JPH09159788A - Device and method for remote controlled work in nuclear reactor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To conduct the inspection, repairing and preventive maintenance work on in pile structures placed in a reactor pressure vessel by remote control. SOLUTION: When inspection and repair work are carried out by remote control on in-pile structures such as a jet pump 3 in an annulus 2 made between a reactor pressure vessel 1 and a shroud 4, this device comprises a cart 11 which uses an upper flange 6 of the shroud 4 as a guide directly or indirectly by laying a rail and a rotary shaft 19 to run circumferentially on the shroud 4, an upper-body drive mechanism 13 in a cart-mounted part, a multistage slide mechanism 14 to elevate its tip to the annulus 2, an approaching mechanism 15 to bring a scanning mechanism 24 close to the shroud 4, and a rotary shaft 19 for the approaching mechanism 15. A frame 46 is connected to the tip of the rotary shaft 19 through a wire and is equipped with a working tool 23. Absorbing pads 47 are installed on the frame 46, which is fixed on the shroud 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reactor internal structure of a space constituted by an inner surface of a reactor pressure vessel of a light water reactor, an outer surface of a shroud shell, and a baffle plate (this space is hereinafter referred to as an annulus portion). The present invention relates to a remote work device in a nuclear reactor for performing inspection / repair / preventive maintenance / replacement / replacement work for ensuring the soundness of an object, and a working method thereof.

[0002]

2. Description of the Related Art Conventionally, 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 portion in the reactor pressure vessel, and the mast or the long rod is atomized. It is operated from the reactor floor and inserted into the reactor pressure vessel, and the underwater television camera is moved inside the reactor pressure vessel to bring it closer to the welded part, and the welding state and its deterioration state are visually inspected.

In order to carry out a more detailed soundness inspection, various kinds of access jigs are prepared according to the shape and structure of the object to be inspected, and ultrasonic flaw detection test and immersion flaw detection test are carried out. There is.

[0004]

However, the space of the annulus portion, which is the object of the present invention, is extremely narrow, and the environment from which the line of sight from the top is poor is poor. At the same time, the jet pump, instrumentation pipe, etc. become internal obstacles, and it is necessary to have a function of avoiding obstacles in the reactor in order to approach the weld to be inspected. For this reason, there is a problem that inspection, repair, and preventive maintenance work in the annulus portion becomes very difficult with a conventional simple mast or long rod.

The present invention has been made to solve the above problems, and is an internal structure installed in the annulus portion of a space formed by the inner wall of the reactor pressure vessel, the outer wall of the shroud shell, and the baffle plate efficiently and smoothly. The purpose of the present invention is to provide a general-purpose remote work device that can access various work tools such as inspections and repairs on the welded part. In addition, the present invention performs all the work of the relevant part, which has been developed and used for each work conventionally,
An object of the present invention is to provide a remote work method in a nuclear reactor that can be realized by one remote work system and can improve work efficiency, reduce the work area that could not be approached before, and reduce the cost.

[0006]

According to the first aspect of the present invention,
An inner surface of a reactor pressure vessel, an outer surface of a shroud installed in the reactor pressure vessel, or an internal structure installed in an annulus portion formed between the outer surface of the shroud and the inner surface of the reactor pressure vessel, In a remote work device in a reactor that remotely checks or repairs equipment,
A carriage that travels in the circumferential direction above the shroud, a position adjusting mechanism arranged on the carriage, an elevating mechanism that attaches and lowers a work tool to the annulus portion, a scanning mechanism for the work tool, and a scanning mechanism. And an approaching mechanism for approaching the shroud to the shroud.

According to a second aspect of the present invention, the position adjusting mechanism drives devices mounted on the carriage.
The elevating mechanism comprises a multi-stage slide mechanism having a wire winding device that winds a wire attached to a tip member by vertically sliding a multi-stage member, and the work tool is a shot peening device for surface modification, The scanning mechanism is composed of various working devices such as an ultrasonic flaw detector, and the scanning mechanism is formed in a shape that conforms to the cylindrical curved surface of the shroud. A plate that drives in the shroud circumferential direction or the vertical direction via a gear device, an actuator that drives the plate, and a table that drives in a direction orthogonal to the driving direction of the plate in a plane along the shroud surface, The approach mechanism is provided at the tip of the multistage slide mechanism. A rotating mechanism that rotates a beam passing through one end of a height adjusting wire of the scanning mechanism around a vertical axis and a linear moving mechanism that directly moves, and a link mechanism that rotates in a radial direction around the shroud as a rotation axis. It is characterized by consisting of.

The invention according to claim 3 is characterized in that a detachable suction mechanism which can be fixed to the shroud is disposed on the frame of the scanning mechanism. According to a fourth aspect of the present invention, the plate of the scanning mechanism is provided with a suction device that moves toward the outer surface of the shroud and can fix the frame to the shroud.

According to a fifth aspect of the present invention, a plurality of suction mechanisms fixed to the shroud are arranged on the base of the scanning mechanism. According to a sixth aspect of the present invention, in the work tool, a brush-shaped chamber for preventing leakage of powder particles is arranged around a construction surface, and a nozzle for discharging powder particles is arranged inside the chamber. The present invention is characterized in that a pump, a collection pump, and tubes connected to these pumps are composed of a nozzle for ejecting powder particles and a shot peening device connected to a collection chamber, respectively.

According to a seventh aspect of the present invention, the work tool includes:
The scanning mechanism of the work tool has a scanning mechanism of the work tool and an operation of the work tool at the end of the elevating mechanism arranged via a position adjusting mechanism of a carriage mounted portion arranged on the carriage. An approach mechanism for changing the posture along the outer surface and for approaching the work tool to the shroud is provided, and a scanning mechanism for the work tool is provided at the tip of the approach mechanism. .

According to an eighth aspect of the present invention, in the bogie, a wheel whose running surface contacts the inner surface of the shroud upper ring, a wheel whose running surface contacts the upper flange surface of the shroud upper ring, and a side surface of the shroud upper body. A wheel whose running surface contacts the outer surface of the shroud while avoiding a lug fixed to the shroud; and a mechanism and an actuator for avoiding an upright portion of the core spray line, and transmitting running power to at least one of the wheels. It is characterized in that a mechanism and a power actuator are arranged.

According to a ninth aspect of the present invention, the carriage is provided with a horizontal plane positioning mechanism such that a traveling surface is in contact with an inner surface of the reactor pressure vessel, or is separated from the reactor pressure vessel to form a core spray line. It is characterized in that a mechanism for avoiding is arranged.

According to a tenth aspect of the present invention, one end of a cable such as a control signal, a power line, and a fluid tube is connected to the operation mechanism, and the cable length is set so that the cable does not become redundant depending on the ascending / descending portion of the scanning mechanism. It is characterized by adjusting the height.

According to an eleventh aspect of the present invention, the work tool is detachable from the traveling mechanism by a shot peening device or an ultrasonic flaw detector, and a television camera is arranged in the vicinity of these devices. To do. The invention according to claim 12 is characterized in that a guide rail is laid on an upper portion of the shroud cylinder.

According to a thirteenth aspect of the present invention, a working method for inspecting, inspecting, repairing, and preventive maintenance of an annulus portion formed between a reactor pressure vessel and a shroud installed in the reactor pressure vessel. In the above, a carriage traveling in the circumferential direction above the shroud, a position adjusting mechanism arranged on the carriage, an elevating mechanism for attaching and lowering a work tool to the annulus portion, a scanning mechanism for the work tool, A remote working device in a nuclear reactor having a structure for bringing a scanning mechanism close to the shroud is installed by suspending it from the operation floor on the flange part of the shroud by either an overhead crane or an auxiliary hoist of a fuel exchanger. Adjusting the descending position of the elevating mechanism by the position adjusting mechanism on the carriage, and then using the elevating mechanism to adjust the approaching mechanism and the hanging mechanism. The height adjustment mechanism, the scanning mechanism of the working tool and the working tool are lowered between the shroud and the reactor pressure vessel, and the approaching mechanism is operated to bring the scanning mechanism and the working tool closer to the shroud, The scanning mechanism scans the work tool with respect to the shroud to perform a work, and after the work is completed, the scanning mechanism and the work tool are retracted from the shroud to the reactor pressure vessel by the approach mechanism, and the elevating mechanism. Is pulled up to return it to the initial installation state, and then the remote device in the nuclear reactor is pulled up to the operation floor.

According to a fourteenth aspect of the present invention, a method of approaching the scanning mechanism of the work tool and the shroud of the work tool and a method of scanning the work tool are performed by the multi-stage slide mechanism of the elevating mechanism. And after lowering the work tool between the shroud and the reactor pressure vessel, actuating the link mechanism of the approach mechanism to drive the multi-stage slide mechanism in the shroud direction to fix the posture, and the scanning mechanism. And suspending the work tool with the wire of the position adjusting mechanism so as to be located at the height between the riser race and the riser bracket of the jet pump, and linking the traveling of the carriage with the multistage slide mechanism and the rotating mechanism in the circumferential direction. The scanning mechanism passes between the two jet pumps to approach the shroud and adjust the position. Positioning a wire to further worksite height by configuration, in contact with the shroud propulsion device provided on the scanning mechanism, positioning said work tool by the upper and lower direction, the shroud circumferential direction of the scanning mechanism,
After the scanning is completed and the work at the suction site is completed, the wire is wound up and down to the next work site, and the height and direction of the shroud to be worked are positioned by the carriage, and the shroud is positioned on the shroud by the propulsion device. Approaching,
Repeat the process of performing work, after the series of work is completed,
The scanning mechanism is retracted from the height position between the riser race and the riser bracket to the reactor pressure vessel from the shroud between the jet pumps by interlocking the approach mechanism and the carriage, and the multi-stage slide mechanism. It is characterized by raising.

According to a fifteenth aspect of the present invention, in the method of scanning a work tool, the scanning mechanism of the work tool and the work tool approach a shroud, and a working site is positioned by a wire of the position adjusting mechanism. After making contact with the shroud, the plurality of suction mechanisms arranged on the frame of the scanning mechanism suction-fix the shroud. Then, the scanning mechanism positions and scans the work tool in the vertical direction of the shroud or in the circumferential direction of the shroud to perform work at the suction site. After the work is finished
The suction fixing of the suction mechanism is released, the working height and direction are positioned by winding up and down the wire of the position adjusting mechanism to the next work site, traveling of the carriage, and approaching the shroud by the propulsion device and fixing by suction. However, the process of performing the work is repeated.

