from the cable winding device, and the swimming type work robot is operated by the robot propulsion device. The welded part inside is allowed to swim, and the swimming type work robot irradiates the welded part with pulsed laser light while the antenna mechanism is in pressure contact with the welded part, so the surface modification and repair work of the welded part can be moved freely. It is possible to perform stable and efficient remote control using a high-performance swimming-type work robot, and the physical inspection of the welded portion can be easily and easily measured using the antenna mechanism.

In the in-reactor inspection / repair device according to the second aspect of the present invention, the laser light irradiation optical device incorporated in the main body shell of the swimming type work robot turns the pulsed laser light into a line segment (elongated slit) laser. It can be irradiated by changing to light and crossing the welding line of the welded part. In addition, the swimming work robot can be moved in the direction along the welding line of the welded portion by the robot propulsion device and the cross movement propulsion device. Furthermore, the swimming work robot can be moved stably by the weighted balancer mechanism. Check the weld.
Inspection, repair, and surface modification work can be performed stably and efficiently.

In the in-reactor inspection / repair device according to the third aspect of the present invention, the swimming surface type work robot is provided with the work surface modification monitoring system provided with the shutter device. The appearance and surface temperature of the welded part and the plasma generated near the irradiated part can be observed, and the surface of the welded part can be visually easily observed.

In the in-reactor inspection / repair device according to the fourth aspect, a water flow generating device provided in the nozzle body generates a water flow in the irradiation axis direction of the pulsed laser light and in a direction perpendicular to the irradiation axis. Since the bubbles generated by the irradiation of the pulsed laser light are removed from the optical path of the pulsed laser light, the pulsed laser light can be efficiently applied to the welded portion. As the pulsed laser light, laser light that is less deteriorated by underwater scanning is used.

In the in-reactor inspection / repair device according to claim 5, a Stirling engine is used as a drive source of the water flow generator, and the laser light reflected from the welded portion of the pulsed laser light is heated by the heating unit of the Stirling engine. As a result, it does not require an independent power source to drive the Stirling engine.

In the in-reactor inspection / repair device according to the sixth aspect, a CCD camera having a visual function is installed in the body shell, and the body shell in front of the CCD camera is opaque when irradiated with pulsed laser light. Heat resistance of liquid crystal
Since it is composed of a pressure resistant shutter device, the CCD camera can be protected to prevent halation thereof, while the work robot can swim while checking the front side with the CCD camera.

In the in-reactor inspection / repair device according to the seventh aspect, the front shell of the main body shell is provided with the antenna mechanism, and the antenna mechanism is provided with a plurality of ultrasonic probes. The ultrasonic vibration generated by pulsed laser light irradiation can be measured by a child to physically inspect for defects such as flaw detection in the weld.The antenna mechanism uses liquid crystal that becomes opaque when irradiated with pulsed laser light. Since it is covered with the shield plate, it is possible to effectively prevent the reflected light of the pulsed laser light from leaking to the outside.

In the in-reactor inspection / repair device according to the eighth aspect, since the purifying device for collecting foreign matters such as scattered matter is provided, the foreign matter of scattered matter is collected with the irradiation of the pulsed laser beam. Therefore, the work of cleaning the inside of the nuclear reactor after the laser work by using the inspection / repair device in the nuclear reactor becomes unnecessary.

In the in-reactor inspection / repair device according to the ninth aspect, a slide stage mechanism that is movable in the axial direction is provided in the propulsion duct of the cross movement propulsion device, and laser light irradiation optics is provided in the slide stage mechanism. By attaching the moving optical system of the device and operating the slide stage mechanism to slide, the pulsed laser light in the form of line segments from the laser light irradiation optical device is scanned and irradiated in a rectangular range, and batch movement is performed for each rectangular irradiation range. Therefore, the batch processing can be efficiently performed with the line-shaped pulsed laser light.

In the in-reactor inspection / repair method according to the tenth aspect of the present invention, the stress state of the welded portion is improved by the pulsed laser light applied to the welded portion from the swimming type work robot to perform surface modification. On the other hand, when a physical inspection of the welded portion is performed and a defect is found in the welded portion, the welded portion can be irradiated with pulsed laser light for a further required time to repair the defective portion.

In the in-reactor inspection / repair method according to the eleventh aspect, the pulsed laser light emitted from the laser light irradiator of the swimming type work robot is batch processed to inspect / inspect / repair the welded portion. Surface modification work can be performed.

In the in-reactor inspection / repair device according to the twelfth aspect of the present invention, a swimming type mother ship robot is coupled to the composite cable fed from the cable winding device, and a plurality of swimming type work robots are output to the mother ship robot. The cables are connected so that they can be inserted, and multiple swim-type work robots are used to perform laser work on the welds in the reactor, so inspection, inspection, repair, and surface modification work on the welds in the reactor can be performed efficiently. It can be done efficiently.

In the in-reactor inspection / repair device according to the thirteenth aspect of the present invention, the swimming mother ship robot is provided with a plurality of robot storage cylinders, and the swimming work robots are stored in the robot storage cylinders and stored therein. Since the composite cable that is sometimes coupled to the swimming work robot is taken up by the cable winder, multiple swimming work robots are compactly stored in the mother ship robot, and multiple swimming work robots are stored when the swimming work robot swims. The work robot does not interfere with the swimming.

In the in-reactor inspection / repair method according to the fourteenth aspect, the surface of the welded portion is physically modified while the surface of the welded portion is modified by the pulsed laser light emitted from the swimming work robot to the welded portion. When inspection is performed and defects are found in the welded part, the welded part can be further irradiated with pulsed laser light for the required time to repair the defective part. Since the swimming type work robot can be performed in parallel, the laser repair work can be performed efficiently and efficiently.

In the in-reactor inspection / repair device according to the fifteenth aspect of the present invention, while the swimming type mother ship robot is coupled to the composite cable fed out from the cable winding device, a plurality of swimming type work is performed on the swimming type mother ship robot. Since the robots are optically coupled to each other underwater wirelessly, the swimming freedom of multiple swimming work robots is improved, and they can move freely even in a narrow place. Light can be used to efficiently inspect, inspect, repair, and modify the surface of welds.

In the in-reactor inspection / repair device according to the sixteenth aspect of the present invention, since the swimming-type mother robot can store a plurality of swimming-type working robots stored in the robot storage unit, the swimming-type working robot is The mother robot can freely swim in the water in the reactor without hindering the swimming of the swimming mother robot by the self-propelled robot, while the swimming work robot is also self-propelled with the robot propulsion device and the cross movement propulsion device. It enables three-dimensional underwater swimming, and the swimming work robot is optically connected to the swimming mother ship robot underwater wirelessly. Therefore, the swimming work robot has a large degree of freedom in underwater swimming, and the swimming work robot performs underwater work. Can be performed efficiently and efficiently.

In the nuclear reactor inspection / repair method according to the present invention, a plurality of swimming type work robots can be stably stored in the swimming type mother ship robot, and the swimming type mother ship robot is swimming type. While not disturbed by the work robot, when the swimming mother ship robot reaches the required working space in the reactor, the swimming work robot is taken out and swims to the required welding part by self-propelled to this welding part. It is pressed and contacted. In this pressing contact state, the laser beam scanning optical device of the swimming mother ship robot allows the plurality of swimming type work robots to simultaneously scan the pulsed laser light by underwater radio to perform underwater work. In addition, the swimming work robot can efficiently perform inspection, inspection, repair, and surface modification work on the welded part in the reactor.

In the in-reactor inspection / repair device according to the eighteenth aspect, the swimming work robot is housed in the multistage telescopic telescopic mast supported by the transverse carriage so that the swimming work robot can be freely put in and taken out. Since the inspection, inspection, repair, and surface modification of the welded part in the reactor are performed, the repair work can be efficiently carried out even in the place where the welded part in the reactor is narrow.

In the in-reactor inspection / repair device according to claim 19, since the swimming work robot is optically coupled to the tip mast of the telescopic telescopic mast underwater wirelessly, the swimming work robot is free to move. Therefore, the laser repair work can be performed more efficiently.

In the in-reactor inspection / repair device according to claim 20, a swimming work robot is detachably held by the telescopic pole handled by the telescopic pole handling device, and welding in the nuclear reactor is performed by the swimming work robot. Since the inspection / inspection / repair / surface modification work of the portion is performed, the laser repair work can be efficiently performed even in a place where the welded portion in the reactor is narrow.

In the in-reactor inspection / repair device according to the twenty-first aspect, the swimming-type work robot is provided with a robot propulsion device and a cross movement propulsion device to allow the main body shell to freely swim while forming the main body shell. A suction cup is provided on the opposing surface of the split shell, and the suction cup fixes the main body shell to the reactor internal structure, so that the swimming work robot can be stably sucked and fixed to perform underwater work.

In the in-reactor inspection / repair device according to the twenty-second aspect of the present invention, the swimming mother robot is coupled to the composite cable fed from the cable winder, while the swimming work robot is detachably attached to the composite cable. Hold and
Since this swimming work robot is optically coupled to the swimming mother ship robot underwater wirelessly, the freedom of movement (swimming) of the swimming work robot can be improved. The inspection, inspection, repair and surface modification work of the inner weld can be performed efficiently.

In the in-reactor inspection / repair device according to the twenty-third aspect, the attachment cable provided on the composite cable can be detachably held by the shape memory alloy cable holding mechanism provided on the swimming work robot. Can
Since the attachment / detachment operation is performed utilizing the action of the shape memory alloy of the cable gripping mechanism, it is reliable and easy.

In the in-reactor inspection / repair device according to the twenty-fourth aspect, laser light for power and signals from a laser device or a control panel is sent to a swimming work robot by an optical transmission optical system, and this swimming work robot is used. Check the welds in the reactor
Inspection, repair, and surface modification work are performed, so these works can be performed efficiently.

In the in-reactor inspection / repair apparatus according to the twenty-fifth aspect, since the optical transmission optical system is constituted by the laser light emission tower and the laser light relay rod, a plurality of swimming type optical transmission systems are provided by this optical transmission optical system. The pulsed laser light can be sent to the work robot at the same time, and the work efficiency and efficiency can be improved.

In the in-reactor inspection / repair device according to the twenty-sixth aspect of the invention, the swimming-type work robot handled by the telescopic pole handling device optically transmits power from the laser device and the control panel and signal laser light to the underwater radio. Since the swimming work robot has a large degree of freedom of movement, the swimming work robot can efficiently perform inspection, inspection, repair, and surface modification work on the welded portion in the reactor.

[0060]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a longitudinal sectional view showing a boiling water reactor as a light water reactor equipped with the in-reactor inspection / repair device according to the present invention. The boiling water reactor has a reactor pressure vessel 10 housed in a reactor containment vessel, and the reactor pressure vessel 10 is erected by a support skirt 11 on a reactor pressure vessel support pedestal (not shown). .

A reactor core 12 is formed inside the reactor pressure vessel 10, and the reactor core 12 is installed in the reactor pressure vessel 10 by an in-core support structure 13. In-furnace support structure 13
Is a core shroud 14 that surrounds the core 12, and
The core support plate 15 and the upper lattice plate 16 for supporting the nuclear fuel loaded in the reactor, and the control rod drive mechanism housing 17 attached to the lower mirror portion 10a of the reactor pressure vessel 10 and the upper end of the core support plate 15 being supported. And a control rod guide tube (not shown) fixed to the.

The core shroud 14 that surrounds the core 12 is formed in a cylindrical shape and is installed on the shroud support 18. An annulus-shaped downcomer portion 20 is formed between the core shroud 14 and the reactor pressure vessel 10, and a plurality of jet pumps 21 are installed in the downcomer portion 20 at appropriate intervals in the circumferential direction. The jet pump 21 takes in the reactor water around the downcomer section 20 and forcibly sends the coolant from the diffuser 22 to the reactor core 12 through the lower core plenum 24 below the partition wall 23.

On the other hand, an upper opening of the core shroud 14 is covered with a shroud head (not shown) having a steam separator, while a steam dryer is provided above the steam separator. The upper portion of the reactor pressure vessel 10 is covered and hermetically closed by a reactor pressure vessel head (not shown). The steam separator and the steam dryer are arranged in the core upper plenum 25 above the core.

At the time of periodic inspection of the boiling water reactor, the operation of the reactor is stopped and the inside of the reactor pressure vessel 10 is maintained and inspected. At the time of this maintenance / inspection, water is poured into the reactor well above the reactor pressure vessel 10 and, in the state of being filled with water, the reactor pressure vessel head, the steam dryer and the steam separator are passed through the reactor well. The in-reactor equipment is removed from the reactor pressure vessel 10 and temporarily placed in an equipment temporary storage pool (not shown). The nuclear fuel loaded in the core 12 of the nuclear reactor is taken out of the core 12 and temporarily stored in the fuel storage pool.

After the reactor internal equipment is temporarily placed in the equipment temporary storage pool outside the reactor pressure vessel 10 or the nuclear fuel is temporarily stored in the fuel storage pool, the water level in the reactor well is lowered as necessary to A swimming robot handling device 28 is installed on the furnace pit 27. The robot handling device 28 may be installed on a reactor floor (operation floor) not shown.

The swimming type robot handling device 28 has a cable winding device 30 for winding the composite cable 29 so that the composite cable 29 can be paid out, and a swimming type working robot 31 is connected to the tip of the composite cable 29. The composite cable 29 is a combination of a power cable and a signal cable and has an optical fiber 32 contained therein.

Further, the swimming type robot handling device 28 guides the pulsed visible laser light to the optical fiber 32 by the laser device 3.
3 is provided. The laser device 33 is adapted to generate a harmonic of a copper vapor laser or a YAG laser for output. Maintenance, inspection, repair, and surface modification of the welded portion in the reactor pressure vessel 10, for example, the welded portion in the core shroud 14, the welded portion in the downcomer portion 20, and the welded portion in the lower core plenum portion 24 by the swimming type work robot 31. It is designed to work.

The swimming-type work robot 31 is installed in the reactor pit 2
The robot handling device 28 installed on the floor surface of No. 7 and the composite cable 29 containing the optical fiber 32 are connected,
The robot handling device 28 uses the cable winding device 30 to combine the composite cable 29 with the swimming of the swimming-type work robot 31.
It is designed so that it can be paid out or wound up appropriately. The swimming work robot 31 includes an upper grid plate 16 and a core support plate 15.
Has a size (projected cross-sectional area in the swimming direction) and shape that allows it to pass through the openings 16a, 15a without difficulty, and the composite cable 29 is made to match the specific gravity of water so as not to hinder the movement of the swimming work robot 31. There is.

FIG. 1 shows a state in which the swimming type work robot 31 repairs the welded portion on the inner surface of the core shroud 14 below the upper grid plate 16.

The swimming type work robot 31 is shown in FIGS.
It has a sectional structure shown in. The swimming type work robot 31 has a body shell 35 having a watertight closed structure. The body shell 35 is detachably watertightly fixed to a ring-shaped body frame 38 by a front shell 36 and a rear shell 37 of a half type. It constitutes a spherical valve-shaped main body casing.

The swimming type work robot 31 includes a ring-shaped main body frame 38 and a split type spherical valve-shaped main body shell 35 detachably provided on the main body frame 38.
A laser light irradiation optical device 40 housed in the main body shell 35, a work surface monitoring system 41 for monitoring the work surface of the weld W by the pulsed laser light irradiation from the laser light irradiation optical device 40, and a swimming type A robot propulsion device 42 for swimming the work robot 31 and a robot propulsion device 4
The work execution propulsion device 43 as a cross movement propulsion device that moves in a direction orthogonal to the robot propulsion direction in FIG.
And a balancer mechanism 44 for stabilizing the swimming work robot 31 in water, an antenna mechanism 45 attached to the front of the body shell 35, and a cable connector mechanism 46 attached to the back of the body shell 35. .

The cable connector mechanism 46 is the body shell 3
5, a cable connector 49 to which the composite cable 29 is connected is watertightly joined to a fixed connector 48 which is integrally provided on the rear shell of 5, and the screw cap 50 is screwed from the outside and fixed. The composite cable 29 is detachably coupled to the swimming work robot 31 via the cable connector 49. Reference numeral 51 is a cable pin for joining a power cable and a signal cable of the composite cable 29, and the cable pin 51 is used to position the cable connector 49.

The laser beam irradiation optical device 40 includes a laser beam guiding optical system 53 fixed to the main body frame 38,
The laser light irradiation optical system 54 is provided on the front shell 36 of the main body shell 35.

The laser light guiding optical system 53 is the lens optical system 5
5 and the mirror optical system 56 are combined to form a scanning optical path of laser light. The lens optical system 55 is configured by combining a magnifying lens 57 that diffuses the spot-shaped laser light from the optical fiber 32 and a cylindrical lens 58 that transforms the diffused laser light into slit-shaped parallel light. On the other hand, the mirror optical system 56 includes a plurality of, for example, four, finely adjustable reflection mirrors 5.
9, the optical axis of the laser light can be finely adjusted, and the combination of the respective reflection mirrors 59 forms an optical path for bypassing the laser light from the optical fiber 32 to the work performing propulsion device 43. The laser light irradiation optical system 54 is scanning. One of the reflection mirrors 59 constitutes a condensing reflection mirror 59a, and the pulsed laser light is made into a line segment (thin slit shape) by the condensing reflection mirror 59a and the welded portion W
The condenser reflection mirror 59
Reference symbol a constitutes a part of the laser light irradiation optical system 54.

On the other hand, the laser beam irradiation optical system 54 has a rectangular cylindrical laser irradiation nozzle body 60.
0 is fitted in the front central opening of the front shell 36 by a mounting flange 61 formed on the front surface and is watertightly fixed. A transparent window 62 having excellent heat resistance and pressure resistance is provided on the rear end side of the nozzle body 60, and the transparent window 62 is watertightly fixed by a screw cap 63 having an opening in the center. The transparent window 62 is formed of transparent glass or a heat / pressure resistant synthetic resin material.

A slit hole 64 for guiding a laser beam is formed in the center of the front surface of the nozzle body 60, while the square tube portion and the front surface of the nozzle body 60 are made of a heat-resistant transparent glass material or a heat-resistant / pressure-resistant material. Made of synthetic resin material of
The reflection mirror 65 shown in FIG. 3 is housed inside. The reflection mirror 65 is obliquely installed in the rectangular tube portion of the nozzle body 60, and reflects the light incident from the slit hole 64 to the work surface monitoring system 41 side and guides it.

Further, the work surface monitoring system 41 is designed to monitor the work surface such as a welded part in a nuclear reactor. This work surface monitoring system 41 is a reflection optical system equipped with the reflection mirror 66 shown in FIG. 67, a work surface detection device such as a CCD camera 68 for inputting detection light passing through the reflection optical system 67, and a shutter device 69 for blocking light input to the work surface detection device. The work surface condition of the weld is detected and monitored by the detection device. Specifically, the work surface detection device is configured so that the appearance and surface temperature of the welded portion W irradiated with the pulsed laser light,
While measuring the plasma generated near the irradiation unit and sending this measurement signal to the detector on the ground side via the signal cable,
The operation control of the laser device 33 is performed so that the condition for improving the surface stress state becomes a predetermined value. The laser device 33 is installed in the swimming robot handling device 28, for example.

The work surface monitoring system 41 includes the main body shell 3
5 is housed and fixed in a front shell 36 of No. 5, and the front shell 36 is provided with an antenna mechanism 45 projecting forward. The antenna mechanism 45 has a structural frame 70 attached to the front shell 36 so as to project forward, and a plurality of ultrasonic probes 71, for example, four ultrasonic probes 71 constituting a measuring means are provided at the front end of the structural frame 70. It is installed at intervals in the direction. A detection signal from the ultrasonic probe 71 is guided by a signal cable into the main body shell 35 through the structural frame 70.
Signal processing is performed by a signal processing device (not shown) housed inside. This signal processing device may be provided outside the nuclear reactor and may be transmitted via the composite cable 29.

The antenna mechanism 45 is attached to the swimming type work robot 31 in an antenna-like manner, and the ultrasonic probe 71 of the antenna mechanism 45 is brought into contact with the welded portion W in the reactor during the robot operation, and is generated during laser irradiation. The ultrasonic vibration is measured to physically inspect the weld W for ultrasonic flaws and other defects. When a crack is found in the weld W by a physical inspection for defects such as ultrasonic flaw detection, the laser device 33 is operated and controlled, and both ends of the crack are irradiated with the pulsed visible laser light for a long time to cause the crack tip to end. The shape is obtusely processed (repair processing) and repaired.

In the swimming type work robot 31, a robot propulsion device 42 is attached to the main body shell 35. The robot propulsion device 42 has a drive device 73 installed in the rear shell 37 of the main body shell 35, and a propulsion screw 74 is attached to the output shaft of the drive device 73. The drive device 73 is a drive motor capable of reversible rotation.
A plurality of, for example, three propulsion screws 74, which are rotationally driven by 3, are arranged around the cable connector mechanism 46 at equal intervals. Each propulsion screw 74 is selectively driven by the drive of the corresponding drive device 73. By selectively driving each of the propulsion screws 74, the swimming work robot 31 that moves in water in the reactor is provided with a direction other than a straight line.

