JPH0915377A - Device and method for remote in-pile work - Google Patents

Abstract

PURPOSE: To facilitate inspection and repair of structures by providing a positioning mechanism moving to the normal direction on a circumferential moving mechanism rotating coaxially along the upper end of a shroud and inserting a multitude of masts and work manipulators in its annulus part by rotating and standing. CONSTITUTION: On a running guide provided at the upper end of shroud upper part 7, a remote in-pile work device 1 is placed. A slide table 37 is fell in the core direction with a mast standing mechanism 17 and a multi-step mast 10 is drawn up by a slide mechanism 18 and made in the containing posture together with the work manipulator 11. A mast 41 is positioned insertion free into the annulus 5. By operating together a radial positioning mechanism 16, a mechanism 17 and a mechanism 18, the manipulator 11 and the mast 10 are stood avoiding interference. Next, the mast 10 is extended and the mast 10 is fell in the inspection and repair region in the annulus 5. Then, by operating manipulator 11, various in-pile work can be done efficiently and remotely.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the integrity of a reactor internal structure in a space (hereinafter referred to as an annulus portion) formed by a reactor pressure vessel inner wall, a shroud shell outer wall and a baffle plate of a light water reactor. The present invention relates to a remote furnace working device and method for performing inspection and repair for ensuring, preventive maintenance, or replacement work.

[0002]

2. Description of the Related Art In a conventional light water reactor, in order to check the state of the internal structure of the reactor and to maintain the soundness of the welded portion, when the reactor pressure vessel is opened during periodic inspections Attach an underwater television camera to the tip of the long rod, operate this mast or long rod from the reactor floor to insert it into the reactor pressure vessel, and move the underwater television camera to in-core structure and welding. We approached the part and visually inspected the welding condition and its deterioration condition through an underwater television camera.

Further, in order to carry out a more detailed soundness evaluation, an inspection such as an ultrasonic flaw detection test or an immersion flaw detection test is conducted by using a dedicated access jig adapted to the shape and structure of the object to be inspected. Was there.

[0004]

However, the annulus portion is extremely narrow even in the reactor pressure vessel and has a poor visibility from the upper portion, and the jet pumps and Instrumentation pipes and other obstacles. Therefore, it is extremely difficult to operate an underwater camera or the like with a simple mast or a long rod for the inspection object in the annulus part.In addition, various work tools are inserted for inspection and repair. It takes a lot of man-hours to implement the method, and at the same time, the amount of radiation exposure to workers increases.

The object of the present invention is to provide a reactor internal structure and a welded part by means of a remote reactor working device having a function of avoiding an obstacle around the narrow annulus portion in the reactor pressure vessel. It is intended to provide a remote furnace working apparatus and method for facilitating the operation of approaching a work tool to, inspection and repair.

[0006]

To achieve the above object, in a remote furnace working apparatus according to the invention of claim 1, the upper part of the shroud cylinder is directly or indirectly used as a guide and the upper part of the shroud cylinder is used as a shroud cylinder. It is formed by a circumferential movement mechanism which is concentrically rotatable, a radial positioning mechanism which is mounted on the circumferential movement mechanism and is movable in the normal direction of the shroud cylinder, the shroud cylinder and the reactor pressure vessel wall. It is characterized in that it comprises a multistage mast mounted on the radial direction positioning mechanism in the annulus portion of the space, and a mast standing mechanism and a mast slide mechanism for rotatingly standingly inserting the work manipulator.

In the remote in-core working device according to the second aspect of the present invention, the work manipulator has a lock mechanism having a degree of freedom of movement so that the work manipulator can be deployed horizontally in the center of the core by a link mechanism, and a shroud at the tip of the lock mechanism. It is characterized in that it comprises a multi-stage slide arm that extends in the circumferential direction of the body, and a slide mechanism that mounts a work tool at its tip.

In the remote furnace working apparatus according to the third aspect of the present invention, the working manipulator has a plurality of horizontal rotating mechanisms, a locking mechanism, and a plurality of operating degrees of freedom at the tip of the locking mechanism so as to be deployable in any horizontal direction. And a plurality of flat thin horizontal articulated joints each having an arm connected to the joint.

In a remote furnace working apparatus according to a fourth aspect of the present invention, the working tool has an ultrasonic flaw detection unit equipped with an ultrasonic probe for radiating ultrasonic waves to detect defects and flaws in the metal material. Is characterized in that. According to a fifth aspect of the present invention, there is provided a remote in-furnace work apparatus in which the work tool is an underwater grinder that performs buffing and grinding.

According to a sixth aspect of the present invention, there is provided a remote furnace working apparatus in which the work tool is a shot peening working unit for changing the residual stress of the metal surface near the welded portion from the tensile side to the compression side. .

According to a seventh aspect of the present invention, there is provided a remote manipulator in a work manipulator, comprising: a remote attaching / detaching portion attached to the work manipulator side between the tip of the work manipulator and the work tool; and a detaching portion attached to the work tool side. The present invention is characterized in that an empty tool attachment / detachment mechanism is provided, and the attachment / detachment portion is fitted to the remote attachment / detachment portion to couple the work tool mechanically, electrically and pneumatically.

According to an eighth aspect of the present invention, there is provided a remote in-reactor working apparatus, wherein one or more waters for generating a thrust to a work manipulator or a work tool in a direction opposite to a direction in which the tool is pressed against an object for the work. It is characterized in that a jet nozzle is provided. A remote furnace working apparatus according to a ninth aspect of the present invention is characterized in that the work manipulator or the work tool is provided with one or more vacuum suction pads as a mechanism for supporting a work reaction force caused by the work.