According to a sixteenth aspect of the present invention, a plurality of suction mechanisms arranged on the frame are pressed against the outer surface of the shroud to be fixed by suction, the suction fixing of the suction mechanism is released, and the next working portion is moved to the scanning mechanism. The frame drive mechanism moves the entire frame to wind up and down the wire and move the carriage. The carriage is made to follow while adjusting the wire length of the position adjustment mechanism, and then the suction mechanism is closely attached to the shroud. After performing the suction fixing, the suction fixing of the suction mechanism is released, and the process of scanning the working process is repeated to perform continuous work.

According to a seventeenth aspect of the present invention, the suction mechanism arranged on the base of the scanning mechanism is pressed against the outer surface of the shroud to be fixed by suction, and the suction fixing by the suction mechanism arranged on the frame is released. The entire frame is moved to a part by a mechanism that drives the frame or the platform, and the wire of the position adjusting mechanism is wound up, down, and the carriage is moved, and the carriage is adjusted while adjusting the length of the wire. Following, then the suction mechanism of the frame is brought into close contact with the shroud and fixed by suction, then the suction fixing of the suction mechanism of the table is released, the work tool is scanned, this process is repeated, and continuous work is performed. It is characterized by performing.

According to the eighteenth aspect of the present invention, in the shroud azimuth in which the device and the wire interfere with each other, such as the adjustment of the length of the wire when the suction mechanism of the scanning mechanism is moved and the periphery of the upright portion of the guide rod or the core spray line. , The wire is surplus, the scanning mechanism and the work tool are moved in the circumferential direction by the holding force of the suction mechanism to perform work, and the wire is not surplus during construction of the shroud orientation in which the wire does not interfere. And

According to a nineteenth aspect of the invention, in the preventive maintenance work method for the surface modification of the shroud, a brush-shaped chamber for preventing leakage of powder particles in a work tool, a nozzle for spraying powder particles in the chamber, and a recovery chamber. And a shot peening machine having a nozzle for use. During the scanning of this shot peening device, when the suction mechanism arranged on the frame or the suction mechanism arranged on the base is pressed against the outer surface of the shroud to suck the frame, and then the frame is moved to the next work target site. Regardless of the above, the shot peening device is pressed against the outer surface of the shroud, the powder grain recovery pump is operated, and continuous operation is performed.

According to a twentieth aspect of the present invention, an attaching / detaching device is provided at the tip of the elevating mechanism so that the work tool side of the tip can be attached to and detached from the elevating mechanism, and the elevating mechanism is lifted upward depending on the work site. The work tool side is exchanged from the attaching / detaching part of the elevating mechanism while being held near the upper surface of the shroud.

According to a twenty-first aspect of the present invention, when a bogie travels on the upper surface of the shroud, a wheel to which a mechanism for transmitting traveling power is connected is driven, and a core spray line, a guide rod, a guide rod bracket, and a circumferential direction. When the moving carriage interferes, these wheels are in contact with the traveling surface on the outside of the shroud, and a mechanism and an actuator for avoiding an upright portion of the core spray line are used to avoid these obstacles.

According to a twenty-second aspect of the present invention, in a remote operation method in a nuclear reactor for inspecting, inspecting, repairing, and preventive maintenance of the annulus portion, first, a guide rail is installed on an upper flange portion of a shroud cylinder, and the remote The in-furnace working device is installed by suspending it from the operation floor on the flange part of the shroud by using either an overhead crane or an auxiliary hoist of the refueling machine, and then the approach mechanism and the work tool are scanned by the multi-stage slide mechanism. The mechanism and the work tool are lowered to the annulus part of the shroud and the reactor pressure vessel, the approaching mechanism is operated to move the scanning mechanism toward the shroud, and the position adjusting mechanism adjusts the length of the hanging wire. Adjustment, and the work is performed by scanning the work tool with respect to the shroud by the scanning mechanism. After completion, the approach mechanism retracts from the shroud toward the reactor pressure vessel, pulls up the multi-stage slide mechanism to pull up the remote in-reactor working device on the operation floor, and removes the guide rail to finish the work. It is characterized by doing.

Next, the operation of each claim of the present invention will be described in order. The work device seated on the upper portion of the shroud moves in the circumferential direction on the upper portion of the shroud cylinder, and the mounting portion on the carriage is positioned in the radial direction by the position adjusting mechanism. An elevating mechanism, which is a part of the mounting portion on the trolley, performs a rough positioning of the work tool scanning mechanism and the work tool in the vertical direction with respect to the work target portion. Further, the approaching mechanism allows the work tool and the scanning mechanism to approach the shroud middle cylinder having a smaller outer diameter than the shroud upper cylinder while avoiding interference with the shroud upper cylinder. A scanning mechanism disposed on the approach mechanism positions the work tool in detail within the scanning range. Concerning the positioning, the work efficiency is improved and the work accuracy is improved by roughly positioning the work range with the position adjustment mechanism and approach mechanism of the carriage, the part mounted on the carriage, and finely positioning within the work range of the scanning mechanism. Is improved.

The scanning mechanism and the work tool are moved to the gap between the jet pump and the shroud by the approach mechanism, and the length of the suspending wire, which is the suspending height adjusting means of the scanning mechanism, is adjusted to adjust the arbitrary height of the shroud. The scanning mechanism can be positioned at. Further, since the scanning mechanism is suspended via the wire, it can pass through the narrow gap between the jet pump and the shroud and can move around the entire circumference. Therefore, when the work is carried out in the circumferential direction, it is possible to move the work in the circumferential direction with a constant wire length, so that it is not necessary to move the scanning mechanism up and down to avoid the jet pump, and the working efficiency is remarkably improved.

By making the work tool at the tip detachable, various work such as shot peening, ultrasonic flaw detection test, visual inspection, etc. can be performed with a common remote furnace working device, and versatility with respect to the type of work. Is improved. Also, by pulling up on the operation floor, decontaminating work, and then replacing the work tool, it is very easy to monitor the replacement work, and the tool can be replaced by simple measures such as screwing, Improves reliability.

Using the auxiliary hoist or the like of the refueling machine, the working device in the remote reactor is submerged, and either on the well platform, in the temporary equipment (DS) pit, in the reactor well, or in the fuel pool. By pulling up and replacing the work tool, monitoring from the operation floor is relatively easy, and because it is performed in the reactor water, decontamination work is not required, and replacement work can be performed at a sufficient distance from the worker. it can.

The working tool once used is stored in the reactor water during the working period, and it is not necessary to pull it up on the operation floor unless a problem occurs. By doing so, versatility with respect to the type of work is improved.

By exchanging the work tool on the dolly, the time required for pulling it up by the auxiliary hoist of the refueling machine is shortened and the work efficiency is improved. The replacement work can be performed with a sufficient distance from the worker.

The work tools can be automatically replaced on the operation floor by an automatic changer, and the worker can carry out the replacement work without touching the hands, thus reducing the radiation exposure. Since the device is arranged on the operation floor, even if a problem occurs in the automatic exchange device, it can be easily repaired.

On the well platform in a flooded state,
It is relatively easy to monitor from the operation floor by pulling it up in the DS pit, in the reactor well, or in the fuel pool and changing the work tool using the automatic changer. Therefore, there is no need for decontamination work, replacement work can be performed with a sufficient distance from the worker, and radiation exposure can be reduced. Smoothly change work tools with automatic changer.

The work tool is automatically and smoothly replaced by the automatic changer on the carriage. The work tools to be replaced are stored on the trolley. By exchanging the work tool by this method, it is not necessary to pull up the device when exchanging the work tool, and thus the work time is shortened. Workers do not have to touch their hands directly, which reduces radiation exposure.

The approach mechanism is suspended from the annulus portion by a linear motion slide mechanism which is an elevating mechanism, and the shroud approach mechanism approaches the rotation axis in the circumferential direction of the shroud arranged at the connection portion with the linear motion slide mechanism. The entire mechanism is rotated so that the linear mechanism of the approach mechanism faces the shroud and is fixed.

The suspension height adjusting mechanism of the traveling mechanism adjusts the length of the suspending wire so that the scanning mechanism of the work tool suspends at a height between the riser brace and the riser bracket of the jet pump. The beam of the approach mechanism, which holds the wire that suspends the scanning mechanism, is linked to the rotation of the rotating mechanism, the linear motion of the linear motion mechanism, and the movement of the carriage, and the scanning mechanism and the work tool are moved from the reactor pressure vessel side to the shroud outer surface. Bring them closer.

The propulsion device attached to the frame is operated so as to generate a force on the shroud side, the scanning mechanism is brought close to the outer surface of the shroud, and the outer surface of the shroud is inspected and inspected. As a result, when precise positioning accuracy is not required, such as visual inspection, work can be performed simply and the work time can be shortened.

By the approaching mechanism, the outer surface of the shroud is approached, and the propulsion device is operated so as to approach the outer surface of the shroud so as to be in close contact with the outer surface of the shroud. The suction pad is sucked onto the outer surface of the shroud, the frame is fixed, and the scanning mechanism is operated to perform inspection, inspection, repair, and preventive maintenance work on the outer surface of the shroud. By fixing the frame, work rigidity can be improved.

By the approaching mechanism, the outer surface of the shroud is approached and the propulsion device is operated so as to approach the outer surface of the shroud, and the outer surface of the shroud is brought into close contact with the outer surface of the shroud. By adsorbing on, fixing the frame and operating the scanning mechanism,
Performs inspection, inspection, repair, and preventive maintenance work on the outer surface of the shroud.

After the work of the scanning range in which the frame is sucked is completed, the suction cup or suction pad of the suction mechanism on the frame, which is the first stage scanning freedom of the scanning mechanism, is sucked to the outer surface of the shroud, and the frame is shrouded. Fixed to
Stop the suction of the frame suction cups or suction pads.

Then, the drive shaft for scanning the frame of the scanning mechanism, the carriage or the feed of the suspension wire of the scanning mechanism is interlocked to move the entire frame to the next scanning range, and the suction cup or suction pad of the frame is moved to the outer surface of the shroud. Adsorb to. After suction of the suction cups or suction pads of the frame is stopped, suction of the suction cups or suction pads is stopped and scanning is performed to perform maintenance work such as inspection, inspection, repair, and prevention of the adjacent scanning range.

In this way, the work is performed while fixing the frame with the suction cups or suction pads, so that the workability is improved. Also, when working continuously in a specified range in one direction, such as work along the shroud's circumferential welding line or vertical welding line, the positioning accuracy of the scanning range is high, eliminating uneven work, Further, since the minimum scanning range overlaps, the working efficiency is improved.