Body frame 3 of swimming type work robot 31
As shown in FIG. 3, a work performing propulsion device 43 as a cross movement propulsion device is fixed to the work piece 8. The work performing propulsion device 43 has a propulsion duct 75 diametrically spanned over the ring-shaped main body frame 38, and the propulsion duct 75 is open at both ends of the main body frame 38 that face each other in the diametrical direction. The laser light guide optical system 53 of the laser light irradiation optical device 40 is fixed to the propulsion duct 75.

The propulsion duct 75 has a cross-moving propulsion flow path 76 formed inside the duct. The cross-moving propulsion flow path 76 has a drive device 77 capable of reversible rotation drive, and is rotationally driven by the drive device 77. A propulsion screw 78 is provided. The swimming-type work robot 31 is moved in a direction orthogonal to the propulsion direction by the drive of the robot propulsion device 42 by rotationally driving the propulsion screw 78 by the drive device 77.

Further, the balancer mechanism 44 is housed in the main body shell 35 of the swimming type work robot 31. The balancer mechanism 44 includes a pair of balancer rings 80 facing each other inside the ring-shaped main body frame 38, and the pair of balancer rings 80 is integrally or integrally provided with a weight 81 at a part in the circumferential direction. Reference numeral 81 is intended to stabilize the swimming and work of the swimming type work robot 31.

A drive unit 83 is installed inside the balancer ring 80 of the balancer mechanism 44, and a pinion 84 attached to the output shaft of the drive unit 83 is attached to the main body frame 3.
8 meshes with the circular teeth 38a formed on the inner peripheral surface of 8. Then, the pinion 84 rotates the balancer ring 80 by the drive of the drive device 83.
Since the weight position is always directed downward in the gravity direction and is stabilized by the presence of the weight 81 provided in the balancer ring 80, the balancer ring 80 does not actually rotate substantially, and the body shell 35 is relatively moved by the reaction force. It can be rotated. By the relative rotation of the main body shell 35, the direction of the propulsion duct 75 of the work performing propulsion device 43 can be adjusted. By adjusting the direction of the propulsion duct 75, the main body shell 35 is moved to the robot propulsion device 42.
It is possible to freely and stably cross move the robot in a direction orthogonal to the robot propulsion direction.

Next, the operation of the nuclear reactor repair / inspection device will be described.

This in-reactor repair / inspection device uses the swimming-type work robot 31 to perform maintenance / inspection / inspection / repair or surface modification work of the welded part in the reactor. Specifically, maintenance, inspection, inspection, repair or surface modification work is performed on the welded portion W of the inner surface of the core shroud 14 of the nuclear reactor, the welded portion W of the downcomer portion 20, and the welded portion W of the lower core plenum portion 24. Is.

1 to 3 show a swimming type work robot 3
1 is used to repair the welded portion W in the core shroud 14 of the nuclear reactor.

When carrying out maintenance, inspection, inspection and repair of the welded part in the reactor with this repair / inspection device in the reactor, FIG.
While filling the reactor pressure vessel 10 with water, a swimming robot handling device 28 is installed on the floor of the reactor pit 27 or on the reactor floor as shown in FIG.
8 to operate the cable winding device 30 and the composite cable 2
While taking out 9, the swimming work robot 31 is lowered.

The swimming type work robot 31 is shown in FIG. 2 and FIG.
By the operation of the robot propulsion device 42 shown in FIG. 1, the reactor pressure vessel 10 is allowed to swim, descend, pass through the opening 16 a of the upper lattice plate 16, and the core surrounded by the upper lattice plate 16 and the core support plate 15. It is guided to the space of the core 12 in the shroud 14 and swims up to the weld W on the inner surface of the core shroud 14. After that, by continuing the operation of the robot propulsion device 42, the antenna mechanism 45 of the swimming work robot 31 is pressed against the inner surface welded portion W of the core shroud 14 across the welding line to be brought into contact with the inner surface welded portion of the core shroud 14. Perform W laser repair work.

Although a horizontal weld line and a vertical weld line exist at the welded portion of the core shroud 14, in FIGS. 2 and 3, repair work is performed along the horizontal weld line of the core shroud 14. A vertical sectional view and a horizontal sectional view in each case are shown.

Repair of the welded portion W along the horizontal welding line of the core shroud 14 by the swimming type work robot 31 is performed.
By outputting from a laser device (not shown), such as a copper vapor laser or a YAG laser, to the optical fiber 32 contained in the composite cable 29, guiding the harmonic pulsed laser light and guiding it into the swimming work robot 31. Done.

The pulsed visible laser light guided to the swimming type work robot 31 by the optical fiber 32 is guided to the laser light irradiation optical device 40, and the laser light irradiation optical device 4 is guided.
After being diffused by the lens optical system 55 of 0 and becoming parallel slit laser light, it is guided to the laser light irradiation optical system 54 through the mirror optical system 56, and this laser light irradiation optical system 54
The welding line (W of the welded portion) on the inner surface of the core shroud is irradiated through the slit holes 64 of (1) as a line segment shape (thin slit shape).

The converging amount of the pulsed laser light applied to the welding line on the inner surface of the core shroud 14 is adjusted by the converging / reflecting mirror 59a provided in the mirror reflecting system 56, and the welding portion W
Is set in a range where laser shock hardening shown in FIG.

While the welding work W is being repaired by the swimming work robot 31, the robot propulsion device 42 operates to cause the swimming work robot 31 to move the ultrasonic probe 71 of the antenna mechanism 45 to the core shroud 14. Is held in contact with the inner surface of the. In this holding state, the work performing propulsion device 43 as the cross movement propulsion device is operated so that the pulsed laser light irradiation spot from the laser light irradiation optical device 40 moves along the welding line on the inner surface of the core shroud 14. Set.

In order to observe the repair work status of the laser light irradiation spot, the swimming type work robot 31 observes the laser light irradiation spot surface by the work surface monitoring system 41 with the CCD camera 68 as a detection device. When the reflected light of the visible laser light applied to the welding line on the inner surface of the core shroud 14 is directly incident on the CCD camera 68, the CCD camera 68 causes halation and the surface of the welded part cannot be observed. A shutter device 69 is provided to prevent light from directly entering the CCD camera 68.

When a 4 KHz copper vapor laser beam is used as the pulsed visible laser beam, the output reduction due to water penetration can be prevented, and the irradiation time of the visible laser beam applied to the weld W on the inner surface of the core shroud 14 can be reduced. 2 in about 40 nanoseconds
The state in which the pulsed visible laser light is not irradiated continues for 50 microseconds. From this point of view, the shutter device 69 is opened so that the CCD camera 68 does not cause halation by matching the operations with timing so that the shutter device 69 is opened immediately after the irradiation of the visible laser light is finished, and the inner surface of the core shroud 14 is prevented. The surface of the welded portion W can be observed.

When the pulsed visible laser light is irradiated to the welded portion W on the inner surface of the core shroud 14, metal atoms in the welded portion are excited with the laser light irradiation, and plasma is generated. Since the plasma emission generated at the welded portion W has a relaxation time of the order of nanoseconds, the plasma emission can be observed by the CCD camera 68 immediately after the irradiation of the visible laser light. The wavelength and the amount of this plasma emission can be measured by the CCD. By observing with the camera 68, it is possible to analyze the temperature of the welded portion W and the evaporated substance.

Since the surface temperature of the welded portion W has a thermal resistance due to heat conduction and heat transfer, it remains in a high temperature state immediately after the irradiation of visible laser light, and infrared rays are radiated from the high temperature welded portion surface. Has been done. By observing this infrared ray with the CCD camera 68, it is possible to estimate and estimate the surface temperature of the welded portion when the visible laser light is irradiated.

On the other hand, when the pulsed visible laser light is applied to the welded portion W of the core shroud 14, plasma is generated from the welded portion W and ultrasonic waves are generated at the same time. The generated ultrasonic vibration is generated from the welded portion W. The ultrasonic vibrations, which are diffused and transmitted in the core shroud 14, can be measured by the ultrasonic probe 71 of the antenna mechanism 45. By the ultrasonic measurement of the ultrasonic probe 71, it is possible to know the time delay from the irradiation of the visible laser light on the welding line to the measurement of the ultrasonic wave. The presence or absence of defects and the repair status can be physically known.

When a 4 KHz copper vapor laser beam is used as the pulsed visible laser beam, the energy density of the irradiation laser beam corresponding to the irradiation time of the visible laser beam (about 40 nanoseconds) is measured by the laser beam impact hardening in FIG. By setting the range, it is possible to perform various operations such as surface stress improvement, cutting, and flaw detection work on the welded part W by changing the number of times the visible laser light is emitted to the same place (welded part) in the same reactor. It can be performed using the internal inspection / repair device.

FIG. 4 shows the range of occurrence of laser shock hardening on the material surface with respect to the laser beam irradiation time and the energy density of the irradiated laser beam. Surface compressive stress is generated in the region where the laser shock hardening occurs. The area where laser shock occurs in water is 1/100 of that in air.
It has the same effect as in the air with a certain energy density.

When the welded portion W is irradiated with the pulsed visible laser light, the amount of water that absorbs the energy of the visible laser light to generate bubbles is small. Irradiation material (metal atoms) is partially evaporated.
Irradiation with visible laser light may generate bubbles with the evaporated irradiation target material as a nucleus, and the generated bubbles may interfere with irradiation with visible laser light. Therefore, as shown in FIG.
A water flow generator 86 may be attached to the laser light irradiation optical system 54 of the laser light irradiation optical device 40, and the bubbles generated from the optical path of the visible laser light may be eliminated by the operation of the water flow generator 86.

The water flow generator 86 is installed in the front shell 36 of the swimming work robot 31, and is connected to the water intake 87 of the front shell 36 by a water intake pipe 88. The downstream side of the water flow generator 86 is connected to a nozzle chamber 89 in the laser irradiation nozzle body 60 by a laser light axis parallel flow conduit 90, while the slit hole 64 of the laser irradiation nozzle body 60 and a laser light axis vertical flow conduit. It is connected via 91 and comprises the bubble removal apparatus. The above-mentioned laser light axis vertical flow conduit 9
A flow perpendicular to the laser optical axis is generated by the flow direction deflecting member 92 so that the water guided to 1 blocks the slit hole 64. Water is sent into the laser irradiation nozzle body 60 by the water flow generator 86 to generate a flow parallel to the laser optical axis of the visible laser light and a flow perpendicular to the water, thereby eliminating generated bubbles from the optical path of the laser light. ing.

When repairing the welding line in the gravity direction of the welded portion W in the core shroud 14 using the swimming work robot 31, it is necessary to move the swimming work robot 31 in the gravity direction (vertical direction). There is.

In this case, the drive device 83 of the balancer mechanism 44 shown in FIGS. 2 and 3 is operated to activate the weight 8
The balancer ring 80 with 1 is rotationally driven by 90 degrees from the horizontal direction. When the balancer ring 80 is rotated by 90 degrees by driving the driving device 83, the balancer ring 80 does not actually rotate due to the presence of the weight 81, and the reaction force of the balancer ring 80 causes the main body shell 35 to relatively rotate by 90 degrees. The propulsion device 43 is rotated, and the propulsion device 43 for performing work is propelled to the propulsion duct 75.
Set from horizontal to vertical.

In this set state, the work performing propulsion device 43
When driven, the swimming work robot 31 moves along the vertical welding line of the welded portion W, and the vertical welding line is repaired. Since the repair of the welding line in the vertical direction is not different from the repair of the welding line in the horizontal direction, the description will be omitted.

In this in-reactor inspection / repair device,
By using one swimming-type work robot 31, underwater work such as maintenance, inspection, flaw detection, surface stress improvement, formation of a stop hole for crack propagation prevention of the welded part (welding line) W on the inner surface of the core shroud 14 The visible laser light output
It can be performed by remote control simply by changing the number of laser irradiations, and there is no need to use individual or separate working devices according to the type of underwater work. In addition, the swimming work robot 3
In No. 1, since it is possible to work directly in water from a remote place, it is possible to reduce radiation exposure, and it is possible to perform underwater work efficiently and stably.

FIG. 6 shows a first modification of the in-reactor inspection / repair device according to the present invention.

Inspection inside the nuclear reactor shown in the first modification
The repairing device is different from the water flow generating device 86 shown in FIG. 5 in the structure of the water flow generating device 86A, and uses the Stirling engine 93 as a power source of the water flow generating device 86A. The same members as those shown in FIGS. 2 and 3 are designated by the same reference numerals, and the description thereof will be omitted.

The water flow generator 86A is installed in the front shell 36 of the main body shell 35 and is configured to be driven by the Stirling engine 93 using the reflected laser light as a heating source. The Stirling engine 93 is provided integrally or integrally with the laser light irradiation optical system 54, and is in contact with the laser irradiation nozzle body 60.
A displacer 97 is arranged in an engine room 96 between the displacer 5 and the piston 5, and a piston 99 that slides in a cylinder 98 is connected to the displacer 97.

The water flow generator 86A driven by the Stirling engine 93 includes a cooling chamber 100 surrounding a cylinder 98, a piston chamber 101 accommodating a piston 99, and a water guide pipe 1 for guiding water discharged from the piston chamber 101.
It is equipped with 02. The cooling chamber 100 communicates with the outside through a water intake 103 formed in the front shell 36 of the body shell 35, while the piston chamber 10 is connected through an inlet valve 104.
It is connected to 1. Water conduit 102 from piston chamber 101
The discharge pipe 105 is provided in the water conduit 102.
Is connected to a laser light axis parallel flow conduit 90 and a laser light axis vertical flow conduit 91. The laser optical axis parallel flow conduits 90 and the vertical flow conduits 90, 91 are the same as those shown in FIG.

The operation of the water flow generator 86A using the Stirling engine 93 as a power source is performed as follows.

When the swimming type work robot 31 irradiates the repaired object such as the welded portion W of the core shroud 14 with the pulsed visible laser light, the reflected laser heats the laser irradiation nozzle body 60 of the laser light irradiation optical system 54. To do. The heat accumulated by the heating of the nozzle body 60 is transferred to the nozzle body 6
Stirling engine 93 heating wall 94 fixed to zero
And heats the working fluid (not shown) of the Stirling engine 93 to move the displacer 97. The displacer 97 is connected to the piston 99, and the movement of the displacer 97 pushes out the water in the piston chamber 101.

The water removed from the piston chamber 101 is guided to the laser optical axis parallel flow conduit 90 and the vertical flow conduit 91 via the water conduit 102. The water guided in the laser light axis parallel flow conduit 90 is supplied to the laser irradiation nozzle body 60.
While flowing into the inside and flowing out from the slit hole 64 in parallel with the laser optical axis, water guided from the laser optical axis vertical flow conduit 91 flows through the outlet of the slit hole 64 perpendicularly to the laser optical axis.

On the other hand, water corresponding to the amount of water removed from the piston chamber 101 is the water intake 1 of the front shell 36.
The cooling wall 95 is guided from 03 to the cooling chamber 100 and cools the cooling wall 95 forming the boundary wall of the cooling chamber 100. Cooling wall 95
When the working fluid of the Stirling engine 93 is cooled by, the displacer 97 is moved, and the piston 99 is moved in the direction of introducing water into the piston chamber 101. Piston chamber 10
The water guided to 1 heats the working fluid by the heating wall 94 and moves the piston 99 in the direction of removing the water from the piston chamber 101. Piston 9 by Stirling engine 93
By repeatedly moving 9, water can be continuously guided from the water conduit 102 to the laser irradiation nozzle body 60.

In this way, the water flow generator 86A is driven by the Stirling engine 93, and the water flow from the water flow generator 86A is guided to the laser irradiation nozzle body 60 to generate a flow parallel to the laser optical axis and perpendicular to it. As a result, the bubbles generated by the laser irradiation of the visible laser light can be removed from the optical axis of the laser light. Further, the swimming-type work robot 31 heated by the reflected laser light when the repaired object is irradiated with the pulsed visible laser light can be cooled.

FIG. 7 shows a second modification of the in-reactor inspection / repair device according to the present invention.

In the in-reactor inspection / repair device shown in this modification, a shutter device 108 utilizing liquid crystal is used for all or part of the front shell 36 constituting the main body shell 35 of the swimming type work robot 31. The shutter device 108 is replaced with a transparent window. Furthermore, this swimming-type work robot 31 has the front shell 3 of the body shell 35.
The skirt 109 of the shielding plate is put on the structural frame 70 of the antenna mechanism 45 attached to the
Is a shutter device using liquid crystal. The same members as those shown in FIGS. 2 and 3 are designated by the same reference numerals and the description thereof will be omitted.

The swimming work robot 31 shown in FIG.
Is a system in which CCD cameras 110, 110 having a visual function are installed in a front shell 36 of the main body shell 35, and the front shell 36 is a transparent window with a liquid crystal utilizing shutter device 108. The other configurations are not different from those of the swimming type work robot shown in FIGS. 2 and 3, and therefore, the same reference numerals are given and the description thereof will be omitted.

As shown in FIGS. 8 and 9A and 9B, the transparent window of the shutter device 108 utilizing liquid crystal is
A transparent conductive film 112 is attached or applied as an intermediate film to the inside of a pair of heat-resistant and pressure-resistant transparent plates 111 made of transparent heat-resistant and pressure-resistant glass or synthetic resin material,
A liquid crystal sheet 113 is interposed between the transparent conductive films 112 and integrated.

In the liquid crystal shutter device 108, when a voltage is applied between the transparent conductive films 112, the liquid crystal molecules 114 are aligned in a certain direction to ensure transparency, and when the voltage is turned off, the liquid crystal molecules 114 are aligned. Have fallen apart,
Block light without passing it.

In this swimming work robot 31, the front shell 36 of the main body shell 35 itself is provided with a transparent window of the shutter device 108 using a liquid crystal so that the swimming work robot 31 does not reach the repair work site. A voltage can be applied to the shutter device 108 using the liquid crystal formed in the front shell 36 to secure the transparent window state. When the voltage is on, the CCD camera 110 of the detection device can swim while monitoring the front of the swimming-type work robot 31, and the CCD camera 110 is used to perform the antenna mechanism 45.
The swimming work robot 31 can be set while observing whether or not the ultrasonic probe 71 is in contact with the welding line inside the core shroud 14.

After setting the swimming type work robot 31, before irradiating the welded portion W with the pulsed visible laser light, the voltage is turned to O.
FF, shutter device 1 using liquid crystal of front shell 36
08 and the skirt 109 using liquid crystal of the antenna mechanism 45 are made in an opaque state, and welding line inspection / repair / preventive maintenance work is performed by irradiation with pulsed visible laser light.

Upon completion of the above preparations for the swimming work robot 31, repair work of the swimming work robot 31 similar to that shown in FIGS. 2 and 3 is performed remotely in water.

In the repair work of the swimming type work robot 31, the ON / OFF timing of the voltage to the liquid crystal utilizing shutter device 108 of the antenna mechanism 45 is performed as follows.

While the pulsed visible laser light is being irradiated from the laser light irradiation optical system 54 of the laser light irradiation optical device 40, the voltage to the liquid crystal utilizing shutter device 108 is turned off and the pulsed visible laser light is irradiated. After the above, the voltage is turned on to bring the repaired surface observation portion of the front shell 36 into the transparent state, and the pulsed visible laser light repaired condition is monitored by the CCD camera 110.

In the swimming-type working robot 31 provided in this in-reactor inspection / repair device, a transparent window of the shutter device 108 using liquid crystal is provided on the whole or part of the front shell 36, while the structure frame of the antenna mechanism 45 is provided. A skirt 109 of the liquid crystal shutter device 108 is provided on the outer periphery of the liquid crystal display device 70 to turn on / off the voltage to the liquid crystal shutter device 108.
By FF control to select the transparent state or the opaque state, the pulsed visible laser light used for repair work is prevented from being unnecessarily emitted to the surrounding environment, and the work situation is easily observed. You can

FIG. 10 shows a third modification of the in-reactor inspection / repair device according to the present invention.

Inspection inside the reactor shown in the third modification
The swimming-type work robot 31 of the repairing device is the swimming-type work robot 31 shown in the second modified example in which the purifying device 116 is mounted.

The purifying device 116 is housed in the front shell 36 of the main body shell 35, and collects foreign matters such as scattered objects generated in the antenna mechanism 45 during repair work.

The purifying device 116 is provided with the inflow pipe 11 communicating with the space in the antenna mechanism 45 provided in front of the main body shell 35.
7 and the outflow pipe 11 communicating with the outside on the outside of the antenna mechanism 45.
8, and a pump for forcibly circulating the water in the space surrounded by the antenna mechanism 45 in the purifying device 116,
A filter for recovering foreign matters such as scattered matters from the water that is forcedly circulated, valves for opening and closing the inflow / outflow pipes 118 and 117, and the like are provided.

Since the other construction is not different from that of the swimming type work robot shown in FIG. 7, the same reference numerals are given and the description thereof will be omitted.

When repairing a welded portion using this swimming type work robot 31, a laser beam irradiation optical device 40 is used.
When the welded portion W of the inner surface of the core shroud 14 is irradiated with the pulsed visible laser light through the laser light irradiation optical system 54 of No. 1, and the repair work of the welded portion W is performed, the metal of the welded portion W is irradiated with the pulsed visible laser light. Along with this, it evaporates into fine particles and floats in the skirt 109 of the antenna mechanism 45.