According to a tenth aspect of the present invention, there is provided a remote in-reactor working method, wherein a remote detachable portion of a tool attaching / detaching mechanism provided at a tip of a work manipulator of a remote in-reactor working device installed in advance in the furnace is preliminarily worked. The attaching / detaching portion of the tool attaching / detaching mechanism to which the tool is attached is fitted and detached from the outside of the furnace by a work tool hanger.

[0014]

According to the first aspect of the present invention, the circumferential movement mechanism of the remote reactor working device is installed in water in the reactor pressure vessel by using the upper end of the shroud barrel as a guide, and the circumferential movement mechanism is remotely operated. Position it in place on the shroud barrel.

Thereafter, the radial positioning mechanism, the mast standing mechanism, and the mast slide mechanism are simultaneously controlled, while avoiding interference with the core spray pipe or the like which is an obstacle to the insertion of the work tool into the annulus portion. The mast and the work manipulator are erected, the multi-stage mast is further extended, and the work manipulator is lowered to the height of the work area near the work site. Next, the work manipulator uses a work tool attached to the tip in the work area to inspect and repair the structure in the annulus portion and perform preventive maintenance and replacement work.

According to the second aspect of the invention, the link mechanism in the lock mechanism of the work manipulator can be moved in the horizontal direction by expanding and contracting. Further, by deploying the multistage slide arm of the slide mechanism provided at the tip of the lock mechanism to the left and right, the work tool attached to the tip of the slide arm can be moved to a position in the circumferential direction with respect to the core center.

According to a third aspect of the present invention, the horizontal rotation mechanism of the work manipulator can horizontally rotate, the lock mechanism extends and contracts in the horizontal direction, and a plurality of flat thin horizontal articulated joints provided at the tip of the lock mechanism, Since it can be deployed in any horizontal direction, the work tool attached to the tip of this flat thin horizontal articulated joint can be installed around the shroud cylinder and around the jet pump while avoiding interference with internal structures such as jet pumps. Can be moved along.

According to a fourth aspect of the present invention, an ultrasonic flaw detection unit is used as a work tool mounted on the remote furnace working device, and ultrasonic waves are applied to the surface of the metal structure inside the furnace by the ultrasonic probe. To detect defects and scratches in the metal material. The invention according to claim 5 uses a submersible grinder tool for buffing and grinding as a work tool to be mounted on a remote furnace working device, and uses a submerged grinder tool for buffing and grinding in the vicinity of a welded portion on the wall surface of a reactor internal structure. By remote control.

According to a sixth aspect of the present invention, a shot peening working unit is used as a work tool to be mounted on a remote furnace working device, and the wall surface of the furnace internal structure is shot peened at the time of welding the surface near the welded portion. Residual tensile stress, which is one factor that promotes stress corrosion cracking that occurs during the operation of a nuclear reactor, is removed by replacing the compressive stress with the residual tensile stress.

According to a seventh aspect of the present invention, a tool attaching / detaching mechanism provided at the tip of the work manipulator allows various work tools to be replaced without carrying out the remote reactor work device each time outside the reactor pressure vessel. Easily performed in water in the furnace pressure vessel. In the invention described in claim 8, the water jet nozzle installed in the work manipulator or the work tool jets water in a direction opposite to the work reaction force, so that the direction opposite to the force for pressing the tool against the object for the work is provided. Is generated to reduce the work reaction force applied to the remote furnace work device.

According to the ninth aspect of the invention, the work manipulator or the work tool can be fixed to a predetermined position of the structure and the work reaction force can be held by the vacuum suction pad installed on the work manipulator or the work tool.

According to a tenth aspect of the present invention, a remote in-reactor working device in which a remote attaching / detaching portion of a tool attaching / detaching mechanism is provided at the tip of a work manipulator is installed separately in the remote in-reactor working device while being installed in the furnace. From the outside of the reactor pressure vessel, a work tool to which the attachment / detachment part of the tool attachment / detachment mechanism is attached in advance is held and inserted by the work tool hanger.

This work tool hanger positions the attachment / detachment portion above the remote attachment / detachment portion and operates the remote in-core working device to fit the remote attachment / detachment portion of the tool attachment / detachment mechanism to the attachment / detachment portion. Attach a work tool to the tip of the.

[0024]

An embodiment of the present invention will be described with reference to the drawings. In the first embodiment, as shown in the perspective view of FIG. 1 and the vertical sectional view of FIG. 2, the remote reactor working apparatus 1 includes an inner wall of a reactor pressure vessel 2 and an outer wall of a shroud cylinder 3 of a boiling water reactor. , And a space portion 5 (hereinafter referred to as an annulus portion) sandwiched between the baffle plate 4 and the baffle plate 4 for remotely performing inspection and repair of reactor internal structure, preventive maintenance, or replacement work. .

At the time of periodic inspection in the reactor, as shown in FIG. 2, the reactor pressure vessel 2 has its upper lid removed, and is located above the core 6 and the upper shroud shell 7 at the upper end of the shroud shell 3 surrounding it, not shown. Shroud head,
Remove the shroud bolt, steam separator and steam dryer.

As a result, all the parts above the shroud upper cylinder 7 are in a state where the in-core equipment is removed, and the cooling water 8 is injected into the inside. In this state, the remote reactor working apparatus 1 is installed by being suspended from the reactor floor 9 on the upper end of the shroud upper shell 7 in the cooling water 8 by an unillustrated overhead crane or the like.

As shown in FIG. 1, this remote in-reactor working apparatus 1 is installed on a shroud upper shell 7 and has a multi-stage structure in an annulus portion 5 formed between the shroud shell 3 and the inner wall of the reactor pressure vessel 2. A mast (10), a work manipulator (11), and a work tool (12) attached to the tip thereof are inserted. A core spray pipe 13 is provided on the inner wall of the reactor pressure vessel 2, and a plurality of jet pumps 14 are provided on the baffle plate 4.
Is installed.