After approaching the outer surface of the shroud by the approaching mechanism and operating the propulsion device so as to approach the outer surface of the shroud, the propulsion device is brought into close contact with the outer surface of the shroud. The outer surface of the shroud is inspected, inspected, and preventive maintenance work is performed by adsorbing it to the, fixing the frame, and operating the scanning mechanism.

When the work of the scanning range in which the frame is sucked is completed, the suction cup or suction pad of the suction mechanism on the table, which is the second degree of freedom of scanning of the scanning mechanism, is sucked onto the outer surface of the shroud, and the table is shrunk. Fix and stop the suction of the frame suction cup or suction pad.

Then, the two drive shafts of the scanning mechanism and the suspending wires of the carriage or the scanning means, or both the carriage and the suspending wire feed are interlocked to move the entire frame to the next scanning range to move the frame. Adsorb a suction cup or suction pad to the outer surface of the shroud. After suction of the suction pad of the frame, stop suction of the suction cup or suction pad of the stand and operate the scanning mechanism to check the adjacent scanning range,
Perform inspection, repair, and preventive maintenance work.

In this way, the work is carried out while fixing the frame with the suction cups or suction pads, so the workability is improved, and when working in any direction on the outer surface of the shroud, the positioning accuracy of the scanning range is improved. Is high, work unevenness is eliminated, and the minimum overlap of scanning ranges is sufficient, thus improving work efficiency. It is possible to work along both the vertical and circumferential welding lines of the shroud in the scanning direction.

A linear motion slide mechanism, which is an elevating mechanism, such as a shroud guide rod and a lower outer surface in the direction in which the core spray line is connected, performs inspection, inspection, repair, and preventive maintenance in directions that interfere with these devices. in case of,
The scanning mechanism is moved in the circumferential direction by interlocking the suction device and the scanning. In this case, the movement of the carriage is stopped, the wire of the scanning mechanism suspension height adjusting mechanism is fed more than the height up to the scanning mechanism to sag the wire, and the scanning mechanism supports its own weight with its own suction device. Work in the scanning range.

By interlocking the adsorption device and the traveling mechanism, the recovery chamber of the shot peening device, which is a work tool, is brought into close contact with the outer surface of the shroud, the pump for ejecting particles is operated, and the particles are ejected from the nozzle for ejecting particles. The surface modification work is performed while spraying on the surface and at the same time operating the collection pump to collect the sprayed powder particles.

In this case, when the frame moves to the adjacent scanning range, the collection chamber of the shot peening device is always kept from the outer surface of the shroud by the pressing mechanism against the outer surface of the shroud.

When it is necessary to separate the recovery chamber when moving to the adjacent scanning range, it is necessary to confirm that no powder particles remain in the recovery chamber in order to prevent the powder particles from scattering. Even after the construction within the scanning range is completed and the ejection of powder particles is stopped, the recovery pump must be operated to continue suction, but these times can be reduced and work efficiency is improved.

The television camera disposed near the work tool monitors whether the work surface is scanned properly by shot peening, ultrasonic flaw detection, or the like, and whether or not there is a defect in the work such as leakage of shot peening particles. Furthermore, the state of the effect after the shot peening is scanned in the certain scanning range can be confirmed immediately after the shot peening is performed, and the working efficiency is improved.

The work tool disposed at the tip of the lifting mechanism is positioned by the position adjusting mechanism of the carriage and the parts mounted on the carriage and the lifting mechanism, and inspection, repair and preventive maintenance are mainly performed on the annulus portion above the jet pump. To do.

The scanning of the work tool disposed at the tip of the lifting mechanism is positioned by the carriage, the position adjusting mechanism of the portion mounted on the carriage, and the lifting mechanism, and mainly the annulus portion above the jet pump is inspected and repaired. Carry out conservation.

The approach mechanism arranged at the tip of the elevating mechanism operates the approach mechanism so that the scanning mechanism of the work tool is parallel to the shroud surface, and moves the carriage, the position adjusting mechanism of the trolley-mounted portion on the trolley, and the elevating mechanism. The mechanism positions the scanning mechanism, and mainly performs inspection and repair preventive maintenance on the annulus above the jet pump.

By disposing the attaching / detaching device at the tip of the elevating mechanism and making the tip mechanism parts such as the approaching mechanism and the scanning mechanism attachable / detachable, the height above the jet pump and the height at which the jet pump is present can be increased in a common working device. Various work such as shot peening, ultrasonic flaw detection test, visual inspection, etc. can be performed on a narrow part, and the versatility of the work part is further improved.

It is very easy to monitor the replacement work by pulling it up on the operation floor and performing decontamination work, then replacing the tip of the lifting mechanism and changing the mechanism configuration, and simple measures such as screwing. The tool can be replaced with and the reliability is improved.

Using the auxiliary hoist of the fuel exchanger, etc., with the working device submerged, it is pulled up to any one of the well platform, the DS pit, the reactor well, and the fuel pool, and the tip side from the lifting mechanism. By replacing the tip mechanism such as the approach mechanism and scanning mechanism of
Monitoring from the operation floor is relatively easy, and because it is performed in reactor water, there is no need for decontamination work, and replacement work can be performed with a sufficient distance from workers.

The tip mechanism portion once used does not need to be stored in the reactor water during the working period and pulled up onto the operation floor unless a problem occurs. According to this method, versatility with respect to the work site is improved.

By exchanging the tip end side of the lifting mechanism on the dolly, the time for pulling it up by the auxiliary hoist of the fuel exchange machine is shortened and the work efficiency is improved. The replacement work can be performed with a sufficient distance from the worker. Once used, the tip mechanism is stored in the reactor water for the duration of the work, and it is not necessary to raise it on the operation floor unless a problem occurs. According to this method, versatility with respect to the work site is improved.

On the operation floor, the mechanism on the tip side of the elevating means is automatically exchanged by an automatic exchanging device, and the exchanging work can be carried out without the operator touching it, thus reducing the radiation exposure. Since the device is arranged on the operation floor, even if a problem occurs in the automatic exchange device, it can be easily repaired.

On the well platform in the flooded state,
It is relatively easy to monitor from the operation floor by pulling it up in the DS pit, the reactor well, or the fuel pool and exchanging the mechanism from the elevating mechanism to the tip side using an automatic exchange device. Since it is performed in reactor water, there is no need for decontamination work, and replacement work can be performed with a sufficient distance from the worker, reducing radiation exposure. Smoothly change work tools with automatic changer.

On the trolley, the mechanism on the tip side of the multistage slide mechanism is automatically and smoothly replaced by an automatic exchange device. The work tools to be replaced are stored on the trolley. By exchanging the work tool in this manner, it is not necessary to pull up the device when exchanging the work tool, and thus the work time is shortened. Workers do not have to touch their hands directly, which reduces radiation exposure.

The wheels of the trolley are arranged so as to be in contact with the inner diameter surface of the upper ring of the shroud on the basis of the radial direction, and are arranged so as to be in contact with the shroud flange surface on the upper surface of the upper ring as the reference for the vertical direction. With the structure that avoids the lugs, the running surface is placed in contact with the outer surface of the shroud cylinder.

As a result, any of the wheels can be used as a power wheel to move in the circumferential direction of the shroud with high accuracy. Also, the wheels that contact the running surface on the outer surface of the shroud are
The shroud can move all around the shroud if it does not interfere when passing through the upright portion of the core spray line.

By arranging the wheels that are also in contact with the inner surface of the reactor pressure vessel, the posture stability of the bogie during traveling is improved, and the position adjusting mechanism of the portion mounted on the bogie is driven to move the bogie toward the center of the shroud. Move all the mechanisms installed in.

As a result, the core spray line can be avoided in the entire apparatus, and the entire shroud can be moved.
In addition, by making it possible to move around the entire circumference, it is not necessary to re-suspend by an auxiliary hoist or an overhead crane when avoiding the standing portion of the core spray line, and the work time is shortened.

Cables such as control signal lines, power lines, and fluid tubes connected to the scanning mechanism for performing inspection, repair, and preventive maintenance work in the gap between the shroud and the jet pump are sent out according to the ascending / descending state of the scanning mechanism. Adjustments are made so that there is no significant surplus due to retraction.

By doing so, even when the scanning mechanism moves in the circumferential direction in the gap between the shroud and the jet pump at a certain constant height, it does not reach the protrusion of the reactor internal structure such as the riser bracket of the jet pump. It is possible to prevent the reduction of the propulsive force due to being caught and to protect the cable at the same time.

Further, a jig for covering the cable is provided at a portion which interferes with and slides on the internal furnace structure to prevent direct contact at the protrusions of the internal furnace structure such as the shroud and the jet pump. Can protect cables and wires.

When the scanning mechanism enters the gap between the shroud and the jet pump for inspection, repair, and preventive maintenance, the upper end of the jet pump among the cables such as control signal lines, power lines, and fluid tubes connected to the scanning mechanism. Cables with a minimum diameter larger than the minimum gap between the shroud and the jet pump from the to the baffle plate, while connecting the approach mechanism and the scanning mechanism linearly, like the suspension wire of the suspension height adjustment mechanism of the scanning mechanism. , Can not move in the circumferential direction.

Therefore, such a thick cable is provided between the jet pumps whose scanning mechanism is close to the shroud,
A propulsive force of the scanning mechanism or a cable feeding device forcibly feeding is installed in the annulus portion to feed the cable in the circumferential direction. By doing so, even if a cable that cannot pass through the gap between the shroud and the jet pump has to be connected to the scanning mechanism or the work tool, the remote in-core working device can move in the circumferential direction of the shroud.

At the same time as the operation of the remote reactor working device for inspection, repair, and preventive maintenance in the annulus portion, the fuel assembly in the shroud in the reactor pressure vessel, which also uses a fuel exchanger, is replaced and the fuel assembly shuffling is performed. By performing rings, and performing inspection, repair, and preventive maintenance in the shroud and other parts of the annulus in parallel, the process is shortened,
Work efficiency is improved.

In parallel work with other work, when the work site, the position and posture information of the device are managed and information is exchanged between the respective work devices, and the interference between the devices is predicted, By interlocking, an emergency stop is applied to a part or all of each device, and at the same time, a work supervisor or an operator is notified to support safe parallel work.

In another working method, a rail for traveling a dolly is hung by an overhead crane or an auxiliary hoist of a refueling machine to be transported, seated on the shroud and fixed. After that, the remote in-reactor working device is transported into the reactor pressure vessel by an auxiliary hoist of the refueling machine, and is seated on the guide rail fixed on the shroud.