At the time of repairing the welded portion W, the purifying device 116 is driven so that water containing fine particles is sucked through the inflow pipe 117 and guided to the purifying device 116. Purification device 116
Then, the inflowing water is pumped to pass through the filter to adsorb and remove fine particles. The water from which the fine particles have been adsorbed and removed by the filter is discharged through the outflow pipe 118.

In this swimming type work robot 31, a purifying device 116 is mounted, and a laser light irradiation optical device 40 is provided.
When the welded portion W of the core shroud 14 is irradiated with the pulsed visible laser light to perform the repair work of the welded portion W, the metal of the welded portion W is evaporated during the repair work to generate fine particles, and the fine particles generate the antennal mechanism. Although suspended in 45, the suspended fine particles are separated and removed by the purifying device 116 and collected, so that foreign matter such as unnecessary scattered matter is not diffused into the reactor pressure vessel 10, and cleaning work is completed after the work is completed. You can eliminate or reduce the need to do it.

11 and 12 show a fourth modified example of the inspection / repair device for a nuclear reactor according to the present invention.

The swimming-type work robot 31 of the inspection / repair device in the nuclear reactor shown in this modified example is provided with the slide-type stage mechanism 120. The same members as those of the swimming type work robot 31 shown in FIGS. 2 and 3 are designated by the same reference numerals, and the description thereof will be omitted.

The slide type stage mechanism 120 includes a stage frame 121 which is slidably guided in the axial direction along the propulsion duct 75 of the work performing propulsion device 43 fixed to the main body frame 38. The stage frame 121 has engaging recesses for engaging a plurality of guide protrusions 122 extending in the axial direction in the propulsion duct 75, while the stage frame 121
A reversibly rotatable drive device 124 is attached to the rack 12. The pinion 125 driven by the drive device 124 is a rack 12 formed on one guide protrusion of the propulsion duct 75.
It meshes with 6.

Thus, the slide type stage mechanism 120
The pinion 125 is rotationally driven by the drive of the driving device 124, and the stage frame 121 is mounted slidably in the axial direction of the propulsion duct 75 by the rotational drive of the pinion 125.

The laser light irradiation optical device 40 housed in the body shell 35 is composed of a laser light guiding optical system 53 and a laser light irradiation optical system 54. Of these, the laser light guiding optical system 53 is the main body. A fixed optical system 130 fixed in the shell 35 and a moving optical system 131 attached to the stage frame 121 of the slide type stage mechanism 120 are provided. The fixed optical system 130 is composed of a cylindrical lens 58 that produces slit-shaped parallel light, a reflection mirror 59 that can be finely adjusted, and a lens mirror system that combines a magnifying lens 57 that enlarges transmitted light and a reflection mirror 132, while moving optical The system 131 is composed of a reflection mirror optical system including a reflection mirror 59 that can be finely adjusted.

In the moving optical system 131, for example, the last reflecting mirror 59a is a converging / reflecting mirror that can be finely adjusted, and the condensing / reflecting mirror 59a and the slit hole 133 form the laser beam irradiation optical system 54. It The laser light irradiation optical system 54 constitutes a part of the moving optical system 131 and slides integrally with the moving optical system 131.

Further, this swimming type work robot 31 is shown in FIG.
3 is different from the swimming work robot shown in FIG. 3 in that the front shell 36 of the main body shell 35 is recessed parallel to the axial direction of the propulsion duct 75 so that the front shell 36 has a recess window 135. ing.

Further, the balancer mechanism 44 attached to the main body frame 38 is provided with one balancer ring 80 with a weight 81, which is different from the balancer mechanism shown in FIGS. 2 and 3 in which two balancer rings 80 are provided. To do.

In the front shell 36, as shown in FIG.
A CCD camera 110 as a detection device is provided, and the CCD camera 110 constitutes a visual system for monitoring the work surface and moving the robot. Also in this case, the front shell 3
In FIG. 6, at least the recessed window 135 is provided with a transparent window of the liquid crystal utilizing shutter device 108.

Next, the swimming work robot 31 shown in FIGS. 11 and 12 is used to weld the welded portion W of the core shroud 14.
The operation of repairing the horizontal direction will be described.

A pulsed visible laser light (for example, a copper vapor laser light or a harmonic laser light of a YAG laser light) is guided to the swimming work robot 31 through an optical fiber 32, and the pulsed laser light is cable connector mechanism 46.
It is guided to the laser beam irradiation optical device 40 via the and is guided to the laser beam guiding optical system 53. The laser light guiding optical system 53 is composed of a fixed optical system 130 and a moving optical system 131, and the pulsed laser light guided by the fixed optical system 130 is combined by a cylindrical lens 58 and a magnifying lens 57.
After being made into a slit-shaped parallel laser beam and having its beam diameter enlarged,
The direction of the slit-shaped parallel laser light expanded by the reflection mirror 132 is changed and guided to the moving optical system 131.

In the moving optical system 131, the transmission direction is changed by the combination of the reflecting mirror 59, and the laser light irradiation optical system 5 is changed.
4 is guided by the laser beam irradiation optical system 54, and is gathered by the converging / reflecting mirror 59a of the laser beam irradiation optical system 54 to be irradiated into the welding portion W in the form of a line segment.

When the laser light irradiation optical device 40 focuses the pulsed laser light and irradiates the welded portion W, the drive device of the slide type stage mechanism 120 is driven to move the stage frame 121 to the axis of the propulsion duct 75. Slide in the direction. As the stage frame 121 slides, the moving optical system 131 of the laser light irradiation optical device 40 slides integrally, and the slit (line segment) pulsed laser light is welded to the welding portion W.
A certain range of scanning is performed along the welding line of.

When the pulsed laser light is irradiated within a certain range, the robot propulsion device 53 is driven to maintain the state where the antenna mechanism 45 of the swimming type work robot 31 contacts the inner surface of the core shroud 14, while promoting the work execution. The apparatus 43 is driven to move the swimming work robot 31 in the horizontal direction on the welding line where the laser light irradiation is not performed,
The operation of irradiating the pulsed laser light again within a certain range is performed. As described above, the welding work W can be repaired along the welding line by the batch processing in which the moving operation of the swimming work robot 31 and the irradiation operation of the pulsed laser light are repeated.

Observation of the repair work situation at this time is carried out in the same manner as in the embodiment shown in FIGS.

By using this swimming-type work robot 31, the underwater work such as inspection of the welding line on the inner surface of the core shroud 14, flaw detection, surface stress improvement, and formation of a stop hole for preventing crack propagation is output by laser, and the number of laser irradiations. Can be performed simply by changing the temperature, there is no need to use a separate device according to the type of work, and the work can be performed directly in water, so radiation exposure can be reduced easily and repair work can be performed efficiently. Can be done.

When the slide type stage mechanism 120 finishes repairing a certain range, a method of performing laser repair work by batch processing in which the swimming work robot 31 is moved to a place where repair work is not performed is adopted. This facilitates control of the movement of the swimming work robot 31 along the welding line.

FIG. 13 shows an example of inspecting, inspecting, repairing, and surface-modifying the welded portion of the reactor core lower plenum by the in-reactor inspection / repair device using the swimming-type work robot 31. Is.

The inspection / inspection and repair work of the welded portion of the lower core plenum 24 by this in-reactor inspection / repair device is performed by the swimming robot handling device 28 installed on the floor of the reactor pit 27 or on the reactor floor. After moving the swimming-type work robot 31 to the reactor pressure vessel 10 filled with water, passing it through the opening 16a of the upper lattice plate 16 and guiding it to the lower chamber (core space) of the upper lattice plate 16, By passing through the opening 15a of the core support plate 15 and guiding it to the lower chamber (core lower plenum 24) of the core support plate 15.

At the welded portion W of the lower core plenum 24, a control rod drive device housing (referred to as CRD housing).
17 and the welded portion of the lower mirror portion 10a (stub tube 138) of the reactor pressure vessel 10, the welded portion of the shroud support 18 and the core shroud 14, the partition wall 23 and the core shroud 14, the diffuser 22 and the reactor pressure vessel 10. There are welded parts and the like, and inspection, repair, and preventive maintenance work of these welded parts is performed by the swimming type work robot 31 connected from the robot handling device 28 through the composite cable 29.

FIG. 13 shows an example in which the swimming work robot 31 repairs the welded portion of the CRD housing 17 below the core support plate 15 and the lower mirror portion 10a of the reactor pressure vessel 10 and the stub tube 138 with laser. It is shown.

The swimming type robot handling apparatus 28 and the swimming type working robot 31 installed on the reactor pit 27 or the operation floor (not shown) are connected by a composite cable 29 which is a combination of a power cable and a signal cable. The composite cable 29 matches the specific gravity of water, while containing an optical fiber.

The swimming type robot handling device 28 operates the cable winding device 30 by the swimming of the swimming type working robot 31 to draw out the composite cable 29 appropriately. By paying out the composite cable 29, the swimming work robot 31
The opening 16a of the upper lattice plate 16 and the opening 15a of the core support plate 15 are allowed to swim and pass therethrough, and are guided below the core support plate 15 to weld the CRD housing 17 and the lower mirror portion 10a of the reactor pressure vessel 10. It swims to the welded portion between W and the shroud support 18 and the core shroud 14, and the welded portion between the partition wall 23 and the core shroud 14, the reactor pressure vessel 10, and the diffuser 22.

After the swimming type work robot 31 swims in the welded portion W of the lower core plenum 24, the swimming type work robot 31 is operated to perform the inspection, inspection, repair and surface modification work of the welded portion W. It is performed in the same manner as shown in one embodiment.

By using this swimming type work robot 31, inspection of the weld line of the structure of the lower core plenum 24,
Underwater operations such as flaw detection, surface stress improvement, and formation of stop holes for crack growth prevention can be performed simply by changing the energy density of the laser light and the number of times the laser light is irradiated. Since it is not necessary and the work can be performed directly in water, the work with reduced radiation exposure can be efficiently performed.

FIG. 14 shows an example in which the in-reactor inspection / repair device using the swimming work robot 31 maintains, inspects, inspects, and repairs the welded portion of the downcomer portion 20 in the reactor pressure vessel 10. Is.

The maintenance / inspection / inspection and repair work of the welded portion of the downcomer section 20 by this in-reactor inspection / repair device are performed by the swimming robot handling device 28 installed on the floor of the reactor pit 27 or on the reactor floor. The swimming work robot 31 is moved down to the reactor pressure vessel 10 filled with water by using, and is guided to the downcomer section 20 surrounded by the reactor pressure vessel 10 and the core shroud 14.

At the welded portion W of the downcomer portion 20, the welded portion on the outer surface of the core shroud 14, the welded portion on the inner surface of the reactor pressure vessel 10, the reactor pressure vessel 10 and the riser brace arm 1 are used.
39 weld, jet pump 21 weld, bulkhead 23
And the core shroud 14, the reactor pressure vessel 10 and the diffuser 22 are welded, and inspection / repair / preventive maintenance work of these welds is connected from the robot handling device 28 via the composite cable 29. It is performed by the robot 31.

FIG. 14 shows an example in which the swimming type work robot 31 laser-repairs the welded portion of the jet pump 21 installed in the downcomer portion 20.

The swimming type robot handling device 28 and the swimming type working robot 31 installed on the reactor pit 27 or the operation floor (not shown) are connected by a composite cable 29 which is a combination of a power cable and a signal cable. The composite cable 29 matches the specific gravity of water, while containing an optical fiber.

The swimming type robot handling device 28 operates the cable winding device 30 in accordance with the swimming of the swimming type working robot 31, and properly pays out the composite cable 29. By paying out the composite cable 29, the swimming-type work robot 31 swims and is guided to the downcomer unit 20, and the reactor pressure vessel 1
0 and the jet pump 21, between the core shroud 14 and the jet pump 21, or between the jet pump 21 and the narrow portion of the riser pipe without any reason, and is guided to the welded portion of the downcomer portion 20.

[0168] The swimming type work robot 31 is provided with the downcomer section 2
After swimming and guiding to the welding part 0, the swimming type work robot 31 is operated to perform the maintenance / inspection / inspection and repair work of the welding part in the same manner as shown in FIG.

By using this swimming-type work robot 31, inspection of the welded portion of the structure of the downcomer portion 20 surrounded by the reactor pressure vessel 10 and the core shroud 14, inspection of flaws, improvement of surface stress, and prevention of crack propagation are stopped. Underwater work such as formation of holes can be performed simply by changing the laser light output and the number of times of laser light irradiation, and it is not necessary to use another device according to the type of work, and the work can be performed directly in water. It is possible to efficiently perform work that has reduced radiation exposure.

Next, a second embodiment of the present invention will be described with reference to FIGS.
This will be described with reference to FIG.

Inspection inside the nuclear reactor shown in the second embodiment
The repair device is basically different from the in-reactor inspection / repair device shown in the first embodiment in that the swimming mother ship robot 140 is coupled to the tip of the composite cable 141. The same members are designated by the same reference numerals and description thereof will be omitted.

As shown in FIG. 15, the swimming type mother ship robot 140 has a plurality of, for example, three swimming type working robots 31.
Mounted and coupled via a composite cable 142. As each swimming type work robot 31, one example of the present invention, the swimming type work robot shown in FIGS. 2 to 12 is used.

FIG. 15 shows the welding part W of the inner surface of the reactor core shroud 14 of the reactor using three swimming type working robots 31 connected to the swimming type mother ship robot 140 with a composite cable 142 containing an optical fiber. The following shows an example of inspection / repair or preventive maintenance work.

The swimming mother ship robot 140 is a robot handling device installed on the reactor pit 27 or the reactor floor via the composite cable 141 in which the composite cable 141 is freely wound up by the cable winding device 30. 28. Composite cable 141 is float 1
43 is attached at a predetermined interval to match the specific gravity of water. The swimming mother ship robot 140 uses the composite cable 14
For example, three swimming type work robots 31 are connected via 1, and according to the swimming of the swimming type mother ship robot 140,
The swimming robot handling device 28 drives the cable winding device 30 to appropriately feed or wind the composite cable 141. The swimming mother ship robot 140 has openings 16a, 15 in the upper lattice plate 16 and the core support plate 15.
Size that allows free passage through a (projected sectional area in the swimming direction)
・ Has a shape.

This in-reactor inspection / repair device operates the cable winding device 30 by using the swimming robot handling device 28 installed on the floor of the reactor pit 27 or on the reactor floor, and The swimming type mother ship robot 140 is lowered into the reactor pressure vessel 10, and subsequently, the opening 16a of the upper lattice plate 16 is allowed to swim and pass therethrough, and is guided to the core space 12 on the inner surface of the core shroud 14. This core space 12
From the swimming mother ship robot 140 to the swimming work robot 3
1 is released or the connection is released to allow the swimming to the welding portion W in the core shroud 140, and the swimming work robot 31 is pressed against the welding portion W to keep the contact state.

While the swimming-type working robot 31 is in pressure contact, pulsed visible laser light is irradiated along the welding line of the welded portion W through the optical fiber to improve the surface stress state of the welded portion W. The ultrasonic probe 71 (see FIGS. 2 and 3) provided in the antenna mechanism 45 of the swimming work robot 31 is pressed against the welding portion W to measure ultrasonic vibration generated during laser light irradiation, Perform physical inspection such as ultrasonic flaw detection. As a result of ultrasonic flaw detection, when a crack is found in the welded portion W, the cracked portion is irradiated with pulsed laser light for a long time to process the shape of the tip of the crack into an obtuse angle for repair. By using one swimming-type mother ship robot 140 and a plurality of swimming-type work robots 31, the inspection / repair / preventive maintenance work in the reactor can be performed efficiently and efficiently.

The swimming mother ship robot 140 is constructed as shown in FIGS. 16 and 17, and has a cylindrical robot casing 144 as a cylindrical robot body. A part of the robot casing 144 is a ring-shaped reinforcement frame 1
45 is reinforced.

The rear portion of the robot casing 144 is connected to the composite cable 141 via the cable connector mechanism 146, and a plurality of robot propulsion devices 147, for example, three robot propulsion devices 147 are provided at equal intervals around the cable connector mechanism 146. The robot propulsion devices 147 are driven to swim in water. Each robot propulsion device 147 is configured to be selectively drivable in order to allow the swimming mother ship robot 140 to move to some extent. The cable connector mechanism 146 is shown in FIGS.
The cable connector mechanism 46 shown in FIG.

The robot propulsion device 147 is installed in the robot casing 144 and has a drive device 148 and a propulsion screw 149 which is rotationally driven by the drive device 148. The robot propulsion device 147 is adapted to propel the swimming mother ship robot 140 in the longitudinal axis direction.

Further, in the robot casing 144, the laser beam scanning optical device 150 for guiding the pulsed visible laser beam guided by the optical fiber 29, and each swimming type work robot 3 are provided.
1. A cable winding device 151 that winds the composite cable 142 to 1 freely and freely, a cable guide device 152 that guides the composite cable 142 from the cable winding device 151 to each swimming work robot 31, and a swimming mother ship robot. A cross movement propulsion device 153 that moves 140 in a direction orthogonal to the robot propulsion direction is housed.

The laser beam scanning optical device 150 has a lens mirror system in which a beam shaping lens 155 for beam shaping the pulsed visible laser light from the optical fiber 29 and a plurality of reflecting mirrors 156 are combined. From this lens mirror system,
The pulsed visible laser light is guided to the beam distribution optical system 157. As shown in FIG. 18, the beam distribution optical system 157 is configured by combining a half mirror 158 and a reflection mirror 159, and is arranged at the center of the cable winding device 151.

The cable winding device 151 is the composite cable 1
It has a cable winding sheave 160 that winds and accommodates 42 so that it can be drawn out freely. The take-up sheave 160 is supported by a reinforcing frame 145 of the robot casing 144, and is rotationally driven by a drive device 161 such as a drive motor.

Each composite cable 142 corresponding to the swimming work robot 31 is wound around the cable winding sheave 160, and the pulsed laser light distributed by the beam distribution optical system 157 is guided to each composite cable 142. It has become. The cable winding sheave 160 may rotate each composite cable 142 independently.

The composite cables 142 that can be wound around the cable winding sheave 160 are connected to the swimming work robot 31 via the cable guide device 152. The cable guide device 152 guides the composite cable 142 by bypassing the cross movement propulsion device 153.
63 and the composite cable 14 guided through the guide tube 163.
A pair of feeding rollers 16 that holds 2 and pulls it out so that it can be pulled in.
4 and a driving device 165 that rotationally drives one of the feeding rollers 164, and the feeding roller 164 is driven to rotate by the driving of the driving device 165.
42 is drawn out in accordance with the swimming of the swimming work robot 31.

The front portion of the robot casing 144 is partitioned by a partition wall 167, and a plurality of storage cylinders 168 for the swimming type work robot 31 are provided in front of the partition wall 167, and the swimming type work robot 31 is accommodated in the robot storage cylinder 168. Can be stored in and out freely. As shown in FIG. 19, adjacent to the robot housing cylinder 168, a C having a visual function of guiding the swimming of the swimming mother ship robot 140 is provided.
A CD camera 169 is provided.

The propulsion device 153 for cross movement is provided on the reinforcing frame 145 of the robot casing 144. The cross movement propulsion device 153 is fixed to the reinforcing frame 145 and has a propulsion duct 170 having both ends open, and a cross movement propulsion flow path 171 is formed in the propulsion duct 170. A driving device 172 and a propulsion screw 173 that is reversibly driven by the driving device 172 are provided in the middle of the propulsion duct 170, and a direction orthogonal to the robot propulsion direction of the robot propulsion device 147 is driven by the rotational driving of the propulsion screw 173. It can be moved to.

Next, the operation of the in-reactor inspection / repair device shown in FIGS. 15 to 19 will be described.

A case of inspecting / inspecting / repairing the welded portion in the reactor and preventive maintenance work with this in-reactor inspection / repair device will be described by way of an example of repairing the welded portion W in the core shroud 14.

When performing inspection / inspection / repair and preventive maintenance work on the welded portion W in the core shroud 14 of the reactor with the in-reactor inspection / repair device, the reactor vessel head (lid) of the reactor pressure vessel 10 is used. Remove the reactor pressure vessel 10
Water is filled inside, and a swimming robot handling device 28 is installed on the reactor pit 27 or on the reactor floor.

Next, the cable winding device 30 of the swimming robot handling device 28 is driven to drive the swimming mother ship robot 140.
Is suspended in the reactor pressure vessel 10 filled with water, and the swimming mother ship robot 140 is allowed to swim in the reactor pressure vessel 10. The composite cable 141 is paid out from the cable winding device 30 according to the swimming of the swimming mother ship robot 140. As the swimming mother ship robot 140 descends, the swimming mother ship robot 140 swims through the opening 16a of the upper lattice plate 16 and is guided to the core space 12 surrounded by the core shroud 14.

When the swimming type mother ship robot 140 is guided to the required core space 12, the swimming type working robot 31 is pulled out from the swimming type mother ship robot 140, and each swimming type working robot 31 is roboted to the welding portion W on the inner surface of the core shroud 14. The propulsion device 42 (see FIGS. 2 and 3) is allowed to swim, and the antenna mechanism 45 of the swimming-type work robot 31 is pressed against the welding line to make pressure contact. This antenna mechanism 4
In the state in which 5 is pressed and contacted, the inside of the furnace is inspected by the swimming work robot 31 as in the first embodiment of the present invention.
Repair and preventive maintenance work is performed.