As shown in the partially cut front view of FIG. 3, the perspective view of FIG. 4, and the perspective view of FIG.
Is mainly a circumferential movement mechanism 15 and a radial positioning mechanism 16,
Also, it is composed of a base carriage 19 equipped with a mast standing mechanism 17 and a mast slide mechanism 18, a multistage mast 10 and a work manipulator 11.

A lock mechanism 20 and a slide mechanism 21 can be attached to the work manipulator 11, and various work tools 12 for performing work such as inspection and repair can be attached to the tip thereof. In addition, as shown in FIG.
Is connected to the reactor floor 9 via the power and signal cable 22.
It is connected to the operation control panel 23 installed above, and enables a worker to drive and control each drive unit by remote control.

Further, the detailed structure of each component will be described below. As shown in FIG. 3, a traveling guide 24 is temporarily installed on a flange at the upper end of the shroud upper body 7, and a circumferential movement mechanism 15 that is movable in the circumferential direction along the traveling guide 24 is mounted. This circumferential movement mechanism 15
25, a subordinate wheel 26, a tension piston 27, a traveling drive motor 28, a position detection sensor 29, a brake 30, and the like.

As shown in FIG. 4, a slide lock drive mechanism including a linear guide 31, a ball screw 32, a brake mechanism 33, a motor 34, and a position detection sensor 35 is provided on the circumferential movement mechanism 15. A radial direction positioning mechanism 16 capable of precise movement and positioning in the radial direction from the core 6 is installed.

Further, a mast standing mechanism 17 having a vertically swinging rotary shaft 36 shown in FIG. 5 is installed on the radial direction positioning mechanism 16, and the mast standing mechanism 17 causes the mast slide mechanism 18 to move. Together with the multi-stage mast 10 and the work manipulator 11, it is configured to be rotatable around the rotation shaft 36. The mast slide mechanism 18 mainly includes a slide table 37, a linear guide 38 and a wire cable 39 provided on the slide table 37, and a wire winding mechanism 40.

The wire winding mechanism 40 is composed of a wire drum, a motor, a speed reducer, a brake, a position detecting sensor, etc., which are not shown, and the entire mechanism of the multi-stage mast 10 is mounted on the slide table 37 on the linear guide 38. It has a mechanism that allows it to be freely moved up and down and positioned. In addition, the multistage mast 10 includes a mast 41 that expands and contracts into a plurality of multistages,
Wire cable 42, pulley 43, and wire winding mechanism 44
It is composed of

Next, the operation of the above configuration will be described. First, as shown in FIG. 2, the upper lid (not shown) of the reactor pressure vessel 2 is removed, and the reactor above the shroud upper body 7 such as a shroud head, a shroud head bolt, a steam separator, and a steam dryer (not shown) is also removed. After removing the internal equipment, it is filled with cooling water 6.

Next, as shown in FIG. 3, the remote in-reactor working device 1 is hung and installed on the traveling guide 24 installed on the upper end of the shroud upper body 7 by an overhead crane or the like. The attitude of the remote in-reactor working device 1 at the time of hanging is such that the radial direction positioning mechanism 16 is retracted in the core direction, as shown in the perspective view of FIG.

Further, the slide table 37 is tilted obliquely toward the core by the mast standing mechanism 17 to move the mast slide mechanism.
Pull up the multi-stage mast 10 on the slide table 37 with 18,
The multistage mast 10 and the work manipulator 11 are kept in the stored posture.

After installation on the upper end of the shroud upper body 7, the circumferential movement mechanism 15 is operated to move the mast 41 to a position where the mast 41 can be inserted into the annulus portion 5 by a command from the operation control panel 23 by remote control. To position. In the annulus portion 5, the optimum point at which the work manipulator 11 can be inserted up to the vicinity of the baffle plate 4 is the gap between the jet pumps 14.

After the circumferential position of the remote furnace working device 1 is determined, the radial positioning mechanism 16 and the mast raising mechanism 17,
Also, by cooperating the mast slide mechanism 18, the work manipulator 11 and the multi-stage mast 10 are prevented from coming into contact with the inner wall of the reactor pressure vessel 2 and the core spray pipe 13 so that the work manipulator 11 and the multi-stage mast 10 are shown while avoiding interference. Stand up to the state shown in 5. As a result, the multistage mast 10 and the work manipulator 11 in the gap between the jet pumps 14 are aligned with each other.

Next, the multistage mast 10 is extended, and the work manipulator 11 is lowered to a work target area for inspection and repair of the annulus portion 5, as shown in FIG. According to such a remote furnace working apparatus 1, as shown in FIG. 1, the working manipulator 11 equipped with various working tools 12 is utilized by effectively utilizing the vertical space between the jet pumps 14 in the annulus portion 5. By moving vertically at the annulus portion 5 from the baffle plate 4 to the shroud upper body 7, it is possible to approach and position the target site by operating the work manipulator 11.

Various in-core operations such as inspection and repair for ensuring the integrity of the various in-core structures in the annulus portion 5 and the integrity of the welding line, preventive maintenance and replacement can be performed remotely and efficiently. .

The second embodiment relates to the details of the work manipulator 11 in the remote furnace working device 1, and the work manipulator 11 is attached to the tip of the multi-stage mast 10 of the remote furnace working device 1 shown in the first embodiment. The lock mechanism 20 is attached and uses a link structure as shown in the perspective view of FIG.
It is composed of a slide mechanism 21. Here, the lock mechanism 20 is formed of a pantograph-shaped link mechanism 45 and a pneumatic piston 45a.