In the remote furnace working device, the carriage moves in the circumferential direction on the guide rail fixed to the upper part of the shroud cylinder, and the portion mounted on the carriage moves radially by the position adjusting mechanism and vertically by the lifting mechanism. The scanning mechanism of the work tool and the work tool are roughly positioned in the work target part.

By the approaching mechanism, the work tool is moved closer to the shroud middle cylinder having a smaller outer diameter than the shroud upper cylinder while avoiding interference with the shroud upper cylinder. The scanning mechanism arranged in the approach mechanism positions the work tool in detail within the scanning range.

Regarding the positioning, the work efficiency is improved by roughly positioning the work range with the carriage, the position adjusting mechanism of the portion mounted on the carriage, the elevating mechanism, and the approaching mechanism, and finely positioning with the scanning mechanism within the work range. Improves the accuracy of work.

Even when the positioning pin stands on the flange surface on the upper part of the shroud, the shroud can be moved in the circumferential direction. Since the wheels can be arranged and supported corresponding to the guide rails fixed to the flange, the supporting rigidity of the truck is improved.

[0078]

BEST MODE FOR CARRYING OUT THE INVENTION A first embodiment of a remote working device in a nuclear reactor according to the present invention will be described with reference to FIGS. 1 to 29.
It should be noted that, during the description of the first embodiment of the remote working device in a nuclear reactor, the first embodiment of the working method will be simultaneously described.

First, the overall configuration of this embodiment will be described. As shown in FIG. 1, a remote reactor in-reactor 10 (hereinafter, abbreviated as working device 10) of the present embodiment has a carriage 11 at the upper end of a shroud 4 in a reactor pressure vessel 1 of a boiling water reactor. The wheels 12 (12a to 12c) are installed so as to contact the shroud 4 (see FIGS. 2 to 4).

On the dolly 11, the mounting portion above the dolly 11
The shroud 4 and the reactor pressure vessel 1 via the body drive mechanism 13 that drives the shroud 26 in the radial direction or the circumferential direction of the shroud 4.
A multi-stage slide mechanism 14 that is driven in the vertical direction is disposed in the annulus portion 2 formed between the two.

The approach mechanism 15 is provided at the lower end of the multi-stage slide mechanism 14.
, The joint 17a is driven up and down by the cylinder piston 16, and the joint 17a, the joint 17b, and the joint 17c constitute a triangular link mechanism, and the linear motion mechanism 18 swings in the direction of the shroud 4 at a constant angle. Is configured (see FIG. 4).

A beam 22 for catching and guiding the wire winding drum 20 and the two wires 21 via a rotary shaft 19 is provided in the linear motion mechanism 18 of the approaching mechanism 15. Two wires 21
The work tool 23 is attached to the drive shaft 147a,
The work tool 23 is attached to the tip of the scanning mechanism 24 for scanning by the 147b and the attachment 58 driven by the drive shaft 147b through the attachment / detachment mechanism 61 (see FIG. 10).

In the annulus portion 2, a plurality of jet pumps 3 for injecting the coolant into the core are installed in a forested manner. As shown in FIG. 4, the scanning mechanism 24 has a gap between the jet pump 3 and the shroud 4. Pass through.

Next, the carriage 11 will be described. Trolley 11
Moves the upper end of the shroud 4 in the circumferential direction. Regarding the arrangement of the wheels 12 [12 (a) to (e)] of the dolly 11, FIG.
As shown in the enlarged view of FIG. 4, the wheel 12 that contacts the side surface of the inner diameter of the shroud upper ring 5 and the direction of the axle is vertical.
a and a drive motor (not shown) are connected to the shaft, and the wheel 12b is in contact with the flange surface 6 of the shroud upper ring 5.
And the lug 7 of the shroud 4 is avoided, and the cylinder piston
The wheels 12c are arranged so as to sandwich the shroud 4 from the outside by the 25a.

As shown in FIGS. 2 and 3, the rotary joint 87
Rotating joint of cylinder piston 25a supported by a and 87b
The 87b side is disposed in the linear motion portion 89 of the linear motion guide 88. Wheel
The member 86a having the 12c attached thereto is provided so as to be fixed to the linear motion portion 89 and avoid the lug 7 of the shroud 4.

The cylinder piston 25b is supported by the rotary joint 87c and the rotary joint 87d arranged on the member 86a.
A member 86b is connected to the rotary joint 87d, and a wheel 12e for fall prevention is arranged at the tip of the member 86b which is also connected to the rotary joint 87e provided on the member 86b.

As shown in FIG. 4, the wheels 12 are provided so as to be in contact with the reactor pressure vessel 1 with the upper body drive mechanism 13 interposed therebetween.
d is provided. As shown in FIG. 3, a wheel 12a that contacts the inner diameter side surface of the shroud upper ring 5 and has an axle direction in the vertical direction, and a drive motor (not shown) are connected to the shaft, and the flange of the shroud upper ring 5 is connected. A wheel 12c is arranged so as to sandwich the shroud 4 from the outside by the cylinder piston 25a while avoiding the wheel 12b contacting the surface 6 and the lug 7 of the shroud 4.

The rotary joint 87b side of the cylinder piston 25a supported by the rotary joints 87a, 87b is the linear motion portion of the linear motion guide 88.
The member 86a provided on the wheel 89 and having the wheels 12c is a linear motion portion.
Fixed at 89. The wheel 12c contacts the shroud 4 above the lug 7 (see FIG. 3).

Next, the body drive mechanism 13 will be described.
The body drive mechanism 13 for positioning the mounting portion 26 mounted on the carriage 11 in the radial direction and the circumferential direction of the shroud 4 has a linear motion guide (not shown) and a linear motion actuator (not shown) inside. The mounted portion 26 on the carriage 11 is arranged in the radial direction of the shroud 4 (see FIG. 5).

As another example, a vertical rotary shaft 27 and a rotary actuator (not shown) are provided inside, and the mounting portion 26 on the carriage 11 is rotated in the circumferential direction of the shroud 4 to adjust the position. (See FIG. 6). Further, as another example, a rotary shaft 28 and a rotary actuator (not shown) are arranged inside the carriage 11 around an axis in the traveling direction (see FIG. 7).

Further, as another example, the radial direct-acting mechanism and the vertical-direction rotating mechanism, which are a combination of FIGS. 5 and 6, are combined (not shown), instead of these single configurations. With these body drive mechanisms 13, it is possible to avoid the rising portion of the core spray line 8.

Next, the multi-stage slide mechanism will be described. In FIGS. 1 and 4, a multistage slide mechanism 14 arranged on the carriage 11 is a drive mechanism (not shown) on the carriage 11.
Is connected to the wire drum 30. The plate materials 29a, 29b, 29c are linearly connected to each other via a linear motion guide (not shown), and the wire drum 30 is wound around the plate material 29c on the most distal side. One end of the wire 32 guided by the pulley 31 is fixed. Stoppers (not shown) are provided at both ends of a linear motion guide (not shown) that connects the plate member 29 so as to be linearly movable so as not to move linearly for a predetermined stroke or more.

Next, the approach mechanism 15 will be described. In FIGS. 1, 4 and 8, the approach mechanism 15 includes a joint 17a arranged at the lower end of the multistage slide mechanism 14 and the joint 17a.
A cylinder piston 16 rotatably connected by a joint 17d (not shown) is arranged on the opposite side of the joint 17
The shaft 33 to which a is connected has a linear guide 34 in the vertical direction.
Are arranged. The joint 17a, the joint 17b, and the joint 17c form a triangular link mechanism.

The link 35 is the linear motion mechanism 18, and the output shaft of the motor 42 rotates the ball screw 36 via the timing belt 43, and the rotation of the ball screw 36 causes the base 37 to move linearly. A beam 22 is arranged on the table 37 via a rotary shaft 19 arranged so that the axial direction is vertical when the linear motion mechanism 18 is in the approaching posture.

Rotation is performed by a rotation mechanism 38 composed of a cylinder piston 40 rotatably connected to the joint 39a and the joint 39b. Further, two wires 21 extending from the wire winding drum 20 arranged on the beam 22 and connected to an active driving mechanism (not shown) are guided to both ends of the beam 22.
A scanning mechanism 24 is arranged at the tips of the two wires 21.

Further, as another example of the approaching mechanism 15, as shown in FIG. 9, a beam 22 is arranged on a stand 37 via a hollow shaft 41, and is rotatably connected by a joint 39a and a joint 39b. The cylinder piston 40 makes a rotational movement. The two wires 21 extending from the wire winding drum 20 fixed to the link 35 pass through the center of the hollow shaft 41 and are caught and guided at both ends of the beam 22. A scanning mechanism 24 is arranged at the tips of the two wires 21.

Next, the scanning mechanism 24 will be described with reference to FIGS.
This will be described with reference to 11 and FIG. That is, the scanning mechanism 24 is the wire winding drum 20 of the approach mechanism 15 as shown in FIG.
It is connected to one end of a wire 21 that is wound around. This scanning mechanism 24 is suspended by a wire 21 as shown in an enlarged scale in FIG. 10, and fits the cylindrical surface of the shroud 4 and cuts out a part of the orientation of the cylinder whose radius of curvature is close to the value outside the shroud 4. A frame 46 having a shape, suction pads 47a as suction mechanisms at four corners of the frame 46 as shown in FIG.
A suction port 62 shown in FIGS. 11 and 12 for connecting the suction pad 47a, a spring 48 for pressing the suction pad 47a, and a cylinder 49 for pulling the suction pad 47a are provided.

When the scanning mechanism 24 is in close contact with the shroud 4, the internal gear 50 and the guide rail 51 are mutually attached to the frame 46 as shown in FIG. 10 so that the shroud 4 can be driven in the circumferential direction. Correspondingly arranged. flame
A member 52 is provided on the side of the suction pad 47 of the guide rail 46, and a guide rail is provided on the member 52 as shown in FIG.
A guide wheel 152 is rotatably arranged along 51. In addition, the gear 54 with its output shaft meshing with the internal gear 50
Are coaxially connected to the motor 53.

The member 52 is provided with a suction pad 47b to which a suction port 62 as shown in FIGS. 11 and 12 is connected, a spring 48 for pressing the suction pad 47b and a cylinder 49 for pulling in the suction pad 47. It Cylinder 49 is frame 46
It is fitted and attached to.

The member 52 includes a linear motion transmission mechanism such as a ball screw.
56 is disposed, and a base 57 is disposed via the linear motion transmission mechanism 56. An attachment 58 extends vertically downward on the base 57, and a TV camera 59 for work monitoring is attached to the attachment 58 at the four shrouds. It is arranged so that it can be seen in the field of view.