In this case, since the plurality of swimming type work robots 31 are mounted on the swimming type mother ship robot 140, a plurality of welding lines of the welding portion W are simultaneously repaired by laser, and each swimming type work robot 31. When the laser repair is carried out by one swimming work robot 31, the swimming work robot 31 performs the preventive maintenance and inspection of the welded portion W and the inspection of the laser repair part. You may By performing laser repair of the welding line of the welded portion W in parallel work or division of labor work, it is possible to improve work efficiency.

In this in-reactor inspection / repair device, a plurality of swimming work robots 31 are connected to a swimming mother ship robot 140 with a composite cable 142 so that they can freely move in and out, and each swimming work robot 31 is provided on the inner surface of the core shroud 14. Underwater operations such as inspection of the weld along the weld line, ultrasonic flaw detection, surface stress improvement, and formation of stop holes to prevent crack growth can be performed efficiently in parallel or in division of labor.

FIG. 20 shows the inspection / repair device in the reactor shown in FIGS. 15-19 for inspecting the welded portion of the structure formed in the lower core plenum 24 of the reactor using the swimming mother robot 140.・ An example of performing inspection / repair or preventive maintenance work is shown.

In the in-reactor inspection / repair device shown in FIG. 20, the composite cable 141 is applied to the swimming robot handling device 28 installed on the floor of the reactor pit 27 or on the reactor floor via the cable winding device 30. The swimming type mother ship robot 140 is cable-coupled, a plurality of swimming type working robots 31 are mounted on the swimming type mother ship robot 140, and the swimming type mother ship robot 140 is cable-coupled via a composite cable 142 so that it can be freely put in and taken out.

[0196] The swimming mother ship robot 140 is allowed to swim by itself to descend, pass through the opening 16a of the upper lattice plate 16 and be guided to the core space 12, and then further swim in the opening 15a of the core support plate 15. And is guided to the lower core plenum 24 below the core support plate 15.

At the lower core plenum 24, the swimming type working robot 31 is lowered from the swimming type mother ship robot 140,
Alternatively, the robot is pulled out from the swimming mother ship robot 140, swims in the welded portion of the lower core plenum 24, and is pressed against this welded portion.

At the welded portion of the lower core plenum 24, CR
D housing 17 and stub tube 174 welded portion, stub tube 138 or shroud support 18 and reactor pressure vessel lower mirror portion 10a welded portion, shroud support 18 and core shroud 14 welded portion, partition wall 23 and core shroud 14, There are welded parts with the diffuser 22 and the inner wall of the reactor pressure vessel, etc., and after each swimming type work robot 31 swims in these welded parts, each work robot 31 is kept pressed against the welded part. Thereafter, each swimming type working robot 31 cable-coupled to the swimming type mother ship robot 140 via the composite cable 142 performs inspection, repair and preventive maintenance work of the welded portion of the lower core plenum 24 by remote control.

In FIG. 20, a plurality of, for example, three swimming type working robots 31 are connected to the swimming type mother ship robot 140 by a cable, and the welded portions of the CRD housing 17 and the reactor pressure vessel lower mirror section 10a are laser-repaired. Here is an example.

By using a plurality of swimming-type work robots 31 connected to the swimming-type mother ship robot 140 and the composite cable 142, the structure of the lower core plenum 24 below the core support plate 15 is inspected and inspected (ultrasonic flaw detection). ),repair,
It enables efficient underwater operations such as surface stress improvement and formation of stop holes to prevent crack growth.

FIG. 21 shows the inspection / inspection of the welded portion of the structure formed on the annulus-shaped downcomer portion 20 by using the swimming mother ship robot 140 by the in-reactor inspection / repair device shown in FIGS.・ An example of performing repair or preventive maintenance work is shown.

In the in-reactor inspection / repair device shown in FIG. 21, the swimming robot handling device 28 installed on the floor of the reactor pit 27 or on the reactor floor is connected to the swimming robot handling device 28 by the composite cable 141 via the cable winding device 30. The swimming type mother ship robot 140 is cable-coupled, and a plurality of swimming type working robots 31 are mounted on the swimming type mother ship robot 180, and the swimming type mother ship robot 180 is cable-coupled so as to be freely inserted and removed.

In this in-reactor inspection / repair device, the swimming-type mother ship robot 140 swims and descends, and is guided to the annulus-shaped downcomer portion 20 surrounded by the reactor pressure vessel 10 and the core shroud 14. In the downcomer section 20, the swimming mother ship robot 140 to the swimming work robot 31
And is guided to the welded portion of the structure formed in the downcomer portion 20 by pulling it down or pulling it out.

At the welded portion of the structure of the downcomer portion 20,
Welded portion on outer surface of core shroud 14, jet pump 21
A welded portion of the supporting riser brace arm 175, a welded portion of the jet pump 21, the partition wall 23 and the core shroud 14,
There is a welded portion with the diffuser 22 and the reactor pressure vessel 10, etc., and the welded work robot 31 that has been pulled down to the welded portion by the swim type mother ship robot 140 and pulled out is allowed to swim by itself, and this work robot 31 Is held in the welded portion in a pressed state, and inspection, inspection, repair, and preventive maintenance work is performed by remote control using the swimming work robot 31.

FIG. 21 shows an example in which the welded portion of the riser brace arm 175 of the downcomer portion 20 is laser-repaired by a plurality of swimming type work robots 31 cable-coupled to the swimming type mother ship robot 140. The swimming work robot 31 has a shape and a size (swimming) that allows it to easily pass between the reactor pressure vessel 10 and the jet pump 21, between the core shroud 14 and the jet pump 21, and between the jet pump 21 and its riser pipe 176. Directional projection cross-section).

In this in-reactor inspection / repair device,
By using the plurality of swimming type working robots 31 which are cable-coupled to the swimming type mother ship robot 140 and the composite cable 142, the reactor pressure vessel 10 and the core shroud 1 are used.
Efficiently perform underwater work such as inspection / inspection (ultrasonic flaw detection) of the structure of the annulus-shaped downcomer part 20 surrounded by 4 (ultrasonic flaw detection), surface stress improvement, and formation of stop holes to prevent crack growth You can

Next, a third embodiment of the in-reactor inspection / repair device according to the present invention will be described with reference to FIGS.

Inspection inside the nuclear reactor shown in the third embodiment
The repair device is basically the same as the in-reactor inspection / repair device shown in the second embodiment in that the swimming-type work robot 181 housed in the swimming-type mother ship robot 180 so as to be drawn out can be transmitted by underwater radio. Differ. The same members are designated by the same reference numerals and description thereof will be omitted.

As shown in FIG. 22, the swimming mother ship robot 180 is cable-coupled to the swimming robot handling device 28 via the cable winding device 30 by the composite cable 141 containing an optical fiber. A plurality of, for example, three swimming type work robots 181 are mounted on the mother ship robot 180 so as to be able to move in and out, and power and signals are transmitted to the swimming type work robots 181 by underwater wireless using pulsed visible laser light. It has become. FIG. 22 shows inspection / inspection / repair or preventive maintenance work of the inner surface welded portion W of the reactor core shroud 14 by using a plurality of swimming work robots 181 which are wirelessly connected to the swimming mother ship robot 180 underwater. Here is an example.

In the swim type mother ship robot 180, the composite cable 141 is freely wound up by the cable winding device 30, and the composite cable 141 follows the swimming action of the swim type mother ship robot 180 in the reactor. Three
0 is driven and the composite cable 141 is paid out. The swimming mother ship robot 180 has such a size and shape that it can freely pass through the openings 16a, 15a of the upper lattice plate 16 and the core support plate 15.

This in-reactor inspection / repair device operates the cable winding device 30 by using the cable handling device 28 installed on the floor of the reactor pit 27 or on the reactor floor, and the reactor pressure is filled with water. The swimming mother ship robot 180 is lowered into the container 10, and subsequently, the opening 16a of the upper lattice plate 16 is allowed to swim by itself to pass through, and is guided to the core space 12 on the inner surface of the core shroud 14. This core space 12
From the swimming mother ship robot 180 to the swimming work robot 1
The swimming-type work robot 1 is operated by descending or pulling out 81 to swim by itself to the welded portion on the inner surface of the core shroud 14.
81 is pressed against the welded portion W and kept in contact therewith.

With the swimming work robot 181 in pressure contact, the swimming work robot 18 receives pulsed laser light guided by the swimming mother ship robot 180 by underwater radio.
By irradiating along the welding line of the welded part W by 1 to improve the surface stress state of the welded part W, the ultrasonic vibration generated at the time of pulsed laser light irradiation is measured, and physical inspection such as ultrasonic flaw detection is performed. Is designed to do. As a result of this physical inspection, if a defect such as a crack is found in the welded portion W, the defective portion is irradiated with pulsed laser light for a long time to repair the defective portion. One swimming mother ship robot 18
By using 0 and a plurality of swimming-type work robots 181, in-reactor inspection, repair, and preventive maintenance work can be performed efficiently and efficiently.

After the work by the swimming work robot 181 is completed, the swimming work robot 181 is self-propelled and stored in or mounted on the swimming mother ship robot 180. In this state, the swimming mother robot 180 is allowed to swim and rise. While collecting, the cable winding device 30 winds the composite cable 141 to collect the robot.

By the way, the swimming mother ship robot 180
It has a cylindrical robot casing 182 as a robot body having a watertight structure which is configured as shown in FIG. The robot casing 182 is provided with a cable connector mechanism 146 at the rear part, and the composite cable 141 including the optical fiber 29 is coupled through the cable connector mechanism 146, while the cable connector mechanism 1 is connected.
A plurality of, for example, three robot propulsion devices 1 around 46
47 are provided at equal intervals, and are driven by the respective robot propulsion devices 147 to make a swimming movement in the water in the longitudinal direction of the robot. Each robot propulsion device 147 is configured to be selectively drivable in order to allow the swimming type mother ship robot 140 to move to some extent.

Further, in the robot casing 182, a cross movement propulsion device 153 for moving the swimming mother ship robot 180 in a direction orthogonal to the robot propulsion direction by the robot propulsion device 147 is provided.
By driving the robot 3, the swimming mother ship robot 180 is propelled in the cross direction.

Further, the robot casing 182 bypasses the cross movement propulsion device 153 and the optical fiber 29.
A laser beam scanning optical device 184 that guides the pulsed laser beam from is incorporated. The laser light scanning optical device 184 includes a laser light guide optical system 185 for guiding the pulsed laser light from the optical fiber 29, and a laser light distribution optical system 186 for distributing the pulsed laser light guided by the laser light guide optical system 185. , And a laser light emitting optical system 187 for emitting the distributed pulsed laser light to the front of the robot casing 182.

The laser light guiding optical system 185 is the optical fiber 2
9 is a combination of a beam shaping lens 188 for shaping the beam of the pulsed laser light from the beam forming device 9 and a reflection mirror system 189 for forming a waveguide that bypasses the beam moving laser propulsion device 153. Fiber 29
The pulsed laser light from is shaped and guided to the laser light distribution optical system 186.

The laser light distribution optical system 186 is arranged in the front center part of the robot casing 182, and a light distribution mirror system 192 in which a half mirror 190 and a reflection mirror 191 are combined, and light distribution by this light distribution mirror system 192. The optical waveguide mirror system 193 for guiding the pulsed laser light to the laser light emitting optical system 187.

The laser beam emitting optical system 187 has a plurality of laser beam emitting antennas 195, and the laser beam distributing optical system 18 is provided.
The pulsed laser light distributed in 7 is emitted forward through a transparent window 196 formed at the tip of the robot casing 182.

A visual window 196a protruding in a hemispherical shape is formed in the center of the transparent window 196 formed at the tip of the robot casing 182.
A CCD camera 198 is housed in a.

On the other hand, the robot casing 182 is recessed around the laser beam distribution optical system 187 as shown in FIG. 24, and a plurality of shape memory alloy robot storage portions 200 are formed in the recessed portion 199 to store the robot. Each of the swimming type work robots 181 is housed in the section 200 so as to be freely inserted and removed.

A swimming type working robot 181 housed in the robot storage section 200 of the swimming type mother ship robot 180 so that it can be freely taken in and out is constructed as shown in FIG. The swimming-type work robot 181 includes a body shell 20 as a body casing in which a hemispherical front shell 203 and a rear shell 204 are watertightly coupled to a ring-shaped body frame 202 in a divisible manner.
5 is formed.

A laser light receiving device 206 is provided on the rear shell 204 of the main body shell 205, and a plurality of similar laser light receiving devices 206 are also provided on the main body frame 202. A plurality of, for example, three robot propulsion devices 42 are provided around the laser light receiving device 206 provided on the rear shell 204. This robot propulsion device 4
2 is the same as the robot propulsion device shown in FIG. 2 and FIG. 3, and by the operation of the robot propulsion device 42,
The swimming work robot 181 is moved in the robot propulsion direction (forward or backward).

Further, a propulsion device 43 for cross movement is provided in the main body frame 202. This cross movement propulsion device 43 is similar to the work execution propulsion device shown in FIGS. 2 and 3, and the cross movement propulsion device 43 causes the swimming work robot to move in a direction orthogonal to the robot propulsion direction of the robot propulsion device 42. 181 is moved. A balancer mechanism with a weight may be provided in the body frame 202 so that the swimming work robot 181 moves stably when the cross movement propulsion device 43 is operated.

A laser light irradiation optical device 208 for guiding and irradiating the pulsed laser light received by the laser light receiving device 206 is provided in the main body shell 205.
The irradiation device 208 irradiates the pulsed laser light received by the laser light receiving device 206 by diverting the cross movement propulsion device 43 and guiding it, and the guided pulsed laser light to the outside. A laser light irradiation optical system 210, and the laser light irradiation optical system 210
The pulsed laser light is narrowed down to form a line segment and is applied to the external welded portion.

Main body shell 2 of swimming type work robot 181
An antenna mechanism 45 is provided in front of 05. The antenna mechanism 45 is provided with a plurality of ultrasonic probes 71 at the tip of a structural frame 70, as in the structures shown in FIGS. 2 and 3.
A suction cup may be attached to the ultrasonic probe 71 to improve the mountability.

By the way, a plurality of laser light receiving devices 206 are provided on the main body shell 205, for example, on the spherical main body shell 205 at positions different from each other by about 90 ° in the central angle. The laser light receiving device 206 is configured as shown in FIG. 26, and a hemispherical hollow light receiving body 215 is supported by a cylindrical body case 214 so as to be able to perform a miso-slipping motion (swinging motion and elevation motion). The photoreceptor 215 has a main reflecting mirror 216 on the inner spherical surface.
On the other hand, the front opening of the light receiver 215 is watertightly covered with a transparent window 217 for receiving the laser beam, and a sub-reflecting mirror 218 facing the main reflecting mirror 216 is provided at the center of the transparent window 217. .

Further, the light receiving body 2 of the laser light receiving device 206
Reference numeral 15 gives an optical axis adjustment so that the photoreceptor driving device 220 gives a miso-moving motion (pivoting or tilting motion) and directs the main reflecting mirror 216 in the laser light incident direction. The photoreceptor driving device 220 is composed of, for example, a plurality of installed cable drivers, and the drive cable 221 connected to the flange of the photoreceptor 215 is driven by the driver 222 to drive the cable winder 223 to be wound up. By rewinding, the light receiving body 215 can be swung or raised. The drive cable 221 is guided by the guide roller 224.

Further, the central opening 2 is provided at the center of the light receiving body 215.
25 is formed, and a condenser lens 226 is provided on the back side of the central opening 225. Then, the pulsed laser light incident on the light receiver 215 is collected by the main reflecting mirror 216 and the sub-reflecting mirror 218, guided from the central opening 225 to the condenser lens 226, and condensed there. The focused pulsed laser light subsequently passes through the optical fiber 227 and is guided to the laser light irradiation optical device 208.

The operation of the in-reactor inspection / repair device shown in FIGS. 22 to 26 will now be described.

FIG. 22 shows an example of laser repairing the welded portion W on the inner surface of the core shroud 14 of the nuclear reactor by using the in-reactor inspection / repair device. When performing inspection / inspection / repair / preventive maintenance work on the welded part in the reactor, the reactor vessel head of the reactor pressure vessel 10 is removed and the swimming robot handling device 28 is attached to the floor of the reactor pit 27 or Installed on the reactor floor.

[0232] Subsequently, the swimming robot handling device 28 drives the cable winding device 30 to move the swimming mother ship robot 180 equipped with the swimming work robot 181 into the water-filled reactor pressure vessel 10. The composite cable 141 is paid out from the cable winding device 30 in response to the swimming-type mother ship robot 180 swimming and descending in the reactor pressure vessel 10 by self-propelled operation.

The swimming mother ship robot 180 continues to descend by itself, swims through the opening 16 a of the upper lattice plate 16 and is guided to the core space 12 surrounded by the core shroud 14.

When the swimming type mother ship robot 180 is guided to the required core space 132, the swimming type mother ship robot 180 lowers the swimming type working robot 181. The welding part W is allowed to swim by itself, and the antenna mechanism 45 of the swimming-type work robot 181 is pressed against and brought into contact with the inner surface of the core shroud 14 across the welding line.

At this time, the position of the swimming type work robot 181 is recognized using the CCD camera 198 installed at the tip of the swimming type mother ship robot 180, and one of the laser beam irradiation antennas 198 of the laser beam emitting optical system 187 is recognized. Is directed in that direction to irradiate the swimming work robot 181 with the signal laser light.

The signal laser light adjusts the optical axis by causing the light receiver 215 of the laser light receiver 206 of the swimming type work robot 181 to perform a miso movement (swinging motion or elevation motion) by the light receiver drive device 220. The light is received by the light receiver 215. A laser light receiving device 206 that is optimal for receiving the laser light emitted from the swimming type mother ship robot 180 by each light receiver 215 of the laser light receiving device 206 and receiving the laser light from the intensity and size of the received laser light is provided. To be selected.

When the optimum laser light receiving device 206 is selected, the light receiving body 215 of the laser light receiving device 206 is tilted by a certain amount in the direction in which the intensity of the received laser light is large, and the miso-slip is performed again at an angle that is an integer multiple of the tilted amount. The direction in which the received light intensity of the laser light is large is examined by moving. This operation is repeated until the direction dependency of the laser light intensity becomes a certain amount or less.

When the optical axis adjustment for receiving the laser light is completed, the swimming type mother ship robot 180 emits the pulsed laser light for power toward the selected laser light receiving device 206, and the swimming type work robot. 2 and 3 by using the laser light irradiation optical device 208 mounted on the 181.
In the same way as the work robot shown in, remote inspection and
Inspection, repair, and preventive maintenance work is performed.

In this case, since the plurality of swimming type work robots 181 are mounted on the swimming type mother ship robot 180, laser repair is performed on a plurality of positions of the welding line of the welding portion W at the same time, and each swimming type work robot 181. When the laser repair is performed by one swimming work robot 181, the swimming repair robot 181 performs preventive maintenance and inspection of the welded portion by another swimming work robot 181, and the laser repair portion is inspected after the laser repair work. May be performed. The work efficiency can be improved by performing laser repair of the welding line of the welded portion in parallel work or division of labor.

This in-reactor inspection / repair device is equipped with a plurality of swimming type work robots 181 that can be freely moved in and out of the swimming type mother ship robot 180 by underwater radio, and each swimming type work robot 181 welds the inner surface of the core shroud 14. Underwater operations such as inspection of parts along the welding line, ultrasonic flaw detection, surface stress improvement, formation of stop holes for crack growth prevention, etc. can be performed efficiently in parallel or by division of labor.

FIG. 27 shows an inspection / repair device for in-reactor shown in FIGS. 22 to 26, using the swimming type mother ship robot 180 to inspect a welded part of a structure formed in the lower core plenum 24 of the reactor.・ An example of performing inspection / repair or preventive maintenance work is shown.

In the in-reactor inspection / repair device shown in FIG. 27, the swimming type robot handling device 28 installed on the floor of the reactor pit 27 or on the reactor floor is connected to the swimming robot handling device 28 by the composite cable 141 via the cable winding device 30. The swimming type mother ship robot 180 is cable-coupled, and a plurality of swimming type working robots 181 are mounted on the swimming type mother ship robot 180, and optically coupled underwater wirelessly so as to be freely accessible.

The swimming mother ship robot 180 is allowed to swim by itself and is lowered to pass through the opening 16a of the upper lattice plate 16 and lead to the core space 12, and then the opening 15a of the core support plate 15 is made to swim. And is guided to the lower core plenum 24 below the core support plate 15.

At the lower core plenum 24, the swimming type working robot 181 is lowered from the swimming type mother ship robot 180, or it is pulled out from the swimming type mother ship robot 180 to allow the welding portion of the lower core plenum 24 to swim by itself, and this welding is performed. Press against the section.

At the welded portion of the lower core plenum 24, CR
D housing 17 and stub tube 174 welded portion, stub tube 174 or shroud support 18 and reactor pressure vessel lower mirror portion 10a welded portion, shroud support 18 and core shroud 14 welded portion, partition wall 23 and core shroud 14, There is a welded portion with the diffuser 22 and the inner wall of the reactor pressure vessel, etc., and after each swimming type work robot 181 swims in these welded portions by self-propelled, each work robot 1
Hold 81 pressed against the weld.