Further, the slide mechanism 21 is composed of multi-stage slide arms 46 each having an arc shape so as to extend and deploy in an arc shape along the cylindrical shroud cylinder 7.
As shown in the front view of (a), a guide rail 48 having a slide roller 47 is linked by a wire cable 49.

8 (b) and 8 (c) are wire cables.
FIG. 8B shows how to hang 49 and how the slide arm 46 expands and contracts. FIG. 8B shows the expanded and expanded state in the sectional view taken along the line AA of FIG. 8A, and FIG. Further, FIG. 8D is a sectional view taken along the line BB of FIG.

The multi-stage slide arm 46 slides and retracts by winding the wire cable 49 by a drive mechanism (not shown). Further, the slide arm 46 expands in either the right or left direction depending on the feeding direction of the wire cable 49. In FIG. 7, the work tool 12 is attached to the tip of the slide arm 46.

Next, the operation of the above configuration will be described. The work manipulator 11 is attached to the tip of the multi-stage mast 10 shown in the first embodiment, and is lowered to a work target area for inspection and repair of the annulus portion 5, and thereafter, the pneumatic piston 45a of the lock mechanism 20 is operated. Then, the link mechanism 45 is expanded and fixed between the outer wall of the shroud cylinder 3 and the inner wall of the reactor pressure vessel 2, and the wire cable 49 of the slide mechanism 21 is operated to move the slide arm 46 to the shroud cylinder. Extend and deploy along the outer circumference of 3.

As described above, according to the work manipulator 11 of the second embodiment, the lock mechanism 20 and the slide mechanism 21 are simply operated with only two degrees of freedom to efficiently move along the arc-shaped shroud cylinder 3. The work tool 12 attached to the tip can be scanned.

The third embodiment relates to details of another embodiment of the work manipulator. As shown in the perspective view of FIG. 9, the tip of the multi-stage mast 10 of the remote reactor working apparatus 1 of the first embodiment is shown. It has a function of being attached to the jet pump 14 and wrapping around the jet pump 14. Jet pump 14 riser pipe 50
The area around the and dephasor pipe 51 is a particularly narrow part in the annulus portion 5 as well, in order to effectively support inspection and repair, preventive maintenance and replacement work for ensuring the integrity of the welding line here. It is a thing.

As shown in the schematic view of FIG. 10, the work manipulator 52 includes two sets of flat, thin, horizontal structures having a lock mechanism 20 with a horizontal rotation mechanism 53 at the tip of the multistage mast 10 and a plurality of joints 54 and arms 55. It is composed of multiple joints 56 and 57.

Further, various work tools 12 can be replaced by remote attachment / detachment via a tool attachment / detachment mechanism 58 at the tip of the flat thin horizontal articulated joint 57. The horizontal rotation mechanism 53 and the flat thin horizontal multi-joint 56, 57 joint 54 are
Each of them is equipped with a rotation drive device and a position detection sensor, which are not shown, and can be freely rotated.

Next, the operation of the above configuration will be described. The work manipulator 52 attached to the tip of the multi-stage mast 10 of the remote furnace work device 1 is lowered by the multi-stage mast 10 to the work area for the inspection and repair of the annulus portion 5. At this time, the flat thin horizontal articulated joints 56 and 57 control each joint 54 so that the work tool 12 attached together with the tool attaching / detaching mechanism 58 at the tip of the joint 54 does not interfere with the in-core structure such as the jet pump 14. Correct the posture while avoiding it.

In the work target area, the work tool 12 is positioned at the target portion by using the degrees of freedom of the two sets of flat thin horizontal articulated joints 56 and 57, and the inspection portion is approached. As an example, the shroud lower body 59 and the shroud support ring
FIG. 9 shows an arrangement state of the work manipulator 52 at a horizontal welding portion with 60. In addition, the flat thin horizontal articulated joints 56 and 57 have a length such that the work tool 12 can reach the center of each jet pump 14 from the position of the insertion position in the annulus portion 5 to the left and right in the maximum expanded state.

Next, the work tool expanded to the shroud cylinder 3
In order to move 12 to the inner wall of the reactor pressure vessel 2, it is required to pass through the narrow gaps between the jet pumps 14 and turn 180 degrees as shown in FIG. This is shown in the schematic diagrams of FIGS. 11 and 12.

Although FIGS. 11 and 12 show the sequence of operations divided into two diagrams for convenience, respectively, and are shown as (a) to (c), respectively, (a) to (c) of FIG. And (a) of FIG.
As shown in the order of (c), the work tool 12 uses the plurality of joints 54 to appropriately turn back the two sets of flat thin horizontal multi-joints 56 and 57 in the gap between the jet pumps 14 so that the annulus portion 5 is formed. We are implementing a change of direction.

According to the remote furnace work according to the third embodiment, the flat thin horizontal articulated joints 56 and 57 are used to extend the jet pumps 14 without interfering with the surrounding inner furnace structures. By doing so, it is possible to wrap around to the left and right riser pipes 50, and start around the jet pump 14,
Positioning can be easily performed while the working tool 12 approaches the furnace internal structure in the annulus portion 5.

The fourth embodiment relates to a work tool applied in the remote furnace working apparatus 1, and shows an example of an ultrasonic flaw detection unit for conducting soundness inspection of a welding line by an ultrasonic flaw detection test.
As shown in the front view of FIG. 13A, the ultrasonic flaw detection unit 61 of the work tool 12 is attached to the tip of the arm 55 of the flat thin horizontal articulated joint 57 attached to the slide mechanism 21. Inside the rectangular guide frame 62, a horizontal scanning mechanism 63 that slides in the horizontal direction and a vertical scanning mechanism 64 that is slidable in the vertical direction at a right angle to the horizontal scanning mechanism 63 are provided.