At the lower end of the attachment 58, the attachment / detachment mechanism 61
A worker 23 having a tube 60 connected thereto is attached. A propulsion device 102 is attached to the frame 46, and the propulsion device 102 allows the shroud 4 to move to the reactor pressure vessel 1.
In the direction of.

Next, the suction mechanism 66 will be described. FIG.
And as shown in FIG. 12, the suction mechanism 66 includes a frame 46
The cylinder 49 is fixed to the suction port 62, and one end of the suction pad 47 to which the suction port 62 is connected serves as a piston rod 67 and is hermetically fitted in the cylinder 49 so as to be linearly movable. Cylinder
A spring 48 for pressing is attached in the direction of linear movement of the piston rod 67 with respect to 49. Input port 55 for supplying water into cylinder 49 to raise piston rod 67.
Are arranged.

As another example of the suction mechanism 66, a combination of a pantograph mechanism 64 and a cylinder piston 63 can be used as shown in FIG. According to FIG. 13, a suction pad 47 is connected as a suction mechanism 66 to a pantograph mechanism 64 including a joint 68a, a joint 68b, a joint 68c, and a joint 68d on the frame 46, and the suction port 62 is connected to the suction pad 47. , Frame 46 and suction pad 47 joint 68e and joint 68f
The cylinder piston 63 is rotatably supported by.

Next, the attachment / detachment mechanism 61 will be described. FIG.
The attachment / detachment mechanism 61 of the work tool 23 shown in FIG.
The shot peening tool 69 as the work tool 23 has a mechanism mainly tightened and fixed by bolts 70 as shown in FIG. 14, for example.

Next, the work tool 23 will be described. The types of work tools 23 are a shot peening tool 69 and an ultrasonic flaw detection tool (not shown) shown in FIG.

Next, the shot peening tool 69 will be described. In FIG. 14, the shot peening tool 69
A nozzle 71 for ejecting a stainless shot 74
A tube 60a connected to the nozzle 71, a pump (not shown) connected to the tube 60a and connected to the supply source of the stainless shot 74, and a wire brush 72 arranged so as to surround the nozzle 71, The wire brush 72 has an opening portion 73 that is open in a portion surrounded by the wire brush 72. The shot peening tool 69 is provided with a recovery tube 60b connected to a recovery suction pump (not shown). An ultrasonic probe is arranged in the ultrasonic flaw detection tool (not shown).

Next, the television camera will be described. The surveillance television camera 59 and the lighting (not shown) are the beam 22 of the approach mechanism 15 shown in FIG. 1 and the work tool shown in FIG.
It is arranged near the attachment / detachment mechanism 61 of 23 or on the work tool 23 (only the television camera 59 near the attachment / detachment mechanism 61 is shown).

Next, the cable of this apparatus will be described. In FIG. 10, the work tool 23 and the scanning mechanism 24 are
Cables 75 such as a power supply board, a signal line, and a fluid tube are connected. These cables 75 are housed in a thin cable bearer 44 as shown in FIGS. 15 and 16, and are installed from above the reactor pressure vessel 1. Suspended, multi-stage slide mechanism 14
A guide mechanism 45 that changes the shape of the cable carrier 44 according to the height of the approach mechanism 15 and the scanning mechanism 24 is provided on the carriage 11.
It is arranged at the lower end of the multistage slide mechanism 14 and the beam 22 of the approach mechanism 15.

The cables 75 connected to the work tool 23 have a surplus in advance so as not to give a disturbance during the scanning operation of the work tool 23. Note that FIG. 15 shows a state in which the scanning mechanism 24 is descending to the vicinity of the shroud lower ring 9,
FIG. 16 shows a state in which the scanning mechanism 24 has reached the upper limit.

As shown in FIGS. 17 and 18, the guide mechanism 45 of the cable bear 44 disposed on the beam 22 of the approach mechanism 15 includes the rotary shaft 19 of the beam 22 of the approach mechanism 15, the joint 80a, and the joint 80a.
The pantograph mechanism 81 is composed of the joints 80b and the joints 80c, and the guide mechanism 45 is a part of the pantograph mechanism 81.

Next, the cable processing will be described. If the cable 75 having the thickness shown in FIG. 19 that can pass only a part of the gap between the jet pump 3 and the shroud 4 among the cables 75 connected to the work tool 23, those cables 76 shown in FIG. A crawler that drives a rotary actuator 78
A cable feeding mechanism 77 is arranged along the cable 76 by sandwiching the cable 76 with the 79 and the guide roller 107 and forcibly feeding it.

In the cable feeding mechanism 77, a suction pad 84, in which a tube 83 is connected to the suction port 82, is rotatably arranged via a bearing 85 so that the suction port 82 is sucked to the reactor pressure vessel 1.

Next, the communication system will be described. When performing work in the annulus unit 2, the communication system assumes that inspection, repair, preventive maintenance work performed in the shroud 4 or refueling work performed above the shroud 4 are performed simultaneously. A communication cable and a processing device are provided (not shown) between the control devices of the device (other than the control device 93 of the in-core working device 10 of the present embodiment).

Next, the operation of the apparatus according to the first embodiment will be described with reference to FIGS. 1 to 29. First, the carry-in / carry-out method will be described.

First, when the working device 10 is carried in, with the suspending wire 21 of the scanning mechanism 24 being rolled up, the cylinder piston 16 of the approach mechanism 15 is extended and the linear motion mechanism 18 is moved as shown in FIG. The multi-stage slide mechanism 14 is in a posture in which it is raised to the upper end in a state where it is vertically lowered.

As shown in FIG. 21, the reactor working device 10 is suspended from above by an auxiliary hoist 91 of the fuel exchanger 90 or an overhead crane (not shown), and the water supply sparger 92 is suspended.
And the core spray line 8 is avoided, and it is conveyed to the upper end of the shroud 4.

As shown in FIG. 2, a wheel supporting the vertical direction of the carriage 11 that contacts the flange surface 6 at the upper end of the shroud 4.
The cylinder piston 25a is expanded and contracted on the outer surface of the shroud 4 until the lateral wheel 12a comes into contact with the inner surface of the upper ring 5, and the linear guide 88 is driven to press the lower lateral wheel 12c. .

Then, the cylinder piston 25b is extended to move the member 86b around the rotary joint 87e.
The wheel 12e is brought into contact with the inner surface of the reactor pressure vessel 1, and the wheel 12c and the wheel 12e prevent the in-reactor working device 10 from tipping over.

When moving across the core spray line 8 shown in FIG. 21 in the circumferential direction, the working device 10 is hoisted again by the auxiliary hoist 91 or an overhead crane (not shown),
After the rising portion (not shown) of the core spray line 8 is evaded, it is seated and installed on the shroud 4 in the same procedure as the first installation (not shown).

When carrying out the working device 10, the steps shown in FIGS.
The working device 10 is returned to the posture at the time of loading as shown in the figure, and the auxiliary hoist 91 of the fuel exchanger 90 or the overhead crane (not shown)
It is gripped by the gripping mechanism 106 and is lifted above the reactor pressure vessel 1, and the DS pit 94, fuel pool 95, reactor well
Temporarily stored above 96 or operation floor 97
It is pulled up to water, and decontamination work is performed by applying water (not shown). When the work is completed, a curing process is performed (not shown).

Next, the working method will be described. Figure 23 and Figure
As shown in 24, after the working device 10 is loaded into the reactor pressure vessel 1, the wheels 12b come into contact with the flange surface 6 of the shroud 4,
When the wheel 12c and the wheel 12e are stretched between the shroud 4 and the reactor pressure vessel 1 and the posture is maintained, the wheels of the carriage 11
The drive actuator (not shown) of 12b is driven to move the shroud 4 in the circumferential direction.

The carriage 11 is positioned in the gap of the jet pump 3 near the orientation of the shroud 4 to be worked, and the body drive mechanism 13 moves the multistage slide mechanism 14 between the reactor pressure vessel 1 and the shroud upper shell 98. The wire 32 wound around the wire drum 30 of the multistage slide mechanism 14 is fed out by a drive mechanism (not shown) of the wire drum 30, and each plate material 29 is slid downward to move the approach mechanism 15 Lower it.

As shown in FIG. 25, the scanning mechanism 24 is set at a height between the riser brace 99 and the riser bracket 100 of the jet pump 3 and the wire winding drum 20 for raising and lowering the scanning mechanism 24.
The wire 21 wound around the wire is unwound by its active drive mechanism (not shown), and the length is adjusted.

As shown in FIG. 26, when the cylinder piston 16 of the approach mechanism 15 is pulled up, the joint 17a is pulled up along the linear motion mechanism 18, and the joint 17a, the joint 17b, and the joint 17c are arranged in a triangular shape. Linear motion mechanism that is part of the link
18 rises at a certain angle towards shroud 4.

FIG. 27 shows a state in which the traveling mechanism 24 of the working device approaches the shroud 4. In the initial state, the base 37 (hidden and not shown in FIG. 26) located at the movable end on the side of the multi-stage slide mechanism 14 is a cylinder piston arranged on the base 37 as shown in FIG. 8 or 9. The rotating mechanism 38 of 40 rotates at a constant angle.

As the carriage 11 on the shroud 4 travels in the circumferential direction, the scanning mechanism 24 suspended by the wires 21 follows the movement of the beam 22 in which the two wires 21 are caught, as shown in FIG. Passes through the jet pump 3 and moves to the locus 101.
Draw (101a, 101b) and approach shroud 4,
The scanning mechanism 24 returns the displacement angle of the rotating mechanism 38 of the approaching mechanism 15 so as to be along the surface of the shroud 4, and brings the beam 22 into close contact with the shroud 4.

As shown in FIG. 1, the truck 11 travels in the circumferential direction up to the work site of a predetermined shroud 4 and the scanning mechanism 24.
When the scanning mechanism 24 is moved by feeding the wire take-up drum 20 of the wire 21 for suspending, the propulsion device 102 is actuated, and the suction devices arranged at the four corners of the frame 46 of the scanning mechanism 24 are operated as shown in FIG. The pad 47a is brought into close contact with the shroud 4, and the suction mechanism 66 suction-fixes the scanning mechanism 24 to the shroud 4.

As the function of the suction mechanism 66, the water in the suction pad 47a that is in close contact with the shroud 4 is sucked from the suction port 62 and fixed to the shroud 4 by suction. Next, the input port
Water is injected from 55, the piston rod 67 inscribed in the cylinder 49 of the suction mechanism 66 is retracted, and the frame 46 is brought close to the shroud 4, so that the work tool 23 is brought into contact with the shroud 4.