After that, the laser light emitted from the swimming mother ship robot 180 is received by the laser light receiving device 206 of the swimming work robot 181 and a repair work similar to the laser repair shown in the third embodiment is performed in the lower core plenum. The welding is performed at 24 welds, and the inspection, repair, and preventive maintenance work are performed on the welds in the bulkhead furnace.

FIG. 27 shows a plurality of, for example, three swimming type working robots 181 optically coupled to the swimming type mother ship robot 180 underwater wirelessly. For example, the welding portion of the CRD housing 17 and the reactor pressure vessel lower mirror section 10a is welded. The following shows an example of laser repairing.

By using the swimming type mother ship robot 180 and a plurality of swimming type working robots 181 optically and optically connected to each other underwater, the structure of the lower core plenum 24 below the core support plate 15 is inspected and inspected. Sound wave flaw detection), repair,
It enables efficient underwater operations such as surface stress improvement and formation of stop holes to prevent crack growth.

FIG. 28 shows the inspection / inspection of the welded portion of the structure formed on the annulus-shaped downcomer portion 20 by using the swimming mother ship robot 180 by the in-reactor inspection / repair device shown in FIGS. 22 to 26.・ An example of performing repair or preventive maintenance work is shown.

In the in-reactor inspection / repair device shown in FIG. 28, the composite cable 141 is applied to the swimming robot handling device 28 installed on the floor of the reactor pit 27 or on the reactor floor via the cable winding device 30. The swimming type mother ship robot 180 is cable-coupled, and a plurality of swimming type working robots 181 are mounted on the swimming type mother ship robot 180 so as to be freely inserted and removed.

In this in-reactor inspection / repair device, the swimming mother ship robot 180 is caused to swim and descend, and is guided to the annulus-shaped downcomer section 20 surrounded by the reactor pressure vessel 10 and the core shroud 14. In the downcomer section 20, the swimming mother ship robot 180 to the swimming work robot 18
1 is dropped or pulled out and guided to the welded portion of the structure formed in the downcomer portion 20.

In the welded portion of the structure of the downcomer portion 20,
Welded portion on outer surface of core shroud 14, jet pump 21
A welded portion of the supporting riser brace arm 175, a welded portion of the jet pump 21, the partition wall 23 and the core shroud 14,
There is a welded portion with the diffuser 22 and the reactor pressure vessel 10, etc., and the swimming type work robot 181 that has been pulled down and pulled out from the swim type mother ship robot 140 to these welded portions is allowed to swim, and this work robot 181 is welded. In this state, the swimming work robot 181 is used to perform remote inspections, inspections, repairs, and preventive maintenance work.

In FIG. 28, the welded portions of the jet pump 21 of the downcomer portion 20 and the riser brace arm 175 are laser-repaired by a plurality of swimming type working robots 181 optically and optically coupled to the swimming type mother robot 180 underwater. It shows an example. The swimming-type work robot 181 has a shape and size (swimming) that allows it to easily pass between the reactor pressure vessel 10 and the jet pump 21, between the core shroud 14 and the jet pump 21, and between the jet pump 21 and its riser pipe 176. Directional projection cross-section).

In this in-reactor inspection / repair device,
By using a plurality of swimming type working robots 181 optically coupled to the swimming type mother ship robot 180 underwater wirelessly, it is provided in the annulus-shaped downcomer section 20 surrounded by the reactor pressure vessel 10 and the core shroud 14. It is possible to efficiently perform underwater work such as inspection / inspection (ultrasonic flaw detection) of the welded part of the structure, surface stress improvement, and formation of a stop hole to prevent crack growth.

Next, a fourth embodiment of the present invention will be described with reference to FIGS.
This will be described with reference to 0.

The in-reactor inspection / repair device shown in this embodiment accommodates the swimming work robot 181 in the tip mast 231 of the multistage telescopic telescopic mast 230 so that it can be taken in and out. The multistage telescopic expansion / contraction mast 230 is formed in a size and shape that allows it to freely pass through the openings 16a of the upper lattice plate 16 and the openings 15a of the core support plate 15. Since the swimming work robot 181 is not different from the work robot shown in the third embodiment, the same reference numerals are given and the description thereof will be omitted.

As shown in FIG. 30, the telescopic mast 230 is
The work carriage 232 is mounted and supported by a traverse carriage 233 that traverses the work carriage 232. The work trolley 232 is mounted on the reactor floor 234.
Alternatively, it runs on the floor of the reactor pit. The work carriage 232 is designed to travel on a travel rail 235 laid on the reactor floor 234, and the cross travel rail 23 is provided on the bogie surface of the work carriage 232.
6 is laid so as to be orthogonal to the traveling rail 234, and the traverse wheels 237 are engaged with the cross traveling rail 236 so as to travel freely.

A cable hoisting device 238 is installed on the traverse trolley 233, and a cable or wire 239 from the cable hoisting device 238 is connected to the tip mast 231 of the telescopic mast 230, while the traverse trolley 23 is used.
3 is provided with a laser beam scanning optical device 240 for guiding the pulsed laser beam. Laser light scanning optical device 240
Is a retractable mast 2 for laser light from a laser device (not shown).
It has a laser light guiding optical system 241 for guiding the laser light into the inside 30 and a laser light irradiating optical system 242 for collecting, distributing and irradiating the guided laser light. The laser light guide optical system 241 is configured by combining a reflection mirror 243.

The laser beam irradiation optical system 242 is housed in the tip mast 231, and has a beam shaping lens 244 for shaping the laser beam and a half mirror for distributing the shaped laser beam and scanning the swimming work robot 181. A distribution optical system 245 having a combination of reflection mirrors and a laser light emission optical system 246 for irradiating the distributed laser light to the outside are provided. The beam shaping lens 244 and the distribution optical system 245 of the laser light irradiation optical system 242 are installed on the base side of the tip mast 231, and the laser light emission optical system 246 is installed on the free end side of the tip mast 231. The laser light emitting optical system 246 can irradiate the power or signal distributed by the distribution optical system 245 toward the swimming work robot 181 with pulsed laser light. The laser light emitting optical system 246 is a CCD camera 2 for visually observing and observing the surroundings.
It is installed around 47. The CCD camera 247 is installed at the center of the free end side of the tip mast 231.

A plurality of robot accommodating chambers 248 are formed in the tip end mast 231 so as to be partitioned in the axial direction, and the swimming type work robot 181 is accommodated in each robot accommodating chamber 248 so as to be freely inserted and removed. The swimming work robot 181 is not different from that shown in the third embodiment, and therefore its explanation is omitted. The swimming work robot 181 is housed in the robot housing chamber 248, covered with a cover plate 249 and stored. The cover plate 249 is made of a shape memory alloy and is normally held in a closed state, but is opened in an open state by electric heating. By opening the cover plate 239, the swimming-type work robot 181 is extended from the tip mast 231 and is allowed to swim underwater by itself.

Next, the operation of the in-reactor inspection / repair device shown in the fourth embodiment will be described.

When performing inspection / inspection / repair / preventive maintenance work on the welded part in the reactor with this in-reactor inspection / repair device, the work is carried out on the reactor floor 234 or the floor surface of the reactor pit. A transverse carriage 233 is installed on the carriage 232, and a multistage telescopic expansion / contraction mast 230 is mounted on the transverse carriage 233. A plurality of swimming-type work robots 181 are housed and mounted in the front end mast 231 of the multi-stage telescopic mast 230 so that they can be taken in and out. The swimming work robot 181 may be one.

Subsequently, the cable hoisting device 238 is driven to draw the tip mast 231 out of the telescopic mast 230, and the reactor pressure vessel 10 filled with water is lowered to pass through the opening 16a of the upper lattice plate 16. , Upper grid plate 1
Core space 12 surrounded by core shroud 14 below 6
Let me guide you.

Tip mast 23 of multi-stage telescopic mast 230
1 is introduced into the required core space 132, the tip mast 2
The cover plate 249 of 31 is opened by electric heating to take out the swimming work robot 181. The taken swimming work robot 181 is allowed to swim by itself to the required welding portion W on the inner surface of the core shroud 14, and its welding line is drawn. The antenna mechanism 45 of the swimming-type work robot 181 is pressed against and brought into contact with the inner surface of the core shroud 14 across the bridge.

At this time, the position of the swimming type work robot 181 is recognized by using the CCD camera 247 installed on the tip end mast 231 of the multi-stage telescopic mast 230, and the radiation optical system 246 of the laser light scanning optical device 240 is directed. Then, the swimming type work robot 181 is irradiated with the signal laser light.

This signal laser light is emitted from the laser light receiving device 20 of the swimming type work robot 181 shown in FIGS.
The light receiver 215 of No. 6 is misaligned by the light receiver drive device 220 (swinging motion or elevation motion) to adjust the optical axis,
Light is received by the light receiver 215. The laser light receiving device 20 that is most suitable for measuring the laser light emitted from the swimming type mother ship robot 180 with each light receiving body 215 of the laser light receiving device 206 and receiving the laser light based on the intensity and size of the received laser light.
6 is selected.

When the optimum laser light receiving device 206 is selected, the optical axis of the light receiving body 215 of the laser light receiving system 206 is adjusted again, and the light receiving body 215 is set in a direction in which the laser light can be received most efficiently. When the optical axis adjustment for receiving the laser beam is completed, the pulsed laser beam for power is directed from the emission optical system 246 to the selected laser beam receiving device 206 through the laser beam scanning optical device 240 built in the expansion / contraction mast 230. 2 by using the laser light irradiation optical device 208 mounted on the swimming type work robot 181.
In addition, similar to the work robot shown in FIG. 3, in-furnace inspection, inspection, repair, and preventive maintenance work are performed remotely.

In this case, since a plurality of swimming type work robots 181 are mounted on the multi-stage telescopic mast 230, a plurality of welding lines of the welding portion W can be repaired by laser at the same time, and each swimming type work robot 181. When the laser repair is performed by one swimming work robot 181, the swimming repair robot 181 performs preventive maintenance and inspection of the welded portion by another swimming work robot 181, and the laser repair portion is inspected after the laser repair work. May be performed. The work efficiency can be improved by performing laser repair of the welding line of the welded portion in parallel work or division of labor.

This in-reactor inspection / repair device has a multi-stage telescopic mast 230 in which a plurality of swimming type work robots 181 can be freely put in and taken out, and each swimming type work robot 181 welds the welded portion on the inner surface of the core shroud 14. Underwater operations such as inspection along lines, ultrasonic flaw detection, surface stress improvement, formation of stop holes for crack growth prevention, etc. can be performed efficiently by parallel underwater radio or by division of labor.

FIG. 31 shows an inspection / repair device for in-reactor shown in FIGS. 29 and 30, inspecting a welded portion of a structure formed in a lower core plenum 24 of a reactor by using a multi-stage telescopic mast 230. An example of performing inspection / repair or preventive maintenance work is shown.

In the in-reactor inspection / repair device shown in FIG. 31, a traversing carriage 233 is movably provided on a freely movable traveling carriage 232 installed on the reactor floor 234 or the floor surface of the reactor pit. The multistage telescopic telescopic mast 230 is supported in a telescopic manner, and a plurality of swimming work robots 181 are mounted on the tip mast 231 of the telescopic mast 230, and the work robot 181 can be freely put in and out of the tip mast 231 by underwater radio. Is optically coupled to.

After the cable hoisting device 238 is operated, the tip end mast 231 of the telescopic mast 230 is extended and lowered, passed through the opening 16a of the upper lattice plate 16 and guided to the core space 12, and then the core support plate 15 is further moved. Opening 15
It is lowered through a and guided to the lower core plenum 24 below the core support plate 15.

The expansion mast 2 is attached to the core lower plenum 24.
From the tip mast 231 of 30 to the swimming work robot 181
Is taken out and allowed to swim in the welded part of the lower core plenum 24 by self-propelling and pressed against this welded part.

At the welded portion of the lower core plenum 24, CR
D housing 17 and stub tube 174 welded portion, stub tube 174 or shroud support 18 and reactor pressure vessel lower mirror portion 10a welded portion, shroud support 18 and core shroud 14 welded portion, partition wall 23 and core shroud 14, There are welded portions with the diffuser 22 and the inner wall of the reactor pressure vessel, etc., and after each swimming type work robot 181 swims in these welded portions, each work robot 181 is kept pressed against the welded portion. After that, the laser light emitted from the laser light scanning optical device 240 is received by the laser light receiving device 206 of the swimming type work robot 181, and the repair work similar to the laser repair shown in the third embodiment is performed by the lower core plenum 24. It is carried out at the welded part, and the inspection, repair, and preventive maintenance work of the bulkhead inside the welded part are performed.

FIG. 32 shows a plurality of swimming work robots 181 which are optically coupled to the tip mast 231 of the multi-stage telescopic telescopic mast 230 by radio underwater.
CRD housing 17 and reactor pressure vessel lower mirror section 10a
An example of laser repairing the welded portion of is shown.

By using a plurality of swimming-type work robots 181 optically and optically coupled to the tip mast 231 of the telescopic mast 230 underwater, the structure of the lower core plenum 24 below the core support plate 15 is inspected and inspected. (Ultrasonic flaw detection), repair, surface stress improvement, formation of stop holes to prevent crack growth, etc. can be performed efficiently in water.

FIG. 32 shows the inspection of the welded portion of the structure formed in the annulus-shaped downcomer portion 20 by using the tip mast 231 of the telescopic mast 230 by the in-reactor inspection / repair device shown in FIGS. 29 and 30.・ An example of performing inspection / repair or preventive maintenance work is shown.

In the in-reactor inspection / repair device shown in FIG. 32, a traverse trolley 233 is mounted on a work trolley 232 movably provided on the reactor floor 234 or the floor of the reactor pit.
The multi-stage telescopic mast 230 is supported by the traversing carriage 233, and the telescopic mast 230 is expanded and contracted by the cable hoisting device 238.
A plurality of swimming-type work robots 181 are mounted on the tip end mast 231 of the telescopic mast 230 so as to be freely inserted and removed.

In this in-reactor inspection / repair device, the telescopic mast 230 is moved and positioned by traveling of the work carriage 232 and the traverse carriage 233, and in this state, each carriage 232,
233 is stopped and the telescopic mast 230 is delivered by operating the cable hoisting device 238, and the tip mast 231 is guided to the annulus-shaped downcomer portion 20 surrounded by the reactor pressure vessel 10 and the core shroud 14. Downcomer part 2
At 0, the swimming type work robot 181 is taken out from the tip end mast 231 of the telescopic mast 230 and allowed to swim by itself, and is guided to the welded portion of the structure formed in the downcomer portion 20.

At the welded portion of the structure of the downcomer portion 20,
Welded portion on outer surface of core shroud 14, jet pump 21
A welded portion of the supporting riser brace arm 175, a welded portion of the jet pump 21, the partition wall 23 and the core shroud 14,
There is a welded portion with the diffuser 22 and the reactor pressure vessel 10, etc., and the welded work robot 181 that has been pulled down to the welded portion by the swimming mother ship robot 140 and pulled out is allowed to swim by itself, and this working robot 31 Is held in a pressed state on the welded portion, and inspection, inspection, repair, and preventive maintenance work is performed by remote control using the swimming work robot 181.

FIG. 32 shows the welding of the jet pump 21 and the riser brace arm 175 of the downcomer unit 20 by a plurality of swimming type work robots 181 optically coupled to the tip mast 231 of the multistage telescopic telescopic mast 230 underwater wirelessly. An example of laser repairing a part is shown. The swimming-type work robot 181 has a shape and size (swimming) that allows it to easily pass between the reactor pressure vessel 10 and the jet pump 21, between the core shroud 14 and the jet pump 21, and between the jet pump 21 and its riser pipe 176. Directional projection cross-section).

In this nuclear reactor inspection / repair device,
By using a plurality of swimming-type work robots 181 optically coupled to the tip mast 231 of the telescopic mast 230 underwater wirelessly, the annulus-shaped downcomer portion 20 surrounded by the reactor pressure vessel 10 and the core shroud 14 is formed. Underwater operations such as inspection / inspection (ultrasonic flaw detection) of the provided structure, surface stress improvement, and formation of stop holes to prevent crack growth can be performed efficiently.

Next, a fifth embodiment of the in-reactor inspection / repair device according to the present invention will be described.

33 and 34 show a fifth embodiment of the inspection / repair device in the reactor. The inspection / repair device in the reactor shown in this embodiment is the reactor floor or the reactor pit. A telescopic pole handling device (not shown) is installed on the floor surface of 27, and a multi-stage telescopic telescopic pole 251 is hung from the pole handling device, and one or more swimming work robots 252 are mounted on the multi-stage telescopic pole 251. It is detachably held.

The telescopic pole handling device holds the multi-stage telescopic telescopic pole 251 in a telescopic manner, and is constituted by, for example, a self-propelled fuel exchanger. A laser beam scanning optical device 253 for guiding a pulsed laser beam is built in the telescopic pole 251.
Further, when the swimming work robot 252 is detachably held, and when the swimming work robot 252 is detached from the telescopic pole 251, it is possible to swim by itself in the water-filled reactor. The swimming-type work robot 252 is configured to have a size and shape that allows it to pass through the opening 16a of the upper lattice plate 16 and the opening 15a of the core support plate 15 while being held by the multistage telescopic pole 251.

The swimming type work robot 252 is shown in FIG.
As shown in (A) and (B), a main body shell 255 is configured to be openable and closable in a bivalve shape, and a pair of split shells 256 has a shape memory alloy joint 257 such as a hinge joint.
The hinge shells are openably and closably coupled with each other, and the paired split shells 256 are opened by heating the joint 257 with electricity.

The pair of split shells 256 are installed with the suction cups 258 facing each other on their facing surfaces, while the laser light irradiation optical device 260 is housed therein, and the pulsed laser for guiding the laser light irradiation optical device 260 is provided. The light is emitted from the laser light irradiation optical system 261 to the outside. The laser light irradiation optical system 261 is provided on the opposite surface side provided with the suction cup 258. The laser light irradiation optical device 260 has the same structure as the laser light irradiation optical device 208 shown in FIG.

Further, the main body shell 255 is provided with a main robot propulsion device 263 for swimming in water in the nuclear reactor, and a sub robot for propelling the swimming work robot 252 in a direction different from the propulsion direction of the main robot propulsion device 263. A robot propulsion device 264 is provided. The sub robot propulsion device 264 is a work movement cross movement propulsion device that can transfer the swimming work robot 252 in two directions orthogonal to each other, and has the same configuration as the cross movement propulsion device 43 shown in FIG. In one sub-robot propulsion device 264, a propulsion duct 265 is guided through a suction cup 258. The suction cup 258 may accommodate a plurality of ultrasonic probes that form the antenna mechanism.

Further, a plurality of laser light receiving devices 26 are arranged along the circumferential direction of the hemispherical divided shell 256 of the main body shell 255.
6 are provided. This laser light receiving device 266 is also shown in FIG.
The description is omitted because it is substantially the same as the laser light receiving device 266 shown in FIG. The pulsed laser light received by the laser light receiving device 266 is guided inside the shell by the laser light irradiation optical device 260 housed in each divided shell 256, and is emitted to the outside from the laser light emitting optical system 261.

Next, the operation of the in-reactor inspection / repair device of the present invention shown in the fifth embodiment will be described.

FIG. 33 shows an example in which the welded portion W on the inner surface of the core shroud 14 in the reactor is laser-repaired by using the in-reactor inspection / repair device. When laser repairing the welded portion W on the inner surface of the reactor core shroud 14 with the in-reactor inspection / repair device, the pressure vessel head of the reactor pressure vessel 10 is removed, and a pole is attached to the floor of the reactor floor or the reactor bit 27. A handling device is installed, and the swimming work robot 252 is held by the telescopic pole 251 having a multi-stage telescopic shape, and is lowered to the reactor pressure vessel 10 filled with water.

The swimming type work robot 252 held by the multi-stage telescopic pole 251 from the telescopic pole handling device is suspended from the opening 16a of the upper lattice plate 16 and the upper lattice plate 16 is suspended.
Is guided to the core space 12 surrounded by the core shroud 14 below. The swimming-type work robot 252 guided to the core space 12 is set in a state in which the shape memory alloy joint 257 is subsequently energized and heated to open the pair of split shells 256.

By opening the split shell 256 of the main body shell 255, the gripped state on the telescopic pole 251 is released, and the swimming work robot 252 is moved to the telescopic pole 251.
Taken from. After taking out the swimming type work robot 252 from the telescopic pole 251, the robot propulsion device 26
3, 264 is operated to move the swimming work robot 252 away from the telescopic pole 251 by a predetermined distance.

The swimming type work robot 252 uses the telescopic pole 2
When a certain distance from 51, the shape memory alloy joint 257 is de-energized, and the paired split shells 256 are returned to the closed state.

The swimming type work robot 252 is the main body shell 2
The swimming type work robot 2 is operated by operating the robot propulsion devices 263 and 264 in a state in which the respective split shells 256 of 55 are closed.
52 is allowed to swim by itself to the weld W on the inner surface of the core shroud 14. When the swimming work robot 252 reaches the required welding portion W, the shape memory alloy joint 257 is electrically heated again to set the pair of split shells 256 to the open state. With the split shell 256 open, the main robot propulsion device 263 is operated to operate the core shroud 14
The suction cup 258 is fixed by suction on the inner surface across the welding line.