This vertical scanning mechanism 64 has an ultrasonic probe as shown in the sectional view taken along the line AA of FIG.
This is a mechanism for moving together with the probe holder 66 to which the 65 is attached.
Although not shown, it is composed of a linear motion mechanism including a linear guide and a ball screw, and a servo drive system such as a motor and a position detector.

Further, at the four corners of the guide frame 62 on the scanning surface side, as shown in the side view taken along the line BB in FIG. A vacuum suction pad 70 having one degree of freedom is provided and configured. In addition, the vacuum suction pad 70 corresponds to the guide frame 62.
In the case of a quadrangle as described above, one or more pieces are appropriately provided depending on the shape of the work tool 12 and the work content, such as four pieces at four corners.

Next, the operation of the above configuration will be described. First, by using the degree of freedom of the work manipulator 11 of the remote furnace work device 1, the ultrasonic probe unit 61 is moved to a position as shown in FIG. Is pressed against the wall surface to be sucked onto the wall surface by the vacuum suction pad 70.

Next, by pulling the piston 69, the ultrasonic probe 65 is pressed against the wall surface. At this time, the probe holder
Due to the degree of freedom of the gimbal mechanism 67 of 61, even if the posture of the ultrasonic probe unit 61 is slightly inclined with respect to the wall due to factors such as rattling of the work manipulator 11 and positioning error, Can be adhered to.

The escape of the error in the pressing direction is absorbed by the stroke of the spring 68. Here, by performing this work in water, the surrounding cooling water is used as the coupling agent. Although the above-described work uses the principle of ultrasonic flaw detection based on the direct method, in this work performed underwater, the ultrasonic probe 65 is immersed in water for scanning at a certain distance from the wall surface. Ultrasonic flaw detection based on the law is also possible.

By using such an ultrasonic flaw detection unit 61, nondestructive inspection of flaws such as cracks such as stress corrosion cracks occurring near the welding line in the furnace, and defects can be performed remotely in water. .

The fifth embodiment relates to the work tool 12 applied to the remote furnace working device 1, and is an example of a device for polishing or grinding the metal surface of the furnace inner structure with a flap wheel or a grindstone. The side view of FIG. 14 shows a case where the underwater grinder tool 71 is used as the work tool 12. The underwater grinder tool 71 includes an underwater motor 72, a chuck 73, a grindstone 74, and the like.

The submersible motor 72 only needs to be a rotary actuator, and other actuators such as an electric motor can be applied if it is underwater specifications. The grindstone 74 is used for polishing and grinding.
The chuck 73 is appropriately replaced according to its purpose. The underwater grinder tool 71 is attached, for example, via a tool attaching / detaching mechanism 58 attached to the joint 54 at the tip of the slide mechanism 21 of the work manipulator 11.

Next, the operation of the above configuration will be described. The degree of freedom of the work manipulator 11 is used to move the water grinder tool 71 to the wall surface of the shroud body 3 to be ground or ground and press the grindstone 74 close to the wall surface to carry out the wall grinding or grinding work.

By using such a polishing tool,
The surface of the structure in the annulus 5 can be ground and ground remotely by underwater operation. In particular, minute scratches (cracks) near the weld line are ground and scraped. It is effective for removing the radioactive corrosion product (clad) and the like deposited on a predetermined surface as an effect of stopping the growth of the copper and as a preparatory work before the visual inspection.

The sixth embodiment relates to a work tool 12 applied to the remote furnace working apparatus 1, and is a method for polishing the metal surface of the furnace internal structure by shot blasting (blasting), or using a metal powder or glass particles on the surface. This is a device that performs peening work by striking to convert the residual tensile stress in the vicinity of the welded portion into a compressive stress.

As shown in the plan view of FIG. 15A and the side view of FIG. 15B, the shot peening working unit 75 is used as the working tool 12, and the blowout nozzle 76 in the center is used.
A conical chamber 77 surrounding the chamber, a brush 78 provided around the tip of the chamber 77, a suction nozzle 79 at the base of the chamber 77, and a water jet nozzle for pressing on the outer periphery.
80 are provided. Further, a non-contact type distance sensor 81 is provided on the left and right.

The shot peening work unit 75 is attached to the remote furnace work device 1 by mounting the joint 54 of the arm 55 at the tip of the slide mechanism 21 of the work manipulator 11.
Is attached via a tool attaching / detaching mechanism 58.

Next, the operation of the above configuration will be described. Using the degree of freedom of the work manipulator 11, the work tool
The shot peening operation unit 75, which is 12, is moved to the wall surface of the reactor pressure vessel 2 which is the work object and is brought close to the wall surface, and the brush 78 is pressed against the wall surface. Shot glass peening work or shot blasting work by spraying glass particles.

By peening the surface of the structure in the annulus portion 5 with the shot peening operation unit 75 in water by remote control, the tensile stress remaining in the heat-affected zone near the weld line is converted into metal on the surface layer portion. Effects such as preventing stress corrosion cracks and extending the life of structures by removing the one of the factors causing stress corrosion cracking in the vicinity of welds by converting into compressive stress by hitting with particles There is.

In addition to this, polishing work and grinding work can be performed. As in the fifth embodiment, minute scratches (cracks) generated in the vicinity of the welding line are ground and removed.
It is effective for stopping the growth of scratches and for removing radioactive corrosion products as a preparatory work before visual inspection.