When the suction mechanism 66 is as shown in FIG. 13, the cylinder piston 63 is retracted to cause the pantograph mechanism.
64 presses the work tool 23 against the shroud 4 with the suction pad 47 in a constant posture.

In FIG. 10, the rotation of the internal gear 50 of the scanning mechanism 24 and the rotation of the motor 53 are transmitted by the gear 54 to drive the member 52 in the circumferential direction of the shroud 4, and the output shaft of the motor 53 arranged on the member 52. The linear motion transmission mechanism 56 connected to the table 57 is rotated to raise and lower the table 57, and the work tool 23 connected via the attachment / detachment mechanism 61 at the tip of the attachment 58 attached to the table 57 is moved in the circumferential direction and the vertical direction. Drive, position and work.

As shown in FIG. 29, the guide rod bracket
It is difficult to lower the multi-stage slide mechanism 14 from above at 104 and the upright portion 105 of the core spray line 8.
In the work on such a part, as shown in FIG. 29,
In the closest azimuth that the multi-stage slide mechanism 14 can descend, with the suction pads 47a at the four corners of the frame 46 of the scanning mechanism 24 fixed by suction, the scanning mechanism 24 shown in FIG. The indicated member 52 is driven.

The suction pad 47b attached to the member 52 which is driven in the circumferential direction has the structure shown in FIGS. 11 and 12, and is opened by not injecting water into the input port 55 so as to open the spring.
It is pushed forward by 48 and brought into close contact with the shroud 4, water is drawn from the suction port 62, water is further poured into the input port 55, and the cylinder rod 67 is retracted and fixed by suction.

When the suction pad 47b has the structure shown in FIG.
Water is injected from the input / output port 65a, the pantograph mechanism 64 is driven, and the suction pad 47b is brought into close contact with the shroud 4,
Water is drawn from the suction port 62 to be adsorbed, and water is injected into the input / output port 65b of the cylinder piston 63. As a result, the pantograph 64 is operated, and the frame 46 is moved toward the shroud 4.

After confirming the suction of the suction pad 47b of the member 52, the suction of the suction pads 46a at the four corners of the frame 46 is stopped, and in the case of the configurations of FIGS. 11 and 12, the water injection to the input port 55 is stopped. Then, the suction pad 47a is pulled in by the force of the spring 48, or by pouring water into the input / output port 65 of the cylinder piston 63 in the case of the configuration of FIG.

At the time of normal scanning of the scanning mechanism 24, the frame 46 is moved by the drive shaft 147a, which drives the member 52 in the circumferential direction, to the adjacent scanning target portion on the guide rod bracket 104 side in the circumferential direction.

At this time, the carriage 11 on the shroud 4 is stopped at a position where the carriage 11 or the multistage slide mechanism 14 does not interfere with the core spray line 8, and the frame 46 of the scanning mechanism 24 is stopped.
The wire winding drum 20 is actuated, the suspending wire 21 of the scanning mechanism 24 is sent out, and the tension of the wire 21 reduces the moving force of the frame 46 or pulls the suction pad 47b of the plate 52 away from the suction pad 47b. Do not give rise to.

The suction pads 47a arranged at the four corners of the frame 46 of the scanning mechanism 24 are brought into close contact with the shroud 4 and sucked,
Adsorb and fix to shroud 4. Suction pad on frame 46
After confirming the suction of 47a, the suction of the suction pad 47b of the member 52 is stopped, and depending on the configuration of FIG. 11, FIG. 12 or FIG.
Pull in the suction pad 47b.

Next, in FIG. 10, the rotation of the internal gear 50 of the scanning mechanism 24 and the rotation of the motor 53 are transmitted by the gear 54, and the members are moved in the circumferential direction.
By driving 52, the linear motion transmission mechanism 56 connected to the output shaft of the motor 53 disposed on the member 52 is rotated to move the table 57 up and down, and the attachment / detachment mechanism of the tip of the attachment 58 attached to the table 57 The work tool 23 connected via 61 is driven and positioned in the circumferential direction and the vertical direction to perform work.

Here, when the type of work is to scan a certain inspection range without gaps, such as ultrasonic flaw detection and shot peening, the scanning range of the scanning mechanism 24 must be moved accurately.

Therefore, first, in the case of ultrasonic flaw detection,
When the suction pad 47a at the four corners of the frame 46 is fixed, the entire scanning range is scanned, and when the data acquisition is completed, in the case where the suction pad 47a is configured as shown in FIGS.
Water supply to the cylinder is stopped, or in the case of FIG. 13, water is supplied to the input / output port 65b, the cylinder piston 63 is retracted, and the tool with the probe is separated from the shroud 4 cylinder (not shown). .

The member 52 of the scanning mechanism 24 is driven in the circumferential direction in the direction of the work site which is the next scanning range. The suction pad 47b attached to the member 52 that is driven in the circumferential direction is pushed forward by the spring 48 to be brought into close contact with the shroud 4, and water is drawn from the suction port 62 to be fixed by suction.

After confirming the suction of the suction pads 47b of the member 52, the suction of the suction pads 47a at the four corners of the frame 46 is stopped, and the suction pads 47b are pulled in according to the configuration of FIG. 11, FIG. 12 or FIG. .

By the drive shaft 147a of the scanning mechanism 24,
52 is driven in the circumferential direction, and the frame 46 is moved to a part in the next scanning range. At this time, the truck 11 on the shroud 4
Moves in the circumferential direction of the shroud 4 in conjunction with the movement amount of the frame 46 of the traveling mechanism 24.

The suction pads 47a arranged at the four corners of the frame 46 of the scanning mechanism 24 are brought into close contact with the shroud 4 by the suction mechanism 66 shown in FIG. 11 or 13, and water is sucked from the suction port 62 and sucked onto the shroud 4. Fix it.

After confirming the suction of the suction pad 47a of the frame 46, the suction of the suction pad 47b of the member 52 is stopped.
Alternatively, the suction pad 47b is pulled in by the suction mechanism 66 of FIG.

When the suction mechanism 66 is as shown in FIGS. 11 and 12, water is supplied to the input port 55 to pull in the piston rod 67 connected to the suction pad 47a. When the suction mechanism 66 is as shown in FIG. Inject water into the output port 65b and use the pantograph mechanism 64
Is rotated counterclockwise to bring the frame 46 closer to the shroud 4 side, thereby bringing a tool (not shown) for ultrasonic flaw detection into contact with the shroud 4 cylinder.

Drive shaft 1 in the circumferential direction and the vertical direction of the scanning mechanism 24
Work tool 23
Position and perform ultrasonic flaw detection test. Further, as shown in FIG. 10, ultrasonic flaw detection is monitored by the television camera 59 attached to the attachment 58 of the scanning mechanism 24.
Ultrasonic flaw detection is performed by repeating the above operation.

When the guide rod bracket 104 and the portion below the standing portion 105 of the core spray line 8 are to be worked,
Although the form is as shown in FIG. 29, the timing of pressing and releasing the ultrasonic flaw detection tool (not shown) against the shroud 4 is the same.

In the case of shot peening, as shown in FIG. 14, with the wire brush 72 of the shot peening tool 69 first pressed against the shroud 4, a pump (not shown) for recovering the stainless shot 74 is operated. Then, water is sucked from the opening portion 73 and sucked out from the tube 60a, and subsequently, a pump for jetting the stainless shot 74 (not shown)
The stainless shot 74 is ejected from the nozzle 71 and recovered at the same time after passing through the tube 60b.

Then, after the scanning of the entire scanning range when fixed by the suction pad 47a of the scanning mechanism 24 is completed, the stainless shot 74 recovery pump (not shown) is in operation, and the stainless shot 74 jetting is performed. The pump (not shown) is stopped to stop the injection of the stainless shot 74.

With the shot peening operating state maintained, the suction mechanism 66 holds the shot peening tool 69 pressed against the shroud 4 cylinder, and then scans in the direction of the work area within the next scanning range. Mechanism 24
The member 52 is driven by the drive shaft 147a of the above, and the suction pad 47b attached to the member 52 that is driven in the circumferential direction is attached to the suction mechanism.
It is pushed out in the direction of the shroud 4 by 66 and fixed by suction.

After confirming the suction of the suction pads 47b arranged on the member 52, the suction of the suction pads 47a at the four corners of the frame 46 is stopped, and the suction mechanism 66 draws the suction pads 47a so as not to come into contact with the shroud 4. To do.

The member 52 of the scanning mechanism 24 is driven in the circumferential direction, and the frame 46 is moved in the circumferential direction to a portion in the next scanning range. At this time, the carriage 11 on the shroud 4 is moved by the scanning mechanism 24.
The frame 46 moves in the circumferential direction of the shroud 4 in association with the moving amount of the frame 46. The suction pad 47 a is shrouded by the suction mechanism 66 disposed at the four corners of the frame 46 of the scanning mechanism 24.
To the shroud 4 and suck and fix it to the shroud 4.

After confirming the suction of the suction pad 47a of the frame 46, the suction of the suction pad 47b of the member 52 is stopped,
The suction pad 47b is pulled in by the suction mechanism 66 arranged at 52.

With the suction mechanism 66 and the shot peening tool 69 fixed to the frame 46, the stainless shot 74 jet pump (not shown) is operated again,
While ejecting the stainless shot 74 from the nozzle 71, the drive shafts 147a and 147b in the circumferential direction and the vertical direction of the scanning mechanism 24 are driven to the left and right, and to the front and back, respectively, to make a shot peening tool 69.
Position and perform shot peening work.

Attachment 58 of scanning mechanism 24 shown in FIG.
Alternatively, the work is monitored by the TV camera 59 attached to the work tool 23, and at the same time, the four surfaces of the shroud after the shot peening construction is observed to confirm the presence or absence of construction leakage, and the effect of the construction is confirmed from the state of the surface. .

Shot peening work is performed by repeating the above operation. When the guide rod bracket 104 and the portion below the upright portion 105 of the core spray line 8 are to be worked, the work configuration is as shown in FIG. 29, and the timing of pressing and releasing the shot peening tool 69 against the shroud 4 is the same. is there. After all, when continuously constructing the scanning ranges adjacent to each other in the circumferential direction, as long as the frame 46 can move,
It is not necessary to separate the wire brush 72 from the shroud 4.

On the other hand, when performing a visual inspection that does not need to be fixed to the shroud 4 at the time of work, the suction pad 47 is not brought into close contact with the shroud 4 in FIG. 1, and the carriage 11 travels in the circumferential direction and the scanning mechanism 24 is suspended. By adjusting the feed amount of the wire winding drum 20 for the wire 21 to be lowered, the scanning mechanism shown in FIG.
Television camera 59 attached to 24 or work tool 23
Position roughly.