Subsequently, from the tip of the multistage telescopic pole 251, the laser beam receiving device 266 of the swimming work robot 252 is received.
The power or signal is transmitted underwater wirelessly using pulsed laser light. The swimming-type work robot 252 receives the pulsed laser light and irradiates the welding line of the welding portion W from the laser light emitting optical system 261 of the laser light irradiation optical device 260 to improve the surface stress state of the welding portion W.

The ultrasonic vibration generated by the irradiation of the pulsed laser beam to the welded portion W is measured by an ultrasonic probe (not shown) to perform a physical inspection of the ultrasonic probe or the like. If defects such as cracks are found in the welded portion W by this physical inspection, for example, the cracked portion is irradiated with pulsed laser light for a long time,
The shape of the crack tip is processed into an obtuse angle to repair defects. The ultrasonic probe is provided in, for example, a suction cup.

At this time, a plurality of swimming work robots 252 are held on the multi-stage telescopic poles 251 and a plurality of swimming work robots 252 are used in parallel to inspect and inspect the reactor.
By performing inspection, repair, and preventive maintenance work, these works can be performed efficiently and efficiently.

As described above, the swimming type work robot 25 held by the multistage telescopic pole 251 by the detachable grip.
By using 2, the underwater work such as improvement of the surface stress of the inner surface welded portion W of the core shroud 14 under the upper lattice plate 16 and formation of a stop hole for preventing crack propagation is output of pulsed laser light and the number of laser light irradiations. You can do it by simply changing.

FIG. 35 shows the inspection / inspection / repair or preventive maintenance work of the structure formed in the lower core plenum 24 of the reactor by using the in-reactor inspection / repair device shown in FIGS. 33 and 34. An example is shown.

In the in-reactor inspection / repair device shown in FIG. 35, the telescopic pole 251 having a multi-stage telescopic shape is held telescopically by using the telescopic pole handling device installed on the reactor floor or the floor of the reactor pit 27. . And
The telescopic pole 251 is lowered while being drawn out, passed through the opening 16a of the upper lattice plate 16 and guided to the core space 12, and is further lowered through the opening 15a of the core support plate 15 to lower the core support plate 15. Lower core plenum 24
I will guide you to.

The telescopic pole 2 is attached to the core lower plenum 24.
The swimming-type work robot 252 gripped by 51 is taken out and allowed to swim by itself in the lower core plenum 24 and pressed against a required welding portion.

The welded portion of the structure of the lower core plenum 24 includes the welded portion of the CRD housing 17 and the stub tube 174, the welded portion of the stub tube 138 and the shroud support 18 and the reactor pressure vessel lower mirror portion 10a, and the shroud support. 18 and the core shroud 14 are welded, the partition wall 23 and the core shroud 14, the diffuser 22, the reactor pressure vessel inner wall are welded, and the like. After the swimming work robot 252 swims in these welds, each work is performed. The pair of split shells 256 of the robot 252 are pressed so as to straddle the welding line of the welded portion in an opened state, and sucked by the suction cup 258 to be fixed.

Thereafter, the laser light irradiation optical device 26 housed in each divided shell 258 of the swimming type work robot 252.
The laser repair work of the lower core plenum 24 is performed by irradiating the laser light emitted from the laser light emitting optical system 261 of No. 0 at the welding portion.

A plurality of swimming work robots 252 fixed to the lower core plenum 24 are optically coupled to the tip of the multi-step telescopic expansion / contraction pole 251 by underwater wireless communication. By using it, underwater operations such as inspection / inspection (ultrasonic flaw detection), repair of the structure of the lower core plenum 24 below the core support plate, repair of surface stress, formation of stop holes for crack growth prevention, etc. can be performed efficiently. be able to.

FIG. 36 shows the welding portions formed on the CRD housing 17 and the downcomer portion 20 of the reactor pressure vessel 10 by a plurality of, for example, three swimming type work robots 252 held by the telescopic pole 251 having a multistage telescopic shape. An example of laser repair is shown.

The telescopic pole 251 delivered from the telescopic pole handling device is guided to the annulus-shaped downcomer section 20 surrounded by the reactor pressure vessel 10 and the core shroud 14. In the downcomer unit 20, the swimming type work robot 252 is detached from the telescopic pole 251 to allow the downcomer unit 20 to swim by itself, as in the case shown in FIGS. 33 and 34.
Guide to the welded part of the structure. The swimming type work robot 252 guided to the welded part is fixed so that the split shell 256 is opened and the suction cup 258 straddles the welding line, and the laser repair work is started.

The swimming-type work robot 252 fixed to the welded portion of the downcomer portion 20 is an underwater wireless telescopic pole 251.
34, the laser light receiving device 266 of the swimming work robot 252 shown in FIG. 34 receives the pulsed laser light output from the laser light scanning optical device 253 of the telescopic pole 251. The pulsed laser light received by the laser light receiving device 266 is emitted by the laser light irradiation optical device 26.
The laser beam emitting optical system 261 irradiates the weld portion with 0, and laser repair is performed.

In FIG. 36, the swimming work robot 252 is formed in a size and shape that allows it to freely pass through the downcomer portion 20. Specifically, the swimming-type work robot 252 smoothly passes between the reactor pressure vessel 10 and the jet pump 21, between the core shroud 14 and the jet pump 21, between the jet pump 21 and its riser pipe 176, and the like. It is formed into a shape and size that can be formed.

In this nuclear reactor inspection / repair device,
The structure of the annulus-shaped downcomer portion 20 surrounded by the reactor pressure vessel 10 and the core shroud 14 is obtained by using a plurality of swimming-type work robots 252 that are optically coupled to the tip end of the telescopic pole 251 underwater wirelessly. It is possible to efficiently perform underwater operations such as inspection and inspection of welds formed on the surface, improvement of surface stress condition, and formation of stop holes to prevent crack growth.

Next, a sixth embodiment of the in-reactor inspection / repair device according to the present invention will be described with reference to FIGS. 37 to 39.

In the in-reactor inspection / repair device shown in this embodiment, the swimming mother ship robot 270 is attached to the tip of the composite cable 141 unwound from the cable winding device 30 of the swimming work robot handling device 28. , A plurality of swimming work robots 2 in the middle of the composite cable 141
One or more 71 are detachably attached.

The swimming type work robot handling device 28 is installed on the floor of the reactor pit 27 or on the reactor floor.
The robot handling device 28 is provided with a cable winding device 30. The optical fiber is contained in the composite cable 141 fed from the cable winding device 30, while the composite cable 141 is configured by combining a power cable and a signal cable.

A swimming type mother ship robot 270 connected to the tip of the composite cable 141 is constructed as shown in FIG. 38, and a plurality of robot propulsion devices 2 for swimming the robot.
72, and a cross movement propulsion device 273 for moving the robot propulsion device 272 in a direction orthogonal to the robot propulsion direction. An arm mechanism 274 made of a shape memory alloy is provided in front of the swimming mother ship robot 270, and a suction cup 275 is attached to the tip of the arm mechanism 274. The composite cable 141 is attached to the swimming mother ship robot 270.
The laser beam scanning optical device (not shown) that guides the pulsed laser beam guided by the optical fiber 29 and is radiated to the outside is built in, and the pulsed laser beam swims the work robot by this laser beam scanning optical device. The scanning is performed toward 271. The laser beam scanning optical device is shown in FIG.
Laser beam scanning optical device 1 for swimming type mother ship robot shown in FIG.
A value substantially equal to 84 is used. Reference numeral 276 is a CCD camera.

Further, in the composite cable 141 in which the swimming mother ship robot 270 is cable-coupled, a plurality of attachment cables 277 are supported in parallel on both sides at intervals, and the cable gripping mechanism 278 is detachably attached to the attachment cable 277. To be The cable gripping mechanism 278 is shown in FIG.
As shown in FIG. 5, the swimming work robot 271 is attached to the main body shell 280. The cable gripping mechanism 278 is
Made of a shape memory alloy that has a built-in magnetic circuit and opens when heated by electricity.

The swimming type work robot 271 includes a plurality of robot propulsion devices 281 for swimming the work robot.
And a cross movement propulsion device 2 for moving the robot propulsion device 281 in a direction orthogonal to the robot propulsion direction.
82 is provided. The swimming type work robot 271 has a laser light irradiation optical device (not shown) built therein, and the laser light irradiation optical device 208 is provided with a plurality of laser light receiving devices 206 for receiving and guiding pulsed laser light. Laser light receiving device 206 and laser light irradiation optical device 20
Since 8 is not substantially different from that shown in FIG. 25, the same reference numerals are given and description thereof is omitted. Laser light irradiation optical device 20
Laser light is emitted from a laser light emitting optical system (not shown) to a welded portion or the like.

The swimming type work robot 271 is shown in FIG.
As shown in FIG. 9, a plurality of cross movement propulsion devices 282 for moving the robot propulsion device 281 in a direction orthogonal to the robot propulsion direction may be provided, and the CCD camera 283 is a ring-shaped rotating frame 284 attached to the main body shell 280. It is provided in.

Next, an example of laser repairing the welded portion on the inner surface of the core shroud 14 of the nuclear reactor by using the nuclear reactor inspection / repair device shown in FIGS. 37 to 39 will be described.

In the in-reactor inspection / repair device shown in FIG. 37, the pressure vessel head of the reactor pressure vessel 10 is removed, and the swimming robot handling apparatus 28 is installed on the floor of the reactor pit 27 or the reactor floor. . The cable winding device 3 provided in the swimming robot handling device 28
A composite mother ship robot 27 that is extended from 0 and is cable-coupled to the composite cable 141.
0 is suspended in the reactor pressure vessel 10 filled with water. In the middle of the composite cable 141, a plurality of swimming type work robots 271 are detachably held by the cable gripping mechanism 278.

The swimming mother ship robot 270 descends in the reactor pressure vessel 10 while holding the plurality of swimming work robots 271 on the composite cable 141, and the upper lattice plate 16
Is guided to the core space 12 surrounded by the core shroud 14 through the opening 16a. The swimming mother ship robot 270 guided to the core space 12 swims in the core space 12 by itself to be guided to the core support plate 15, and the core support plate 15
It is adsorbed and fixed on the floor surface by using a suction cup 275. At this time, the swimming-type work robot 271 uses the composite cable 141.
The size and shape are such that the opening 16a of the upper lattice plate 16 can be freely passed without any difficulty in the state of being gripped.

Next, by applying an electric current to the cable gripping mechanism 278 of the swimming type work robot 271 to heat it,
The shape memory alloy cable gripping mechanism 278 is opened to release the gripping state, the swimming-type working robot 271 is allowed to swim by itself to the welding portion W on the inner surface of the core shroud 14, and is fixed to the welding portion W by pressure contact. .

Then, power or a signal is transmitted from the swimming type mother ship robot 270 to the swimming type working robot 271 by underwater wireless by pulsed visible laser light, and is transmitted to the laser light receiving device 206 of the swimming type working robot 271 (see FIG. 38). Receive light. The pulsed laser light received by the laser light receiving device 206 is guided to the laser light irradiation optical device and is irradiated onto the welding line of the welded portion W from a laser light emitting optical system (not shown). The irradiation of the pulsed laser beam improves the stress state of the welded portion.

The ultrasonic waves generated by the pulsed laser light irradiation are measured by an ultrasonic probe of an antenna mechanism (not shown), and the presence or absence of defects such as cracks in the welded portion is physically inspected. If, for example, a crack is found in the weld W by this physical inspection, both ends of the crack are irradiated with a pulsed laser beam for a required long time to process the crack tip shape of the weld W at an obtuse angle for repair. To do. This repair work is performed in parallel using a plurality of swimming-type work robots 271, and the remote in-reactor repair / preventive maintenance work is efficiently performed by this parallel work.

As described above, by performing the laser repair work by using the swimming mother ship robot 270 coupled to the composite cable 141 and the plurality of swimming work robots 271, the surface stress of the welded portion on the inner surface of the core shroud 14 is Operations such as improvement of the condition and formation of a stop hole for preventing crack growth can be performed simply by changing the laser output and the number of laser irradiations, and the work can be performed efficiently.

After the laser repair work on the inner surface welded portion W of the core shroud 14 by the swimming work robot 271 is completed,
Each swimming type work robot 271 is allowed to swim to the composite cable 141, and the composite cable 141 is gripped by the cable gripping mechanism 278. In this gripped state, the suction state by the suction cup 275 is released, and the swimming mother ship robot 270 is taken out from the core support plate 15. The swimming type mother ship robot 270 taken out from the core support plate 15 is allowed to swim in the core space 12, and the composite cable 14 is moved by the cable winding device 30.
The swimming type mother ship robot 270 is provided with the next laser repair work by sequentially winding up 1 in the reverse order of the laser repair work.

By the way, this swimming type work robot 271
Is gripped by the attachment cable 277 of the composite cable 141 by the cable gripping mechanism 278, and since a magnetic circuit is formed in the cable gripping mechanism 278 in this gripping state, even if a high-frequency current is applied to the composite cable 141, a magnetic field is generated. Does not occur. However, since a magnetic field is generated in the attachment cable 277 portion parallel to the composite cable 141, an induced current flows in the magnetic circuit in the cable gripping mechanism 278,
This induced current is charged into a storage battery (not shown) mounted on the swimming work robot 271, and the swimming work robot 2
It is used as a drive source of the robot propulsion device 281 and the cross movement propulsion device 282 of 71.

FIG. 40 shows an example in which the welded portion of the structure of the lower core plenum 24 in the reactor is laser-repaired using the in-reactor inspection / repair device shown in the sixth embodiment of the present invention. is there.

The in-reactor inspection / repair device shown in FIG. 40 has a core surrounded by a core shroud 14 in which a swimming mother ship robot 270 cable-coupled to a composite cable 141 passes through an opening 16a in an upper lattice plate 16. After being guided to the space 12, the lower core plenum 2 is formed below the core support plate 15 through the opening 15a of the core support plate 15.
You will be guided to 4. The swimming mother ship robot 270 guided by the lower core plenum 24 swims in the lower core plenum 24 and is guided to a predetermined CRD housing 17.
It is fixed on the RD housing 17 by the suction effect of the suction cup 275. CR of swimming mother ship robot 270
After being fixed to the D housing 17, the composite cable 14
The gripping state of the swimming work robot 271 gripped by No. 1 is released. The gripping state of the swimming type work robot 271 is released by opening the cable gripping mechanism 278 made of a shape memory alloy by electric heating.

The swimming type work robot 271 released from the composite cable 141 swims in the lower core plenum 24 by driving the robot propulsion device 281 and the like, and the CRD housing 17 and the reactor pressure vessel lower mirror part 10a.
Of the partition wall 23, the core shroud 14, the reactor pressure vessel 10, and the shroud support 18, and the laser repair work of the in-reactor inspection / repair device shown in FIG. 37. Plural swimming work robots 27
1 is used for remote furnace repair and preventive maintenance work.

FIG. 41 shows a welded portion of the annulus-shaped downcomer portion 20 surrounded by the reactor pressure vessel 10 and the core shroud 14 by using the in-reactor inspection / repair device shown in the sixth embodiment of the present invention. 2 shows an example of laser repairing.

In the in-reactor inspection / repair device shown in FIG. 41, a swimming-type mother ship robot 270 cable-coupled to a composite cable 141 is surrounded by the reactor pressure vessel 10 and the core shroud 14, and is an annulus-shaped downcomer section 20. And is fixed to the inner peripheral wall of the reactor pressure vessel 10. The swimming mother ship robot 270 uses the suction cup 275 as the reactor pressure vessel 10.
It is adsorbed and fixed by pressing.

After the swimming type mother ship robot 270 is fixed to the reactor pressure vessel 10, the gripping state of the swimming type working robot 271 held by the composite cable 141 is released, and the swimming type working robot 271 is removed from the outer surface of the core shroud 14. The welded portion, the welded portion of the riser brace arm 175, the welded portion of the jet pump 21, the welded portion of the partition wall 23, the core shroud 14, the reactor pressure vessel 10, and the diffuser 22 are allowed to swim by themselves, and the reactor shown in FIG. Similar to the internal inspection / repair device, remote in-furnace repair and preventive maintenance work are performed in parallel using a plurality of swimming-type work robots 271.

In order to smoothly and smoothly carry out the remote furnace repair and preventive maintenance work, the swimming mother ship robot 270 attaches the swimming work robot 27 to the composite cable 141.
An annulus-shaped downcomer portion 20 in which 1 is gripped
Is guided by the swimming-type work robot 271 between the reactor pressure vessel 10 and the jet pump 21, and the core shroud 14
Between the jet pump 21 and the jet pump 21, and between the jet pump 21 and the riser pipe 176 are formed in a size and shape that can pass smoothly.

Also in this case, the swimming mother ship robot 270
And a plurality of swimming-type work robots 271 are used to improve the surface stress of the welded portion of the structure of the annulus-shaped downcomer portion 20 surrounded by the reactor pressure vessel 10 and the core shroud 14, and stop holes for preventing crack propagation. The underwater work such as the formation of can be performed efficiently by simply changing the laser output and the number of laser irradiations.

Next, a seventh embodiment of the in-reactor inspection / repair device according to the present invention will be described with reference to FIG.

The in-reactor inspection / repair device shown in FIG. 42 is provided with a laser device 290 for oscillating a laser beam and a control panel 291 on the reactor floor 234, while power is supplied in a reactor pit 27 filled with water. A telescopic laser light emission tower 292 that emits a signal laser light is installed so as to be accessible. And the laser light emitting tower 2
92, the laser device 290, and the control panel 291 are optically coupled by an optical transmission system 293 such as an optical fiber.

A laser beam scanning optical device 294 is built in the laser beam emitting tower 292, and the laser beam for power and signals guided by the laser beam scanning optical device 294 is transmitted to the laser beam relay robot 295. Has become. The laser light relay robot 295 is suspended from the nuclear reactor floor 234 by an overhead crane or the like and the upper grid plate 16 is installed.
A laser light transmitting / receiving system 296 is installed on the laser light emitting tower 292 and the laser light relay robot 295, and a power and signal laser light is transmitted to the swimming work robot 297 by using the laser light relay robot 295. Is transmitted by underwater wireless.

The swimming type work robot 297 is shown in FIG.
It has the configuration shown in FIG. 5 and is optically coupled to the laser beam relay robot 295 underwater wirelessly. Swimming work robot 2
97 is lowered into the reactor pit 27 filled with water from the reactor floor 234, and the reactor pressure vessel 10 is operated by the operation of a robot propulsion device and a cross movement propulsion device (not shown).
It is allowed to swim inside and transferred to the annulus-shaped downcomer portion 20, and is adsorbed and fixed to a required weld portion of the structure of the downcomer portion 20.

FIG. 42 shows the case where the laser light emitting tower 292 and the laser light relay robot 295 are used to laser repair the welded portion of the annulus-shaped downcomer portion 20 by a plurality of swimming type work robots 297. The laser light relay robot 295 is fixed by suction at a position where the laser light from the laser light emitting tower 292 can be received. When the laser light relay robot 295 cannot directly send the laser light to the swimming work robot 297 performing the laser repair work, a plurality of other swimming work robots 297 are adsorbed on the wall surface of the intermediate structure of the downcomer unit 20. The swimming work robot 297 may be used as a relay work robot. As a result, the laser light relay robot 297
The laser light from is transmitted to the swimming work robot 297, which performs repair work, through the swimming work robot 297 as a relay work robot to perform laser repair.

The laser light relay robot 295 can send laser light to a plurality of swimming type work robots 297 at the same time, and the laser light emitting tower 292 includes a plurality of laser light relay robots 295 and a plurality of laser light relay robots 295. The swimming-type work robot 297 has a function of simultaneously sending laser light.

Then, the swimming type working robot 297, which is optically coupled by radio underwater using the laser beam emitting tower 292 and the laser beam relay robot 295, provides a downcomer surrounded by the reactor pressure vessel 10 and the core shroud 14. The welded portion of the portion 20 can be laser repaired.

Specifically, the welded portion of the outer surface of the core shroud 14, the welded portion of the riser brace arm 175, the welded portion of the jet pump 21, the partition wall 23 and the reactor pressure vessel 10,
The welded portion between the core shroud 14 and the diffuser 22 is irradiated with pulsed visible laser light by the laser light irradiation optical device 260 incorporated in the swimming type work robot 297,
While the surface stress of the weld is improved, the ultrasonic waves generated by the pulsed laser light irradiation are measured with an ultrasonic probe (not shown) to perform a physical inspection of the weld. If a defect such as a crack is found in the welded portion by this physical inspection, the defective portion such as a crack is irradiated with pulsed laser light for a predetermined long time to perform laser repair such as shape processing of the tip. This laser repair can be performed in parallel by using a plurality of swimming-type work robots 297, and the repair / preventive maintenance work inside the furnace can be efficiently performed by remote control.

In this nuclear reactor inspection / repair device, the laser light emitting tower 292 and the laser light relay robot 295 are used.
A plurality of swimming-type work robots 297 using a laser light transmitting / receiving system 296 optically combined with each other are used to improve the surface stress state of the welded portion of the structure of the annulus-shaped downcomer portion 20 and to form a stop hole for preventing crack growth. The underwater work can be efficiently performed only by changing the laser light output and the number of laser light irradiations.