The seventh embodiment relates to a tool attaching / detaching mechanism 58 for performing remote replacement of the work tool 12 applied in the remote in-core work apparatus 1, which is provided at the joint between the work tool 12 and the work manipulator 11. Thus, various work tools 12 can be replaced in water in the reactor without pulling up the remote reactor working device 1 to the reactor floor 9.

As shown in the perspective view of FIG. 16, the tool attaching / detaching mechanism 58 is composed of a remote attaching / detaching portion 58a on the side of the work manipulator 11 and a attaching / detaching portion 58b on the side of the work tool 12, and the remote attaching / detaching portion 58a. The attaching / detaching portions 58b are fitted to each other. Also, in FIG.
The cross-sectional view of FIG. 18 is before the tool attaching / detaching mechanism 58 is fitted, and the vertical cross-sectional view of FIG. 18 shows the fitted state.

Remote attachment / detachment portion 58a on the side of the work manipulator 11
Is mainly composed of a detachable plate 82, a dovetail groove 83, a lock mechanism 84, a pneumatic connector 85, a hydraulic connector 86, an electrical connector 87, and two positioning pin holes 88. The lock mechanism 84 includes a two-stage direct-acting pneumatic piston 89 and a locking claw.
90, link mechanism 91, limit switch 92, spring 93
It is composed of

Next, the attachment / detachment portion 58b on the side of the work tool 12 is mainly composed of an attachment / detachment plate 94, a dovetail groove 95, a pneumatic connector 96, and a water pressure connector.
97, electrical connector 98, positioning pin 99.
The electric connectors 87, 98 are provided with partial seals for each electrode so as to maintain the insulation between the electrodes even if they are detached and attached in water.

Next, the operation of the above configuration will be described with reference to the side view of FIG. 19 as to how the work tool 12 uses the shot peening work unit 75 as an example and is attached by the work tool hanger. First, regarding mounting, the attachment / detachment portion 58b is attached to the shot peening work unit 75 in advance, and this is held by the work tool hanger 100, and the operation pole 101 is used.
It is hung down from the upper part of the furnace to the tip of the work manipulator 11 in the remote furnace working device 1 in the annulus portion 5.

In the remote furnace working apparatus 1, the work manipulator 11 and the multi-stage mast 10 are operated so that the remote attachment / detachment portion 58a on the work manipulator 11 side is attached to the work tool hanger 100.
In front of the attachment / detachment part 58b held by, bring it from below,
While fitting the parts 3 and 95 together, the remote attachment / detachment portion 58a is raised from the upper part of the attachment / detachment plate 82 until the positioning pin 99 and the locking claw 90 of the lock mechanism 84 pass through.

Next, the pneumatic piston 89 is operated to move the locking claw 90.
Hook the detachable plate 94 to attach both detachable plates 8
Combine 2,94. At this time, using the positioning pin 99 as a guide, both pneumatic connectors 85 and 96, and water pressure connector 86 and
97 and the electrical connectors 87, 98 are connected to obtain the state shown in FIG. The mounting is confirmed by operating a limit switch 92 provided at the tip of the locking claw 90.

Thereafter, the operation pole 101 is operated to remove the work tool hanger 100 from the attachment / detachment portion 58b, and the attachment is completed. The work tool 12 is detached in the reverse order of the mounting operation described above. Conventionally, to replace the work tool 12,
Each time, it was necessary to pull up the whole remote furnace working device 1 in the furnace from the water in the furnace, and this replacement work took time and labor.

However, as in the seventh embodiment, the work tool 12 is attached to the remote attachment / detachment portion 58a on the work manipulator 11 side.
By preparing multiple attachment / detachment parts 58b on the side and attaching them to the respective work tools 12, various work tools can be remotely operated in the furnace.
By enabling the replacement of twelve, various work tools can be easily replaced in a short time, the process can be shortened, and the exposure dose of the worker can be reduced.

The eighth embodiment relates to the correspondence of the work reaction force in various work tools 12 applied in the remote furnace work device 1, and when the work tool 12 works, a work reaction force corresponding to the work is generated. Since this work reaction force is received by the work manipulator 11, it has to be dealt with by increasing the rigidity of the remote furnace work device 1 including the work manipulator 11, and there is a hindrance to the enlargement of the remote furnace work device 1. there were.

In the eighth embodiment, this work reaction force is alleviated, and the pressing water jet nozzle 80 shown in FIG. 15 is an example, and the pressing water jet nozzle 80 is for performing shot peening. It is installed so as to mitigate the reaction force of the work by jetting a water jet in the direction opposite to the blowing nozzle 76.

A system for supplying drive water to the pressing water jet nozzle 80 is not shown, but the supply system is composed of a pressure reducing valve, an accumulator, a filter, an electric servo control valve, etc. The cooling water 8 which is water is supplied to the pressing water jet nozzle 80 as driving water.

As a function of this, since the pressing water jet nozzle 80 is installed in the direction opposite to the blowing nozzle 76 for performing shot peening, the blowing nozzle generated during shot peening construction.
Overcome thrust by 76, brush in chamber 77
The pressing force by the driving water jetted from the pressing water jet nozzle 80 is adjusted so that 78 does not float from the wall surface.

This adjustment is achieved by calculating the pressing amount from the distance to the wall surface with the distance sensor 81, feeding back this signal to an electric servo control valve (not shown), and controlling the supply pressure of the driving water. By using the water jet injection in this way, it is possible to easily cancel the work reaction force by the work tool 12, and by reducing the load on the work manipulator 11 and the multi-stage mast 10, without increasing the rigidity of these. The structure can be reduced in size and weight.