For detailed positioning, the scanning mechanism 24
It uses the circumferential and vertical scanning degrees of freedom. At this time, the camera (not shown) attached to the beam 22 of the approach mechanism 15 monitors the interference state between the scanning mechanism 24 and the jet pump 3 and other devices.

When switching between these ultrasonic flaw detection tests and shot peening operations, as shown in FIG. 23, the furnace working device 10 is conveyed to the shroud 4 and returned to the posture at which it was installed. Auxiliary hoist 91 of refueling machine 90 or gripping mechanism 10 of overhead crane (not shown)
Grasp with 6 and pull it up to the operation floor 97.

After performing decontamination work by spraying water on the in-furnace working apparatus 10, as shown in FIG. 14 of the working tool, the bolt 70 is removed at the attaching / detaching means 61, and the working tool 23 (see FIG. In 14, the shot peening tool 69) is removed, and the work tool 23 for the next work is similarly attached with the bolt 70.

With reference to FIGS. 16, 17, 8, 9, and 10, regarding the routing of the cable 75, the cable 75 for the work tool 23 and the cable 75 for the scanning mechanism 24 are housed in separate cable bears 44. , Between the control device 93 on the operation floor 97 and the guide mechanism 45 on the bogie 11, along the guide mechanism 45 at the lower end of the multi-stage slide mechanism 14 and the guide mechanism 45 attached to the beam 22 of the approach mechanism 15, It is drawn around by the scanning mechanism 24 and the work tool 23.

In this case, the guide mechanism 45 attached to the beam 22 of the approaching mechanism 15 is, as shown in FIGS. 17 and 18,
Even when the beam 22 rotates when approaching the shroud 4,
The pantograph mechanism 81 keeps the cable carrier 44 parallel so as not to twist it. The lower end of the cable bear 44 is rotatably connected to the scanning mechanism 24. Similarly, even when the scanning mechanism 24 rotates with the rotation of the beam 22, the cable bear 44 is not twisted.

The cable bear 44 is provided with rotary joints (not shown) whose rotational direction is displaced by 90 ° at regular intervals, and works below the guide rod bracket 104 and the standing portion 105 of the core spray line 8. In this case, even if only the scanning mechanism 24 moves in the circumferential direction and the wire 21 is suspended obliquely, the cable bear 44 can also have a slanted shape toward the scanning mechanism 24.

As for the cables 76, such as the tube 60 connected to the shot peening tool 69, which cannot pass through the gap between the jet pump 3 and the shroud 4, as shown in FIGS. The mechanism 77 is inserted and installed in advance in the annulus portion 2 in the direction in which the scanning mechanism 24 approaches the shroud 4.

Then, the rotary actuator 78 is operated while the cable 76 is sandwiched between the crawler 79 and the guide roller 107, and the crawler 79 is driven via the timing belt 108, so that the cable 76 can be moved in accordance with the movement amount of the scanning mechanism 24. Adjust the length of.

During the inspection, repair, and preventive maintenance work in the annulus unit 2, when the fuel is replaced and other parts are inspected, repaired, and preventive maintenance work is performed, information on the current work site between the respective devices is obtained. To communicate in real time. At this time, when there is a possibility that each device interferes, an emergency stop is applied (not shown).

Next, the effect of this embodiment will be described. According to the present embodiment, the work tool 23 has the shroud 4
It is possible to move and position the gap between the jet pump 3 and the jet pump 3, and it is possible to reduce the number of times of raising and lowering as compared with the case where the apparatus is lowered from above into the gap of the conventional jet pump 3 to perform the work. Therefore, it is possible to remarkably reduce the time required to move to the work site, and it is possible to perform shot peening, which could not be performed conventionally.

The wheels 12 of the carriage 11 are connected to the shroud upper ring 5
The traveling accuracy in the circumferential direction can be improved by setting the inner diameter surface and the flange surface 6 of the shroud upper ring 5.

When the entire in-reactor working apparatus 10 is hung and seated on the upper end of the shroud 4, the portion driven by the body drive mechanism 13 is moved closer to the center side of the shroud 4 so that the water supply sparger 92 and the core spray line are moved. 8 can be easily avoided, and the lifting work can be facilitated. Interference with the rising portion 105 of the core spray line 8 is prevented, the lowered position of the multi-stage slide mechanism 14 is positioned, and the radial dimension of the shroud 4 is adapted to allow smooth running in the circumferential direction.

The rotating mechanism 38 of the approach mechanism 15 allows the scanning mechanism 24 having a larger width to approach the shroud 4 through the gap of the jet pump 3 rather than simply approaching the shroud 4. As a result, the horizontal scanning stroke of the scanning mechanism 24 can be secured larger than in the case where the rotating mechanism 38 is not introduced, so that the frame 46 is particularly suction-fixed and fixed to the work tool 23.
When scanning is performed, the number of times of adsorption can be reduced and the work efficiency is improved.

By making the shape of the scanning mechanism 24 into an arc shape that conforms to the curved surface of the shroud 4, it is possible to facilitate a narrow gap between the shroud 4 and the jet pump 3. The suction pad 47a arranged on the frame 46 can improve the rigidity at the time of construction even in a work such as shot peening in which some work reaction force is expected,
Stable work can be realized.

[0173] The circumferential direction of the scanning mechanism 24 and the vertical drive shaft 147
Since a and 147b can secure the scanning range to some extent in the case of adsorption and fixation, the number of times of adsorption can be reduced as compared with the case where there is only one drive shaft 147a or 147b,
It is possible to improve work efficiency.

By arranging the suction pad 47b on the member 52 of the scanning mechanism 24, when the scanning range is moved in the circumferential direction, the frame 46 can be moved on the basis of the previous scanning range. The movement accuracy of the scanning range at the time is improved.

When the scanning range is moved during shot peening, the wire brush 72 for recovering the stainless steel shot 74 must be separated from the shroud 4 surface and moved to the next scanning range. The wire brush 72 cannot be separated from the shroud 4 until the stainless shot 74 surrounded by 72 is completely recovered.

On the other hand, in the case of the present embodiment, when the scanning range is moved, the suction mechanism 66 provided in the member 52 is operated to move the wire brush 72 to the shroud 4 by the suction pad 47b.
The frame 46 can be moved to the next scanning range while being pressed against.

Therefore, even if the stainless shot 74 cannot be completely recovered, the work in the next scanning range can be started, so that the working efficiency is remarkably improved and the possibility that the stainless shot 74 is scattered is reduced. The work efficiency can be improved because the situation can be observed immediately after the shot peening is performed by the TV camera 59 provided on the work tool 23 or the attachment 58.

Since the cable 75 is housed in the cable carrier 44, it is prevented from being caught or damaged due to interference with devices such as the jet pump 3. Thick cable that cannot pass through the narrowest part of jet pump 3 and shroud 4.
The cable feeding means 77 for 76 prevents the driving force of the scanning mechanism 24 and the carriage 11 from being reduced by the cable 76.

By communicating the work parts between various devices such as the fuel exchanger 90, it is possible to avoid a situation in which the respective devices interfere with each other and perform safe work. Work tools 23
Can be exchanged on the operation floor 97, so ultrasonic flaw detection, visual inspection, and shot peening can be performed with a common transfer device, which improves versatility and responds to various other work requests that will occur in the future. .

Next, a second embodiment of this embodiment will be described with reference to FIGS. 1, 21, 22, 30, and 31. The second embodiment is a method of exchanging a work tool corresponding to the first embodiment, and can be attached to and detached from a scanning mechanism in various work devices such as a shot peening device for surface modification and an ultrasonic flaw detector. When changing the type of work, the present invention relates to a method in which the entire apparatus is pulled up and replaced on the well platform in a flooded state, in the equipment storage (DS) pit, in the reactor well, or in the fuel pool.

First, the in-furnace working apparatus 10 according to the present embodiment
With regard to the configuration of, except for the attachment / detachment means 61 of the work tool 23,
This is the same as the first embodiment. The attaching / detaching means 122 of this embodiment will be described with reference to FIG. The attachment 58 of the scanning mechanism 24 has a groove 113 formed therein and a tapered shape 114 formed at its tip. On the other hand, on the upper surface of the work tool 23 side, a pawl 120 is connected via a rotary joint 116, and a torsion spring 115 whose both ends are fixed by stop pins 124 is wound around the rotary joint 116 to close the pawl 120. Generate force.

The wire 118 (118a, 118b) is connected to the flexible tube 11
7 through the wire fixing part 123 of each claw 120 at one end.
In addition, one end is fixed to the wire fixing portion 123 of the hook 119. The claw 120 has a V-shape 121 and fits the taper shape 114 on the attachment 58 side.

Next, the operation of this embodiment will be described with reference to FIGS.
It will be explained with reference to 31. Regarding the operation of this embodiment, the operation floor is used as a place to replace the work tool 23.
Instead of replacing on the 97, the well platform 109,
The auxiliary hoist 91 of the refueling machine 90 or the gripping mechanism 106 of the overhead crane (not shown) is used to lift and transport the DS pit 94, the reactor well 96, or the fuel pool 95 to the platform 101. The working device 10 in the furnace is installed so as to be submerged, and the working tool 23 at the tip of the attachment 58 of the scanning mechanism 24 is replaced.

As shown in FIG. 30, the replacement work is performed by the fuel exchange machine.
From the auxiliary hoist 91 of 90 or from the operation floor 97, the worker 112 uses the operation pole 111 to
Attach, remove, or replace.

When the work tool 23 is attached to the attachment 58, the attachment / detachment mechanism 122 of the work tool 23 is attached to the attachment 58.
Align it with the taper 114 of 58 and push it up from below. The tapered shape 114 follows the V-shaped shape 121 of the claw 120, the claw 120 is forcibly opened, and the tip of the claw 120 moves into the groove 11
Engage in 3 and join.

The work tool 23 is attached to the operation mechanism 24.
When separating from 58, the hook 119 connected with the wire 118 that is routed inside the flexible tube 117 is connected to the operating pole 111.
By hooking and pulling, the claw 120 is rotated and opened around the rotary joint 116, and the claw 120 is disengaged from the groove 113 and separated.

After the replacement of the work tool 23 is completed, FIG.
1, auxiliary hoist 9 of refueling machine 90 as shown in Fig. 22
1. Or, suspend the entire in-furnace working device 10 by an overhead crane (not shown), install the device on the flange 6 surface of the upper end of the shroud 4, convey, position and fix the working tool 23 at the tip to the target site, Perform inspections, repairs and preventive maintenance work.