FIG. 43 shows a modification of the in-reactor inspection / repair device shown in FIG.

The in-reactor inspection / repair device shown in this modification uses a telescopic pole instead of using the laser light transmitting / receiving system 296 in which the laser light emitting tower 292 and the laser light relay robot 295 are combined. The device 298 is installed on the upper surface of the core shroud 14. The telescopic pole handling device 298 is capable of telescopically handling the telescopic pole 251 having a multi-stage telescopic shape. Telescopic pole 2
The distal end of 51 is configured to be optically connectable to the swimming work robot 252 underwater wirelessly.
Telescopic pole 2 for visible power and signal visible laser light from 8
The laser beam scanning optical device built in 51 is guided to the swimming work robot 252 from the tip of the telescopic pole 251 by radio underwater, and the swimming work robot 252 irradiates the welding portion such as the downcomer portion 20. The laser repair of the welded part is performed.

The swimming type work robot 252 is lowered into the reactor pit 27 filled with water from the reactor floor 234,
It swims in the reactor pressure vessel 10 and is transferred to a welded part in the reactor, where it is adsorbed and fixed to this welded part. While being installed in the welded portion, pulsed laser light is emitted through the swimming type work robot 252 to perform inspection / repair / preventive maintenance work on the welded portion in the nuclear reactor. The swimming work robot 252 may be detachably held by the telescopic pole and inserted into the reactor. As the swimming type work robot 252, for example, the structure shown in FIG. 34 is used.
The swimming type work robot 297 shown in FIG.

The in-reactor inspection / repair device shown in FIG. 43 has a telescopic pole handling device 2 on the upper surface of the core shroud 14.
98 is installed, the telescopic pole handling device 298 is remotely operated, and the telescopic pole 251 is inserted into the annulus-shaped downcomer portion 20. With the swimming work robot 252 optically coupled to the telescopic pole 251 underwater wirelessly. Laser repair work is performed.

When performing inspection / inspection / repair or preventive maintenance of the welded part in the reactor with this in-reactor inspection / repair device, the pressure vessel head of the reactor pressure vessel 10 is removed and the upper surface of the core shroud 14 is removed. Telescopic pole handling device 29
8 is installed, and the telescopic pole 251 has a multi-stage telescopic shape.
Is inserted into the downcomer portion 20.

Further, the swimming work robot 252 is put into the reactor pit 27 from the reactor floor 234, and the welded portion of the outer surface of the core shroud 14, the welded portion of the riser brace arm 175, the welded portion of the jet pump 21, the partition wall 23 and the atom are welded. It swims to the welded portion of the reactor pressure vessel 10, the core shroud 14, and the diffuser 22, and the swimming type work robot 252 is adsorbed and fixed to the welded portion. In this fixed state, the inspection / repair device for in-reactor shown in FIG. In the same manner as described above, in-furnace repair and preventive maintenance work are performed by remote control using a plurality of swimming-type work robots 252 or 297.

In this in-reactor inspection / repair system, a multi-step telescopic telescopic pole 251 handled by the telescopic pole handling device 298 and a plurality of swimming-type work robots optically coupled to the telescopic pole 251 underwater wirelessly. Two
By using 52, laser light output for underwater work such as surface stress improvement of the welded portion of the structure of the downcomer portion 20 surrounded by the reactor pressure vessel 10 and the core shroud 14 and formation of a stop hole for crack growth prevention, It can be efficiently performed only by changing the number of times of laser light irradiation.

In the description of each embodiment of the present invention, an example in which the in-reactor inspection / repair device is applied to a boiling water reactor is shown, but this in-reactor inspection / repair device is applied to a pressurized water reactor. Can also be applied.

[0352]

As described above, in the inspection / repair method and apparatus for a nuclear reactor according to the present invention, the welded portion in the nuclear reactor is formed by using the swimming-type working robot capable of self-propelled swimming in the nuclear reactor. By irradiating the laser with pulsed laser light, it is possible to perform laser work for inspection, inspection, repair, and surface modification of the welded portion. Inspection, inspection, repair and surface modification of the welded part can be performed by changing the number of irradiations of the pulsed laser light emitted from the swimming work robot and the irradiation energy (laser light output). , Especially narrow-space welds formed by structures in the reactor, such as welds on the inner surface of the core shroud, welds formed by structures in the lower core plenum, downcomers between the reactor pressure vessel and the core shroud. Inspection, inspection, repair, and surface modification work can be performed on the welded part formed on the part. If laser work is performed using a plurality of swimming-type work robots, work in narrow spaces can be performed more efficiently with a large degree of freedom.

In the in-reactor inspection / repair device according to claim 1, a swimming type work robot is coupled to the composite cable fed from the cable winding device, and this swimming type work robot is operated by the robot propulsion device. The welded part inside is allowed to swim, and the swimming type work robot irradiates the welded part with pulsed laser light while the antenna mechanism is in pressure contact with the welded part, so the surface modification and repair work of the welded part can be moved freely. It is possible to perform stable and efficient remote control using a high-performance swimming-type work robot, and the physical inspection of the welded portion can be easily and easily measured using the antenna mechanism.

In the in-reactor inspection / repair device according to the second aspect, a pulsed laser beam is converted into a line segment (elongated slit) laser by a laser beam irradiation optical device incorporated in a main body shell of a swimming type work robot. It can be irradiated by changing to light and crossing the welding line of the welded part. In addition, the swimming work robot can be moved in the direction along the welding line of the welded portion by the robot propulsion device and the cross movement propulsion device. Furthermore, the swimming work robot can be moved stably by the weighted balancer mechanism. Check the weld.
Inspection, repair, and surface modification work can be performed stably and efficiently.

In the in-reactor inspection / repair device according to the third aspect of the present invention, the swimming surface type work robot is provided with the work surface modification monitoring system provided with the shutter device. The appearance and surface temperature of the welded part and the plasma generated near the irradiated part can be observed, and the surface of the welded part can be visually easily observed.

In the in-reactor inspection / repair device according to the fourth aspect, the water flow generating device provided in the nozzle body generates a water flow in the irradiation axis direction of the pulsed laser light and in a direction perpendicular to the irradiation axis. Since the bubbles generated by the irradiation of the pulsed laser light are removed from the optical path of the pulsed laser light, the pulsed laser light can be efficiently applied to the welded portion. As the pulsed laser light, laser light that is less deteriorated by underwater scanning is used.

In the in-reactor inspection / repair device according to claim 5, a Stirling engine is used as a drive source of the water flow generator, and the laser light reflected from the welded portion of the pulsed laser light is heated by the heating unit of the Stirling engine. As a result, it does not require an independent power source to drive the Stirling engine.

In the in-reactor inspection / repair device according to claim 6, a CCD camera having a visual function is installed in the main body shell, and the main body shell in front of the CCD camera is opaque when irradiated with pulsed laser light. Heat resistance of liquid crystal
Since it is composed of a pressure resistant shutter device, the CCD camera can be protected to prevent halation thereof, while the work robot can swim while checking the front side with the CCD camera.

In the in-reactor inspection / repair device according to claim 7, since the front shell of the main body shell is provided with the antenna mechanism, and the antenna mechanism is provided with a plurality of ultrasonic probes, the ultrasonic probe The ultrasonic vibration generated by pulsed laser light irradiation can be measured by a child to physically inspect for defects such as flaw detection in the weld.The antenna mechanism uses liquid crystal that becomes opaque when irradiated with pulsed laser light. Since it is covered with the shield plate, it is possible to effectively prevent the reflected light of the pulsed laser light from leaking to the outside.

In the in-reactor inspection / repair device according to claim 8, since the purifying device for collecting foreign matters such as scattered objects is provided, the foreign matters of scattered objects are collected with the irradiation of the pulsed laser beam. Therefore, the work of cleaning the inside of the nuclear reactor after the laser work by using the inspection / repair device in the nuclear reactor becomes unnecessary.

In the in-reactor inspection / repair device according to claim 9, a slide stage mechanism that is movable in the axial direction is provided in the propulsion duct of the cross movement propulsion device, and laser light irradiation optics is provided in the slide stage mechanism. By attaching the moving optical system of the device and operating the slide stage mechanism to slide, the pulsed laser light in the form of line segments from the laser light irradiation optical device is scanned and irradiated in a rectangular range, and batch movement is performed for each rectangular irradiation range. Therefore, the batch processing can be efficiently performed with the line-shaped pulsed laser light.

In the in-reactor inspection / repair method according to the tenth aspect of the present invention, the stress state of the welded portion is improved by the pulsed laser light irradiated to the welded portion from the swimming work robot to perform surface modification. On the other hand, when a physical inspection of the welded portion is performed and a defect is found in the welded portion, the welded portion can be irradiated with pulsed laser light for a further required time to repair the defective portion.

In the nuclear reactor inspection / repair method according to claim 11, the pulsed laser light emitted from the laser light irradiation device of the swimming type work robot is batch processed to inspect / inspect / repair the welded portion. Surface modification work can be performed.

In the in-reactor inspection / repair device according to the twelfth aspect of the present invention, a swimming type mother ship robot is coupled to the composite cable fed from the cable winding device, and a plurality of swimming type work robots are output to the mother ship robot. The cables are connected so that they can be inserted, and multiple swim-type work robots are used to perform laser work on the welds in the reactor, so inspection, inspection, repair, and surface modification work on the welds in the reactor can be performed efficiently. It can be done efficiently.

In the in-reactor inspection / repair device according to the thirteenth aspect, the swimming-type mother ship robot is provided with a plurality of robot storage cylinders, and the swimming-type work robots are stored in the robot storage cylinders so that they can be stored in the robot storage cylinders. Since the composite cable that is sometimes coupled to the swimming work robot is taken up by the cable winder, multiple swimming work robots are compactly stored in the mother ship robot, and multiple swimming work robots are stored when the swimming work robot swims. The work robot does not interfere with the swimming.

In the in-reactor inspection / repair method according to the fourteenth aspect of the present invention, the surface of the welded portion is physically modified while the surface of the welded portion is modified by the pulsed laser light irradiated to the welded portion from the swimming work robot. When inspection is performed and defects are found in the welded part, the welded part can be further irradiated with pulsed laser light for the required time to repair the defective part. Since the swimming type work robot can be performed in parallel, the laser repair work can be performed efficiently and efficiently.

In the in-reactor inspection / repair device according to the fifteenth aspect of the present invention, the swimming mother ship robot is coupled to the composite cable fed out from the cable winding device, and a plurality of swimming work is performed on the swimming mother ship robot. Since the robots are optically coupled to each other underwater wirelessly, the swimming freedom of multiple swimming work robots is improved, and they can move freely even in a narrow place. Light can be used to efficiently inspect, inspect, repair, and modify the surface of welds.

In the in-reactor inspection / repair device according to the sixteenth aspect of the present invention, since the swimming type work robot can store a plurality of swimming type work robots in the robot storage unit, the swimming type work robot is The mother robot can freely swim in the water in the reactor without hindering the swimming of the swimming mother robot by the self-propelled robot, while the swimming work robot is also self-propelled with the robot propulsion device and the cross movement propulsion device. It enables three-dimensional underwater swimming, and the swimming work robot is optically connected to the swimming mother ship robot underwater wirelessly. Therefore, the swimming work robot has a large degree of freedom in underwater swimming, and the swimming work robot performs underwater work. Can be performed efficiently and efficiently.

In the nuclear reactor inspection / repair method according to the seventeenth aspect, a plurality of swimming type work robots can be stably stored in the swimming type mother ship robot, and the swimming type mother ship robot is swimming type. While not disturbed by the work robot, when the swimming mother ship robot reaches the required working space in the reactor, the swimming work robot is taken out and swims to the required welding part by self-propelled to this welding part. It is pressed and contacted. In this pressing contact state, the laser beam scanning optical device of the swimming mother ship robot allows the plurality of swimming type work robots to simultaneously scan the pulsed laser light by underwater radio to perform underwater work. In addition, the swimming work robot can efficiently perform inspection, inspection, repair, and surface modification work on the welded part in the reactor.

[0370] In the in-reactor inspection / repair device according to claim 18, the swimming work robot is housed in a multistage telescopic telescopic mast supported by a traverse carriage so that the swimming work robot can be freely put in and taken out. Since the inspection / inspection / repair / surface modification of the welded part in the nuclear reactor is performed, the repair work can be efficiently carried out even in the place where the welded part in the reactor is narrow.

In the in-reactor inspection / repair device according to claim 19, the swimming work robot is optically coupled to the tip mast of the telescopic telescopic mast underwater wirelessly, so that the swimming work robot is free to move. Therefore, the laser repair work can be performed more efficiently.

In the in-reactor inspection / repair device according to claim 20, a swimming work robot is detachably held by the telescopic pole handled by the telescopic pole handling device, and welding in the nuclear reactor is performed by the swimming work robot. Since the inspection / inspection / repair / surface modification work of the portion is performed, the laser repair work can be efficiently performed even in a place where the welded portion in the reactor is narrow.

In the in-reactor inspection / repair device according to the twenty-first aspect, the swimming-type work robot is provided with a robot propulsion device and a cross movement propulsion device to allow the main body shell to freely swim, while constituting the main body shell. A suction cup is provided on the opposing surface of the split shell, and the suction cup fixes the main body shell to the reactor internal structure, so that the swimming work robot can be stably sucked and fixed to perform underwater work.

In the in-reactor inspection / repair device according to the twenty-second aspect, the swimming type mother robot is coupled to the composite cable fed from the cable winding device, and the swimming type work robot is detachably attached to the composite cable. Hold and
Since this swimming work robot is optically coupled to the swimming mother ship robot underwater wirelessly, the freedom of movement (swimming) of the swimming work robot can be improved. The inspection, inspection, repair and surface modification work of the inner weld can be performed efficiently.

[0375] In the in-reactor inspection / repair device according to the twenty-third aspect, the attachment cable provided on the composite cable is detachably held by the cable holding mechanism made of the shape memory alloy provided on the swimming work robot. Can
Since the attachment / detachment operation is performed utilizing the action of the shape memory alloy of the cable gripping mechanism, it is reliable and easy.

In the in-reactor inspection / repair device according to the twenty-fourth aspect, laser light for power and signals from a laser device or a control panel is sent to a swimming work robot by an optical transmission optical system, and this swimming work robot is used. Check the welds in the reactor
Inspection, repair, and surface modification work are performed, so these works can be performed efficiently.

In the in-reactor inspection / repair apparatus according to the twenty-fifth aspect, since the optical transmission optical system is constituted by the laser light emission tower and the laser optical relay rod, a plurality of swimming type optical transmission systems are provided by this optical transmission optical system. The pulsed laser light can be sent to the work robot at the same time, and the work efficiency and efficiency can be improved.

In the in-reactor inspection / repair device according to the twenty-sixth aspect of the present invention, the swimming-type work robot handled by the telescopic pole handling device optically transmits power from the laser device and the control panel and signal laser light to the underwater radio. Since the swimming work robot has a large degree of freedom of movement, the swimming work robot can efficiently perform inspection, inspection, repair, and surface modification work on the welded portion in the reactor.

[Brief description of drawings]

FIG. 1 is an overall vertical cross-sectional view showing a first embodiment of an in-reactor inspection / repair device according to the present invention.

FIG. 2 is a cross-sectional view of a swimming type work robot provided in the inspection / repair device for reactor of the present invention.

FIG. 3 is a III-II of the swimming type work robot shown in FIG.
Sectional view taken along line I.

FIG. 4 is a diagram showing a range in which laser shock hardening occurs on a surface of an irradiation material from a relationship between a laser irradiation time and an energy density (laser light output) of irradiation laser light.

FIG. 5 is a cross-sectional view showing a laser irradiation nozzle main body provided with a water flow generation device in front of the swimming work robot.

FIG. 6 is a cross-sectional view showing a first modified example of a swimming type work robot including a Stirling engine in a drive unit of a water flow generator.

FIG. 7 is a cross-sectional view showing a second modified example of the swimming type work robot in which a visual CCD camera is installed and which has a transparent window with a shutter device using liquid crystal.

FIG. 8 is a perspective view schematically showing an assembly structure of a transparent window using liquid crystal.

9A and 9B are diagrams showing the operating principle of a transparent window using liquid crystal when the voltage is OFF and when the voltage is ON.

FIG. 10 is a sectional view showing a third modification of the swimming work robot.

FIG. 11 is a cross-sectional view showing a fourth modified example of the swimming work robot.

FIG. 12 is a swimming work robot XII shown in FIG.
-A cross-sectional view taken along the line XII.

FIG. 13 is a vertical cross-sectional view showing an example of working a welded portion of a lower core plenum using the in-reactor inspection / repair device according to the present invention.

FIG. 14 is a vertical cross-sectional view showing an example of working a welded portion of a downcomer portion using the in-reactor inspection / repair device according to the present invention.

FIG. 15 is a second inspection / repair device for a reactor according to the present invention.
The longitudinal section showing an example.

16 is a vertical cross-sectional view showing a swimming type mother ship robot provided in the nuclear reactor inspection / repair device shown in FIG.

FIG. 17 is an XVII of the swimming mother ship robot shown in FIG.
-A longitudinal sectional view taken along the line XVII.

FIG. 18 is an XVIII-type of the swimming mother ship robot shown in FIG.
Sectional view taken along line XVIII.

FIG. 19 is a diagram of the swimming mother ship robot seen from the front.

20 is a vertical cross-sectional view showing an example in which a welded portion of the lower core plenum is being worked by using the in-reactor inspection / repair device shown in FIG.

21 is a vertical cross-sectional view showing an example in which the welded portion of the downcomer portion is being worked by using the in-reactor inspection / repair device shown in FIG.

FIG. 22 is a third view of the inspection / repair device in the reactor according to the present invention.
The longitudinal section showing an example.

FIG. 23 is a vertical cross-sectional view showing a swimming type mother ship robot provided in the in-reactor inspection / repair device shown in FIG. 22.

FIG. 24 is a XXIV of the swimming mother ship robot shown in FIG. 23.
A simplified cross-sectional view taken along the line -XXIV.

FIG. 25 is a cross-sectional view of a swimming-type working robot provided in the nuclear reactor inspection / repair device shown in FIG. 22.

FIG. 26 is an enlarged cross-sectional view showing a laser light receiving device of a swimming type work robot.

FIG. 27 is a vertical cross-sectional view showing an example in which the welded portion of the lower core plenum is operated using the in-reactor inspection / repair device shown in FIG. 22.

28 is a vertical cross-sectional view showing an example in which the welded portion of the downcomer portion is operated using the in-reactor inspection / repair device shown in FIG. 22.

FIG. 29 is a fourth inspection / repair device for in-reactor according to the present invention.
The longitudinal section showing an example.

30 is a longitudinal sectional view showing a multistage telescopic telescopic mast provided in the nuclear reactor inspection / repair device shown in FIG. 29.

FIG. 31 is a vertical cross-sectional view showing an example in which the welded portion of the lower core plenum is being worked by using the in-reactor inspection / repair device shown in FIG. 29.

32 is a vertical cross-sectional view showing an example in which the welded portion of the downcomer portion is being worked by using the in-reactor inspection / repair device shown in FIG. 29.

FIG. 33 is a fifth view of the inspection / repair device in the reactor according to the present invention.
The longitudinal section showing an example.

34 (A) and (B) are diagrams showing a closed state and an open state of a bivalve-shaped swimming type work robot provided in the in-reactor inspection / repair device shown in FIG. 33, respectively. .

FIG. 35 is a vertical cross-sectional view showing an example in which the welded portion of the lower core plenum is operated using the in-reactor inspection / repair device shown in FIG. 33.

FIG. 36 is a vertical cross-sectional view showing an example of working the welded portion of the downcomer portion using the in-reactor inspection / repair device shown in FIG. 33.

FIG. 37 is a sixth view of the in-reactor inspection / repair device according to the present invention.
The longitudinal section showing an example.

FIG. 38 is a view showing the mounting relationship between the swimming mother ship robot and the swimming work robot provided in the in-reactor inspection / repair device shown in FIG. 37.

FIG. 39 is a perspective view illustrating a swimming-type work robot provided in the nuclear reactor inspection / repair device shown in FIG. 37.

FIG. 40 is a vertical cross-sectional view showing an example of working the welded portion of the lower core plenum portion using the in-reactor inspection / repair device shown in FIG. 37.

41 is a vertical cross-sectional view showing an example of working the welded portion of the downcomer portion using the in-reactor inspection / repair device shown in FIG. 37.

FIG. 42 is a seventh view of the in-reactor inspection / repair device according to the present invention.
The figure which shows an Example.

FIG. 43 is a view showing a modified example of the in-reactor inspection / repair device according to the present invention.