The ninth embodiment relates to the fixing of the work tool 12 applied in the remote in-furnace work apparatus 1, in which the work manipulator 11 and the work tool 12 are fixed to the wall surface by, for example, vacuum suction and positioned. As an example, the above figure
The ultrasonic flaw detection unit 61 of the work tool 12 shown in FIGS. 13 (a) and 13 (c) explains the arm of the work manipulator 11.
A vacuum suction pad 70 is provided at the four ends of the guide frame 62 attached to the tip of the 55.

Although not shown, the vacuum system for adsorbing the vacuum adsorption pad 70 is composed of a vacuum pump, a pressure regulating valve, an accumulator, a water filter, a three-way valve, a compressor and the like.

The action of fixing the ultrasonic flaw detection unit 61 having the above-described structure is as follows. First, by using the degree of freedom of the work manipulator 11, the ultrasonic probe unit 61 is to be inspected on the wall surface of the unillustrated shroud cylinder 3 which is a structure. Figure 1 for the welding line
Move to a position as shown in and approach it. Thereafter, the piston 69 is operated to press the vacuum suction pad 70 against the wall surface of the shroud cylinder 3, and the vacuum suction pad 70 sucks the vacuum suction pad 70 onto the wall surface.

Next, the piston 69 is pulled, and the ultrasonic probe 65
Is pressed against the wall. In the procedure of adsorbing with the vacuum suction pad 70, first, high-pressure air is supplied from the compressor to the vacuum suction pad 70 with a three-way valve, and water in the suction line is discharged. After that, the three-way valve is switched to the vacuum pump side, and the inside of the vacuum suction pad 70 is sucked by the suction line to make a negative pressure and suck it to the wall surface. When the vacuum suction pad 70 is separated from the wall surface, the ultrasonic detection unit 61 is positively separated from the wall surface by switching the three-way valve to the compressor side and pressurizing the suction line.

As described above, the tips of the work tool 12 and the work manipulator 11 are sucked and fixed to the wall surface by the vacuum suction pad 70, so that ultrasonic testing such as ultrasonic testing which requires highly accurate scanning is performed. Positioning of the tentacle 65 can be easily realized. In addition, for work with high work reaction force such as grinder work, the work reaction force is retained by the suction force, so that the work manipulator 11 or the multi-stage mast
The work load on 10 is reduced, and it becomes easy to simplify and lighten the mechanical strength and structure.

[0091]

As described above, according to the present invention, a tool for inspection and repair work is provided by a work manipulator for a reactor internal structure in an annulus portion in a reactor, which has been difficult to work in a narrow space conventionally. Since the shroud cylinder can be moved and approached by remote control over the entire circumference of the shroud cylinder, efficient and reliable positioning and various in-furnace operations can be performed. In addition, it is possible to scan work tools from the furnace wall side to the shroud cylinder wall side by using the gap of the jet pump, and especially for inspection, repair, replacement and preventive maintenance of each welding line of the shroud cylinder from the shroud cylinder outer wall. You can work.

Furthermore, since various work tools can be replaced remotely in the water in the furnace, the work tool replacement time can be shortened, and the radiation exposure of workers during the replacement work can be reduced. Further, since the work manipulator and the multi-stage mast are reduced in size and weight by reducing the work reaction force, it becomes easy to hold the work tool and a highly accurate scanning work such as an automatic flaw detection test becomes possible.

[Brief description of the drawings]

FIG. 1 is a perspective view of a remote furnace working device furnace according to a first embodiment of the present invention.

FIG. 2 is a vertical sectional view of a reactor pressure vessel showing an embodiment according to the present invention.

FIG. 3 is a partially cut front view of a remote furnace working apparatus according to the first embodiment of the present invention.

FIG. 4 is a perspective view of a radial positioning mechanism and a mast slide mechanism according to the first embodiment of the present invention.

FIG. 5 is a perspective view of a mast slide mechanism and a work manipulator according to the first embodiment of the present invention.

FIG. 6 is a perspective view of a remote furnace working apparatus according to the first embodiment of the present invention.

FIG. 7 is a perspective view of a work manipulator of a second embodiment according to the present invention.

8A and 8B are configuration diagrams of a slide mechanism according to a second embodiment of the present invention, in which FIG. 8A is a front view, FIG. 8B is a sectional view taken along the line AA of FIG. 8A, and FIG. 2D is a cross-sectional view showing the reduction, and FIG.

FIG. 9 is a perspective view of the inside of a furnace according to a third embodiment of the present invention.

FIG. 10 is a schematic view of a work manipulator of a third embodiment according to the present invention.

FIG. 11 is a first development schematic diagram of the work manipulator of the third embodiment according to the present invention, in which (a) to (c) show the development order.

FIG. 12 is a second development schematic diagram of the work manipulator of the third embodiment according to the present invention, in which (a) to (c) show the development order.

FIG. 13 is an ultrasonic unit according to a fourth embodiment of the present invention, (a) is a front view, (b) is a sectional view taken along line AA of (a), and (c) is B of (a). -B side view seen from the arrow B.

FIG. 14 is a side view of an underwater grinder tool according to a fifth embodiment of the present invention.

15A and 15B are configuration diagrams of a shot peening operation unit according to a sixth embodiment of the present invention, in which FIG. 15A is a plan view and FIG. 15B is a side view.

FIG. 16 is a separated perspective view of a tool attaching / detaching mechanism according to a seventh embodiment of the present invention.

FIG. 17 is a vertical sectional view showing a state before fitting in the tool attaching / detaching mechanism of the seventh embodiment according to the present invention.

FIG. 18 is a vertical cross-sectional view showing a fitted state in the tool attaching / detaching mechanism of the seventh embodiment according to the present invention.

FIG. 19 is a side view showing the fitting of the work tool by the tool attaching / detaching mechanism of the seventh embodiment according to the present invention.