[Explanation of symbols]

10 Reactor Pressure Vessel 11 Support Skirt 12 Core 13 Core Support Structure 14 Core Shroud 15 Core Support Plate 15a Opening 16 Upper Lattice Plate 16a Opening 17 Control Rod Drive Mechanism Housing 18 Shroud Support 20 Downcomer 21 Jet Pump 22 Diffuser 23 Partition Wall 24 Lower Core Plenum 25 Upper Core Plenum 27 Reactor Pit 28 Swimming Robot Handling Device 29 Composite Cable 30 Cable Winding Device 31 Swimming Working Robot 32 Optical Fiber 33 Laser Device 35 Main Shell 36 Front Shell 37 Rear Shell 38 Main Body Frame 40 Laser light irradiation optical device 41 Work surface monitoring system 42 Robot propulsion device 43 Work implementation propulsion device (cross movement propulsion device) 44 Balancer mechanism 45 Antennal mechanism 46 Cable co Kuta mechanism 48 Fixed connector 49 Cable connector 50 Screw cap 51 Cable pin 53 Laser light guiding optical system 54 Laser light irradiation optical system 55 Lens optical system 56 Mirror optical system 57 Magnifying lens 58 Cylindrical lens 59 Reflecting mirror 59a Condensing reflecting mirror 60 Laser Irradiation nozzle body 62 Transparent window 64 Slit hole 65 Reflective mirror 67 Reflective optical system 68 CCD camera (detector) 69 Shutter device 70 Structural frame 71 Ultrasonic probe 73 Drive device 74 Propulsion screw 75 Propulsion duct 76 Propulsion flow path 77 Drive Device 78 Propulsion screw 80 Balancer 81 Weight 83 Drive device 84 Pinion 86,86A Water flow generator 88 Water intake pipe 89 Nozzle chamber 90 Parallel flow conduit 91 Vertical flow conduit 93 Stirling engine 4 Heating Wall 95 Cooling Wall 97 Dispressor 98 Cylinder 99 Piston 100 Cooling Chamber 101 Piston Chamber 102 Water Pipe 108 Shutter Device Utilizing Liquid Crystal 109 Skirt (Shield Plate) 110 CCD Camera 111 Transparent Plate 112 Transparent Conductive Film 113 Liquid Crystal Sheet 114 Liquid Crystal Molecule 116 Purification device 117 Inflow pipe 118 Outflow pipe 120 Sliding stage mechanism 121 Stage frame 122 Guide protrusion 124 Drive device 125 Pinion 126 Rack 130 Fixed optical system 131 Moving optical system 133 Slit hole 135 Recessed window 138 Stub tube 140 Swimming work robot 141 , 142 Composite cable 143 Floating wheel 144 Robot casing (robot body) 145 Reinforcement frame 146 Cable connector mechanism 147 Robot propulsion device 148 Drive device 149 Propulsion screw 150 Laser light scanning optical device 151 Cable winding device 152 Cable guide device 153 Cross movement propulsion device 155 Shaping lens 156 Reflecting mirror 157 Beam distribution optical system 158 Half mirror 159 Reflecting mirror 160 Cable winding sheave 161 Drive device 162 Guide cylinder 164 Feeding roller 165 Drive device 167 Partition wall 168 Robot storage cylinder 169 CCD camera 170 Propulsion duct 171 Cross movement propulsion flow path 172 Drive device 173 Propulsion screw 175 Riser brace arm 180 Swimming mother ship robot 181 Swimming work robot 182 Robot casing 184 Laser light scanning optical device 185 Laser light guiding optical system 186 Laser light distributing optical system 187 Laser light emitting optical system 88 Beam shaping lens 189 Reflection mirror system 190 Half mirror 192 Light distribution mirror system 193 Optical waveguide mirror system 195 Laser light irradiation antenna 196 Transparent window 198 CCD camera 200 Robot storage unit 202 Main body frame 203 Front shell 204 Rear shell 205 Main shell (main body) Casing) 206 Laser light receiving device 208 Laser light irradiating optical device 209 Laser light guiding optical system 210 Laser light irradiating optical system 214 Main body case 215 Light receiving body 216 Main reflecting mirror 217 Transparent window 218 Sub-reflecting mirror 220 Light receiving drive device 221 Drive cable 222 Drive device 223 Cable winding device 226 Light receiving lens 227 Optical fiber 230 Telescopic mast 231 Tip mast 232 Work dolly 233 Traverse dolly 234 Reactor floor 235 Traveling rail 36 black running rail 237 traverse wheel 238 cable hoisting device 239 cable 240 laser light scanning optical device 241 laser light guiding optical system 242 laser light irradiation optical system 245 distribution optical system 246 radiation optical system 247 CCD camera 248 robot storage chamber 249 cover plate 251 Telescopic pole 252 Swimming work robot 253 Laser light scanning optical device 255 Main body shell 256 Divided shell 257 Joint 258 Sucker 260 Laser light irradiation optical device 261 Laser light irradiation optical system 263 Main robot propulsion device 264 Sub robot propulsion device (for cross movement) Propulsion device 265 Propulsion duct 270 Swimming type mother ship robot 271 Swimming type work robot 272 Robot propulsion device 273 Cross movement propulsion device 274 Arm mechanism 275 Sucker 276 C D camera 277 mounting cable 278 cable gripping mechanism 280 body shell 281 robot propulsion device 282 cross movement propulsion device 283 CCD camera 284 rotating frame 290 laser device 291 control panel 292 laser light emission tower 293 optical transmission system 294 laser light scanning optical device 295 Laser light relay robot 296 Laser light transmitting / receiving system 297 Swimming work robot 298 Telescopic pole handling device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mitsuko Shimizu 8 Shinsita-cho, Isogo-ku, Yokohama-shi, Kanagawa Incorporated company Toshiba Yokohama Works (72) Inventor Motohiko Kimura 8 Shinsita-cho, Isogo-ku, Yokohama, Kanagawa Incorporated company Toshiba Yokohama Works (72) Inventor Hiroshi Togazawa 8 Shinsita-cho, Isogo-ku, Yokohama, Kanagawa Prefecture Incorporated Toshiba Yokohama Office (72) Inventor Mitsuaki Shimamura 8 Shinsugita-cho, Isogo-ku, Yokohama, Kanagawa Ceremony Company Toshiba Yokohama Works (72) Inventor Tomoyuki Ito 8 Shinsita-cho, Isogo-ku, Yokohama-shi, Kanagawa Stock Company Toshiba Corporation (72) Minor Obata Shin-Sugita-cho, Isogo-ku, Yokohama, Kanagawa At Toshiba Yokohama Works (72) Inventor Nobutada Aoki 8 Shinsita-cho, Isogo-ku, Yokohama-shi, Kanagawa Stock company Higashi Yokohama business house (72) inventor Shigehiko Mukai, Yokohama, Kanagawa Prefecture Isogo-ku, Shinsugita-cho, address 8 Co., Ltd. Toshiba Yokohama workplace

Claims (26)

[Claims] 1. A swimming robot handling device installed on a reactor pit floor surface or on a reactor floor, and a cable winding device that is provided in the swimming robot handling device and that winds a composite cable containing an optical fiber so that it can be unwound. It has a take-up device and a swimming-type work robot connected to a composite cable fed from this cable winding device, and the swimming-type work robot is lowered into a water-filled nuclear reactor to propel the robot itself. A robot propulsion device, a laser light irradiation optical device for irradiating the pulsed laser light guided by the optical fiber, and an antenna mechanism with an ultrasonic probe attached in an antenna shape Let the work robot swim to the required weld in the reactor and melt the pulsed laser light from the laser light irradiation optical device with the antenna mechanism in contact with the weld. By irradiating the contact area and improving the surface stress state of the weld area, the ultrasonic vibration generated during laser light irradiation was measured with an ultrasonic probe to perform a physical inspection of the weld area. Characteristic nuclear reactor inspection / repair device. 2. A swimming type work robot comprises a main body frame, wherein a front shell and a rear shell are watertightly connected to each other to form a main body shell, and pulsed laser light guided by an optical fiber into the main body shell is formed into line segments. A cross movement propulsion device that incorporates a laser light irradiation optical device that irradiates differently and that applies propulsive force to the main body frame in a direction orthogonal to the propulsion direction of the robot propulsion device and the swimming stability and cross of the swimming work robot A balancer mechanism with a weight for changing the propulsion direction of the moving propulsion device, and by the cooperative operation of the cross movement propulsion device and the balancer mechanism, the line-shaped pulsed laser light from the laser light irradiation optical device is provided. The in-reactor inspection / repair device according to claim 1, wherein the inspection / repair device is moved in the direction of the welding line while being orthogonal to the welding line of the welded portion. 3. A work surface monitoring system for observing a work surface of a welded part is housed in a body shell of a swimming type work robot, and the work surface monitoring system includes a reflection optical system for guiding light from the welded part surface, A detection device such as a CCD camera for detecting the light guided through the reflection optical system, and a shutter device for opening and closing the light to the detection device are provided, and the shutter device is provided while the pulsed laser light is being applied to the welding portion. Close the shutter, open the shutter while it is not irradiated, measure the appearance of the laser irradiation part, the surface temperature, and the plasma generated near the irradiation part with a detector, and set the surface stress improvement condition of the weld to a predetermined value. The inspection / repair device in the reactor according to claim 2. 4. A laser light irradiation optical device built in a main body shell of a swimming type work robot includes a laser light guide optical system for expanding pulsed laser light from an optical fiber to form parallel slit laser light. , A laser light irradiation optical system for focusing and irradiating parallel laser light from the laser light guiding optical system, the laser light irradiation optical system having a nozzle body for irradiating pulsed laser light. 3. The in-reactor inspection / repair device according to claim 2, wherein the main body is provided with a water flow generation device that generates a water flow in the direction of the laser irradiation axis and a direction at the nozzle exit position that is orthogonal to the laser irradiation axis to remove air bubbles. 5. A Stirling engine is used as a drive source of a water flow generator, and in this Stirling engine, a nozzle section of a nozzle body for irradiating a pulsed laser beam and a section for receiving a reflected laser beam from a welding section are used as a heating section. The in-reactor inspection / repair device according to claim 4. 6. A main body shell of a swimming type work robot, wherein at least a part of a front shell of the main body shell is constituted by a transparent window of a heat and pressure resistant shutter device using liquid crystal which becomes opaque when irradiated with a pulsed laser beam. The nuclear reactor inspection / repair device according to claim 2, wherein a CCD camera having a visual function is installed therein. 7. The front shell of the main body shell is provided with an antenna mechanism, and the antenna mechanism is provided with a plurality of ultrasonic probes at the tip of a structural frame projecting forward from the front shell, and the structural frame is provided with a pulsed laser. The in-reactor inspection / repair device according to claim 6, which is covered with a heat-resistant and pressure-resistant shield plate using liquid crystal that becomes opaque when irradiated with light. 8. A purifying device for collecting foreign matters such as scattered objects is housed in a front shell of a main body shell, and the purifying device has an inflow port opened in an antenna mechanism surrounded by a shielding plate, and an outflow port is an antenna. The in-reactor inspection / repair device according to claim 7, which is opened outside the mechanism. 9. A swimming-type work robot comprises a main body frame, wherein a front shell and a rear shell are watertightly connected to each other to form a main body shell, and pulsed laser light guided by an optical fiber into the main body shell is formed into line segments. A laser beam irradiation optical device having a fixed optical system and a moving optical system for changing and irradiating is incorporated, and a propulsion duct for imparting propulsive force to the main body frame in a direction orthogonal to the propulsion direction of the robot propulsion device is provided. A cross movement propulsion device and a balancer mechanism for stabilizing swimming of the swimming work robot and changing the propulsion direction of the cross movement propulsion device are provided, and the propulsion duct is provided with a slide stage mechanism movable in the duct axial direction. The moving optical system of the laser light irradiation optical device is attached to the slide stage mechanism, and the laser light irradiation optical system is operated by sliding the slide stage mechanism. The line-shaped pulsed laser light from the device is slid and radiated in a rectangular range, and the line-shaped pulsed laser light is orthogonal to the welding line by the cooperation of the cross movement propulsion device and the balancer mechanism. The in-reactor inspection / repair device according to claim 2, wherein in this state, the rectangular-shaped irradiation range is batch-moved along the welding line. 10. A swimming-type working robot connected to the end of a composite cable fed from a cable winding device of a swimming-type robot handling device is caused to swim in a water-filled reactor, and the antenna of the swimming-type working robot is touched. While the mechanism is in contact with the required welding part in the reactor by the robot propulsion device, the laser light irradiation optical device irradiates the welding part with the pulsed laser light from the optical fiber along the welding line direction. While improving the stress state of the welded part, the ultrasonic vibration generated at the time of pulsed laser light irradiation is measured to perform a physical inspection of the welded part. A method for inspecting and repairing inside a nuclear reactor, which comprises irradiating a pulsed laser beam for a required time to repair defects. 11. A slide type stage mechanism is used when a pulsed laser beam emitted from a laser beam irradiation optical device of a swimming type work robot is moved in a welding line direction of a welded part in a nuclear reactor by a propulsion device for cross movement. 11. The method for inspecting and repairing in a nuclear reactor according to claim 10, wherein the moving optical system of the laser light irradiation optical device is driven to move within a predetermined range, and pulsed laser light is irradiated within this range for batch processing. 12. A swimming robot handling device installed on a floor of a reactor pit or on a reactor floor, and a cable provided in the swimming robot handling device and capable of winding a composite cable containing an optical fiber so as to be able to be drawn out. The robot has a winding device and a swimming mother ship robot connected to a composite cable fed from the cable winding device, and the swimming mother ship robot is lowered into a water-filled reactor to propel the robot itself. The robot propulsion device and the cross movement propulsion device capable of propelling the robot propulsion device in a direction orthogonal to the robot propulsion direction of the robot propulsion device, while the swimming mother ship robot includes a plurality of swimming work robots via a composite cable. An in-reactor inspection / repair device characterized by connecting cables so that it can be taken in and out. 13. A swimming-type mother ship robot has a hermetically sealed robot casing, and a plurality of robot storage cylinders for storing the swimming-type work robot in a retractable manner are provided in front of the robot casing while the robot casing is provided in the robot casing. The swimming type work robot accommodates a cable winding device that winds a composite cable connected to the cable so that the composite cable can be taken in and out, and a pulsed laser beam from an optical fiber is provided in a beam distribution optical system provided in the cable winding device. 13. The in-reactor inspection / repair device according to claim 12, further comprising a laser light guiding optical device for guiding the laser beam. 14. A required work space in the reactor by allowing a swimming mother ship robot connected to the tip of a composite cable fed from a cable winding device of a swimming robot handling device to swim in a reactor covered with water And then pull out the multiple swimming-type work robots cable-coupled to the swimming-type mother ship robot, make them swim and press-contact with the required welds in the reactor, and press-contact the plural swimming-work robots. In this state, the required welded part in the reactor is irradiated with pulsed laser light along its welding line to improve the stress state of the welded part, while ultrasonic vibrations generated during pulsed laser irradiation are measured. The welded part is physically inspected, and if a defect is found in the welded part by this inspection, the defected part is irradiated with pulsed laser light for a required time to repair the defective part. In-reactor inspection / repair method. 15. A swimming robot handling device installed on a floor of a reactor pit or on a reactor floor, and a cable provided in the swimming robot handling device and capable of winding a composite cable containing an optical fiber so that the composite cable can be drawn out. The robot has a winding device and a swimming mother ship robot connected to a composite cable fed from the cable winding device, and the swimming mother ship robot is lowered into a water-filled reactor to propel the robot itself. The robot propulsion device and the cross movement propulsion device capable of propelling the robot propulsion device in a direction orthogonal to the robot propulsion direction of the robot propulsion device, while the swimming mother ship robot outputs a plurality of swimming work robots underwater wirelessly. An in-reactor inspection / repair device characterized by being optically connected so that it can be inserted. 16. A swimming-type mother ship robot has a closed cylindrical robot casing, and a plurality of robot storage portions for storing the swimming-type work robot in a retractable manner are provided in the robot casing while the robot casing is provided inside the robot casing. Each swimming type work robot is provided with a laser beam scanning optical device for distributing and scanning the laser beam, and the swimming type work robot is provided with a laser beam receiving device for receiving the laser beam from the laser beam scanning optical device. The work robot is provided with a laser light irradiation optical device that guides and emits the received laser light, and the swimming-type work robot is a robot propulsion device for underwater swimming movement and movement of the robot propulsion device in a direction orthogonal to the robot propulsion direction. The in-reactor inspection / repair device according to claim 15, further comprising a propulsion device for cross movement for imparting the above. 17. A required work space in the reactor by allowing a swimming mother ship robot connected to the tip of a composite cable fed from a cable winding device of a swimming robot handling device to swim in a reactor filled with water. To the swimming mother ship robot, and then pull out a plurality of swimming work robots optically coupled to the swimming mother ship robot underwater wirelessly and press-contact them to the required welds in the reactor. The stress state of the welded part is improved by irradiating the required welded part in the reactor with the pulsed laser light along the welding line in the state of pressing contact, while suppressing the ultrasonic vibration generated during the irradiation of the pulsed laser light. It is characterized by performing a physical inspection of the welded portion after measurement, and if a defect is found in the welded portion by this inspection, the defective portion is irradiated with pulsed laser light for a required time to perform repair processing on the defective portion. In-reactor inspection / repair method. 18. A traverse trolley that travels on a work trolley installed on the reactor floor or on the floor of the reactor pit,
A multi-stage telescopic telescopic mast supported by the traverse carriage, a cable hoisting device for hoisting the telescopic mast so that the telescopic mast can expand and contract, a swimming work robot housed in the tip mast of the telescopic mast so as to be freely inserted and removed, And a laser beam scanning optical device that is housed in the telescopic mast and scans the pulsed laser light toward the swimming work robot, and the working space in the reactor by operating the cable hoisting device at the tip end mast of the telescopic mast. The swimming work robot is taken out from the tip mast in this descending state, swims to the required welding portion and is pressed into contact with the welding work robot, and the pulsed laser light emitted from the swimming working robot to the welding portion An in-reactor inspection / repair device characterized by being configured to perform inspection / inspection / repair / preventive maintenance work. 19. A laser light scanning optical device for guiding a pulsed laser light from a traverse carriage in a telescopic mast of multi-stage telescopic shape is provided, and the laser light scanning optical device externally emits the pulsed laser light to a tip mast of the telescopic mast. The swimming work robot, which is housed in the tip mast so as to be freely inserted into and removed from the tip mast, is optically coupled to the radiation optical system underwater wirelessly. 19. The inspection / repair device for in-reactor according to claim 18, wherein a pulsed laser beam is applied to the welded part. 20. A telescopic pole handling device installed on a reactor floor or a floor surface of a reactor pit, a telescopic pole handled by the telescopic pole handling device, and a swimming type detachably held by the telescopic pole. And a work robot, wherein the telescopic pole accommodates a laser light scanning optical device for guiding the pulsed laser light inside, while the telescopic pole emits the pulsed laser light emitted from the tip of the telescopic pole by the laser light scanning optical device. An in-reactor inspection / repair device characterized in that the swimming-type work robot is configured to receive radio waves underwater, and the swimming-type work robot is set to irradiate the welded portion in the reactor with pulsed laser light. . 21. A swimming type work robot comprises a main body shell in which hemispherical divided shells are connected in a clamshell shape so as to be openable and closable.
A robot propulsion device for propelling the main body shell, a cross movement propulsion device for propelling the main body shell in a direction orthogonal to the robot propulsion direction by the robot propulsion device, and a pulse shape received by the laser light receiving device in the main body shell. 21. The nuclear reactor inspection / repair device according to claim 20, further comprising: a laser light irradiation optical device for guiding the laser light and irradiating the laser light to the outside; and a suction cup provided on the opposing surface of the split shell for adsorbing and fixing the main body shell. . 22. A swimming robot handling device installed on the floor of a nuclear reactor pit or on the reactor floor, and a cable winding device provided in the robot handling device for winding a composite cable containing an optical fiber so that the composite cable can be drawn out. The swimming type work robot has a take-up device, a swimming type mother ship robot connected to a composite cable fed from a cable winding device, and a swimming type work robot detachably held by the composite cable. The swimming type work robot is a swimming type mother ship. An in-reactor inspection / repair device characterized in that it is optically connectable to a robot underwater wirelessly, and a pulsed laser beam is emitted from the swimming work robot to the in-reactor welding part. 23. The nuclear reactor according to claim 22, wherein the swimming-type work robot includes a cable gripping mechanism made of a shape memory alloy, and the cable gripping mechanism detachably grips a mounting cable provided in the middle of the composite cable. Internal inspection / repair device. 24. A laser device and a control panel installed on the reactor floor, an optical transmission optical system for guiding power and signal laser light from the laser device and the control panel, and radiation from this optical transmission optical system. An in-reactor inspection / repair device characterized by having a swimming type work robot for receiving a laser beam, and irradiating the welded part in the reactor with the laser beam from the swimming type work robot. 25. An optical transmission optical system is configured by combining a laser light emitting tower containing a laser light scanning optical device and a laser light relay robot for guiding the laser light from the emitting tower toward a swimming work robot. Claim 24
Inspecting and repairing equipment inside the reactor. 26. A laser device and a control panel installed on a reactor floor, a telescopic pole handling device for guiding power and signal laser light from the laser device and the control panel, and a support for the telescopic pole handling device. A telescopic pole, and a swimming-type work robot capable of optically coupling underwater wirelessly with the tip of the telescopic pole. The telescopic pole handling device is installed on the upper lattice plate of the reactor, An in-reactor inspection / repair device characterized in that a laser beam scanning optical device for scanning power and signal laser beams is housed in the telescopic pole.