[Explanation of symbols]

1 ... Remote in-reactor working device, 2 ... Reactor pressure vessel, 3 ... Shroud barrel, 4 ... Baffle plate, 5 ... Annulus part,
6 ... Core, 7 ... Shroud upper shell, 8 ... Cooling water, 9 ... Reactor floor, 10 ... Multi-stage mast, 11, 52 ... Work manipulator, 12 ... Work tool, 13 ... Core spray piping, 14 ... Jet pump, 15 ... Circumferential movement mechanism, 16 ... Radial positioning mechanism, 17 ... Mast standing mechanism, 18 ... Mast slide mechanism, 19 ... Base carriage, 20, 84 ... Lock mechanism, 21 ... Slide mechanism, 22 ... Power and signal cable, 23 … Operation control panel, 24… Travel guide, 25… Travel wheels, 26… Subordinate wheels, 27
… Tension piston, 28… Travel drive motor, 29, 35
… Position detection sensor, 30… Brake, 31, 38… Linear guide, 32… Ball screw, 33… Brake mechanism, 34… Motor,
36 ... rotary shaft, 37 ... slide table, 39, 42, 49 ... wire cable, 40, 44 ... wire winding mechanism, 41 ... mast,
43 ... Pulley, 45, 91 ... Link mechanism, 45a ... Air piston, 46 ... Slide arm, 47 ... Slide roller, 48 ... Guide rail, 50 ... Riser tube, 51 ... Dephasor tube, 53
... Horizontal rotation mechanism, 54 ... Joint, 55 ... Arm, 56, 57 ... Flat thin horizontal multi-joint, 58 ... Tool attachment / detachment mechanism, 58a ... Remote attachment / detachment portion, 58b ... Attachment / detachment portion, 59 ... Shroud lower body, 60 ... Shroud support Ring, 61 ... Ultrasonic flaw detection unit, 62 ... Guide frame, 63 ... Horizontal scanning mechanism, 64 ... Vertical scanning mechanism,
65 ... Ultrasonic probe, 66 ... Probe holder, 67 ... Gimbal mechanism, 68 ... Spring, 69 ... Piston, 70 ... Vacuum suction pad, 71 ... Submersible grinder tool, 72 ... Submersible motor, 73 ... Chuck, 74 … Whetstone, 75… Shot peening work unit, 76… Blowout nozzle, 77… Chamber, 78… Brush,
79 ... suction nozzle, 80 ... pressing water jet nozzle, 81
… Distance sensor, 82,94… Detachable plate, 83,95… Dovetail,
85, 96 ... Pneumatic connector, 86, 97 ... Water pressure connector, 87, 98
… Electric connector, 88… Positioning pin hole, 89… 2-stage direct acting pneumatic piston, 90… Locking pawl, 92… Limit switch, 93
… Spring, 99… Positioning pin, 100… Work tool hanger, 101… Operation pole.

Claims (10)

[Claims] 1. A circumferential movement mechanism capable of rotating an upper portion of the shroud cylinder concentrically with the shroud cylinder using the upper end of the shroud cylinder as a guide directly or indirectly, and a shroud cylinder mounted on the circumferential movement mechanism. A radial positioning mechanism that is movable in the normal direction, and a multistage mast and work manipulator mounted on the radial positioning mechanism are inserted into the annulus portion of the space formed by the shroud barrel and the reactor pressure vessel wall while standing upright. A remote working device comprising a mast standing mechanism and a mast slide mechanism. 2. The working manipulator comprises a lock mechanism having a degree of freedom of movement that allows the work manipulator to be deployed horizontally in the center of the core by a link mechanism, and a multi-stage slide arm that is deployed in the shroud cylinder circumferential direction at the tip of the lock mechanism. 2. The remote in-reactor working apparatus according to claim 1, further comprising a slide mechanism for mounting a working tool on a tip portion thereof. 3. The work manipulator is provided with a horizontal rotation mechanism, a lock mechanism, a plurality of joints having a degree of freedom of movement capable of expanding in any horizontal direction, and an arm connected to the joint at a tip of the lock mechanism. 2. The remote in-core work device according to claim 1, comprising a plurality of flat thin horizontal articulated joints. 4. The ultrasonic flaw detection unit according to claim 1, wherein the work tool is an ultrasonic flaw detection unit including an ultrasonic probe that radiates ultrasonic waves to detect defects or flaws in the metal material. Remote furnace working device. 5. The remote in-core work apparatus according to claim 1, wherein the work tool is an underwater grinder that performs buffing and grinding. 6. The work tool is a shot peening work unit for changing the residual stress of the metal surface near the welded portion from the tensile side to the compression side.
The remote furnace working device described. 7. The work manipulator is provided with a tool attachment / detachment mechanism including a remote attachment / detachment portion attached to the work manipulator side and an attachment / detachment portion attached to the work tool side between the tip of the work manipulator and the work tool, and the remote attachment / detachment. 2. The remote in-core work device according to claim 1, wherein the work tool is mechanically, electrically, and pneumatically coupled by fitting a detachable part to the part. 8. The work manipulator or work tool is provided with one or more water jet nozzles that generate thrust in a direction opposite to the direction in which the tool is pressed against an object for the work. 1. The remote furnace working device according to 1. 9. The work manipulator or the work tool is provided with one or more vacuum suction pads as a mechanism for supporting a work reaction force caused by the work.
The remote furnace working device described. 10. A remote attachment / detachment portion of the tool attachment / detachment mechanism in which a work tool is attached in advance to a remote attachment / detachment portion of a tool attachment / detachment mechanism provided at a tip of a work manipulator of a remote in-furnace working apparatus installed in a furnace A remote furnace working method characterized by fitting and detaching from the outside with a work tool hanger.