According to the present embodiment, (1) the work tool 23 is replaced in water, so the decontamination work when replacing the work tool 23 can be omitted, and the work time can be shortened. (2) Since the working tool 23 that has been used once can be stored underwater, the working space on the operation floor 97 can be saved.
(3) In order to maintain the distance between the worker 112 and the working device 10,
It is possible to reduce the exposure dose of the worker 112 when the work tool 23 is replaced.

Next, a third embodiment of the present invention will be described with reference to FIGS. 31 and 32. The present embodiment relates to the configuration of the work device 10 according to the present embodiment,
This is the same as the second embodiment. That is, it can be attached to and detached from the scanning mechanism in various working devices such as a shot peening device for surface modification and an ultrasonic flaw detection device, and is mounted in advance in a state where it is separated from the scanning mechanism on the carriage to change the type of work. In that case, lift the multi-stage slide mechanism to the top,
It is characterized in that the work tool is replaced while the scanning mechanism is held near the upper surface of the shroud.

The operation of this embodiment will be described with reference to FIGS. 31 and 32. As a place for exchanging the work tool 23, the upper end of the shroud 4 in a state where the in-core work device 10 is submerged instead of on the operation floor 97. In the vicinity, the work tool 23 to be replaced with the dolly 11 is stored in advance, or the work tool 23 is replaced without pulling up the in-core work device 10 by grasping it with the gripping mechanism 106 of the auxiliary hoist 91 of the refueling machine 90 and hanging it down. For attachment / detachment and replacement, the worker 112 holds the hook 119 of the attachment / detachment mechanism 122 of the work tool 23 by the operation pole 111 and pulls it up to attach / detach the work tool 23.

At the time of mounting, the work tool 23 gripped by the operation pole 111 is aligned with the attachment 58 and pushed up. This allows the attachment 58 to taper
114 and the claw 120 on the side of the work tool 23 are guided by the V-shape of the upper surface, the claw 120 is opened, and the claw 120 is fitted into the groove 113 of the attachment 58 and mounted. After the work tool 23 is replaced, the work tool 23 at the tip is conveyed to the target site,
Position, fix, inspect, repair, and perform preventive maintenance work.

According to the present embodiment, (1) the work tool 23 is replaced in water, so the decontamination work when replacing the work tool 23 can be omitted and the work time can be shortened. (2) The working tool 23 that has been used once can be stored in water at all times, saves the working space on the operation floor 97, does not need to occupy the space above the reactor pressure vessel 1, and can be used for other core work. Does not give a range constraint. (3) Since the distance between the worker 112 and the in-furnace work operation 10 can be maintained, the exposure dose of the worker 112 when the work tool 23 is replaced can be reduced. (4) Since it is not necessary to lift the working device 10 in the furnace by the auxiliary hoist 91 or the like, the time required for gripping, lifting, and installing the working device 10 in the furnace can be omitted, and the working time is shortened.

Next, a fourth embodiment of the present invention will be described with reference to FIGS. 33 to 35. The present embodiment is a method for exchanging work tools, which is characterized by being performed by an automatic exchanging device.

First, the in-core work device 10 according to the present embodiment.
With respect to the configuration of FIG. 34, an automatic attachment / detachment mechanism 125 for automatically attaching / detaching the work tool 23 shown in FIG. 34 is provided instead of the attachment / detachment mechanism 61 of the work tool 23 arranged on the attachment 58 of the scanning mechanism 24. Except for this, the configuration is the same as that of the first embodiment.

The automatic attachment / detachment means 125 of this embodiment is shown in FIG. 34, and the groove 113 is formed in the attachment 58 of the scanning mechanism 24. On the other hand, on the side of the work tool 23, a pawl 120 is connected via a rotary joint 116, and a torsion spring 115 whose both ends are fixed by stop pins 122 is wound around the rotary joint 116, so that the pawl 120
Generates a force in the direction of closing.

The wire 118 passes through the flexible tube 117 and has one end attached to the wire fixing portion 123 of each claw 120 and the other end attached to the wire fixing portion 123 at the tip of the rod 127 of the cylinder piston 126. The cylinder piston 126 is connected to the work tool 23 via a rotary shaft 129. The claw 120 has a V-shape 121 and fits the taper shape 114 on the attachment 58 side.

When the work tool 23 is attached to the attachment 58, the input / output port 130a of the cylinder piston 126,
130b is opened and the automatic attachment / detachment mechanism 125 of the work tool 23 is positioned below the taper shape 114 of the attachment 58,
Push up from below. Tapered shape 114 is V shape of claw 120
According to 121, the claw 120 is forcibly opened, and the tip of the claw 120 fits into the groove 113 and is joined.

Input / output port 130 of cylinder piston 126
By opening a and inputting it to the input / output port 130b, the wires 108a and 108b are pulled in, the claw 120 is opened, and the attachment position of the attachment 58 is adjusted.

Input / output port 130 of cylinder piston 126
By opening b and inputting to the input / output port 130a, the rod 127 is returned, the claw 120 is closed by the force of the torsion spring 115, and the rod 58 is attached to the attachment 58.

Attachment of the work tool 23 to the scanning mechanism 24
To separate from 58, open the input / output port 130a of the cylinder piston 126 to which the wire 118 connected to the inside of the flexible tube 117 is connected, input to the input / output port 130b, and pull in the rod 127. , Rotary joint 116
The claw 120 is rotated and opened around, and the claw 120 is separated from the groove 113.

As another means, as shown in FIG. 35, a storage rack 131 having a pedestal 128 installed therein is installed on the operation floor 97, and the in-core working device 10 is installed with water stored inside. Sit down. Work tools 23 are stored on the pedestal 128, and a pedestal 132 is installed on the rail 13 for easy attachment / detachment.
3 It is configured to move directly on the top.

Next, the operation of the present embodiment will be described with reference to FIG. 33.
This will be explained with reference to 35. Regarding the operation of this embodiment, the operation floor is used as a place to replace the work tool 23.
Up to 97, using the auxiliary hoist 91 of the refueling machine 90 or the gripping mechanism 106 of the overhead crane (not shown), hoisting, transporting, and placing on the stand 128, the working tool 24 at the tip of the scanning mechanism 24 is automatically replaced. To do.

At the time of replacement, the automatic attachment / detachment mechanism 12 for the work tool 23
Install the work device 10 and work tool 23 at a location on the operation floor 97 where the work tool 23
The automatic attachment / detachment mechanism 125 is used for attachment / detachment and replacement.

As another means, as shown in FIG. 35, first, the working device 10 is set on a pedestal 128 installed in a storage rack 131 in which water is stored. Work tools removed
23 is a multistage slide mechanism 14 or a scanning mechanism of the working device 10.
24, the pedestal 13 in the storage rack 131 by the body drive means 13
2 Rail up to a position where work implement 10 can be avoided
The pedestal moves along 133.

The work tool 23a that has been detached and attached can be used by the worker (see FIG. 35).
(Not shown) is removed from above the storage rack 131 by using an operation pole (not shown in FIG. 35) from above the pedestal 132 to another place inside the storage rack 131, and the work tool 23b to be mounted is attached. Is placed on the pedestal 132.

The pedestal 132 is moved to a position where it can be mounted along the rails 133, and similarly, the drive shaft of the in-core working device 10 is used to position it to a position where it can be automatically mounted. Put on.

After the replacement of the work tool 23, the work device 10 is suspended again by the auxiliary hoist 91 of the refueling machine 90 or the ceiling crane (not shown), and the work device 10 is hung on the flange surface 6 at the upper end of the shroud 4. 10 is installed, the work tool 23 at the tip is transported to the target site, positioned and fixed,
Perform inspections, repairs, and preventive maintenance work.

According to the present embodiment, since the work tool 23 is replaced on the operation floor 97, it is possible to easily receive a treatment by a worker (not shown) when a problem occurs. However, since the attachment / detachment is not performed by the hand of the worker, the effect of reducing the radiation exposure of the worker can be obtained. Further, in another mechanism shown in FIG. 35, since the used work tool 23 can be stored in the storage rack 131 and the replacement work is performed underwater, the effect of reducing the radiation exposure of the worker can be further obtained.

Next, a fifth embodiment of the present invention will be described with reference to FIGS. 34, 36 and 37. In the present embodiment, the method for exchanging the work tool is performed by an automatic exchanging device. First, regarding the configuration of the work device 10 according to the present embodiment, the attachment / detachment mechanism 61 for the work tool 23 arranged in the scanning mechanism 24 is used.
Instead of, the automatic attachment / detachment mechanism 125 for automatically attaching / detaching the work tool 23 is provided, and the DS pit 94 and the fuel pool
95, the same as the first embodiment except that the pedestal 134 is provided in the well platform 109.

The automatic attaching / detaching mechanism 125 has the same structure and operation as those of the fourth embodiment (see FIG. 34). The structure of the gantry 134 is similar to that of the gantry 128 of the fourth embodiment, and serves as a storage place for the work tool 23.
The pedestal 13 that moves linearly along the rail 133 is mounted on the pedestal 134.
Two are arranged.

Next, the operation of this embodiment will be described with reference to FIG. 36 and FIG.
Explain by 37. Regarding the operation of this embodiment, the operation floor is used as a place to replace the work tool 23.
Instead of being on 97, the gripping mechanism of the auxiliary hoist 91 of the refueling machine 90 or the overhead crane (not shown) up to any of the well platform 109, the DS pit 94, and the fuel pool 95 with the working device 10 submerged. Using 106
The gantry 134 is hoisted, transported, and set aside.

Using the auxiliary hoist 91 of the refueling machine 90 or the grip 106 of the overhead crane (not shown), the working device 1
The work tool 23 at the tip of the scanning mechanism 24 is automatically replaced by hoisting 0, transporting it, and placing it on the stand 134.

The work tool 23 is attached / detached and replaced in the following order. First, the work tool 23 is automatically attached / detached by the automatic attachment / detachment mechanism 125. The detached work tool 23 is gripped by the gripping mechanism 106 of the auxiliary hoist 91 or the operation pole (not shown in FIG. 36), and transferred to the storage location. Next, auxiliary hoist 91 or operation floor 97
A worker (not shown in FIG. 36) from above works on the operation pole (FIG. 36).
(Not shown) is used to convey and set the work tool 23 to be mounted to a position where it can be automatically attached and detached. Next, work tools
The work tool 23 is mounted by the automatic attachment / detachment means 125 of 23.

As another mechanism, as shown in FIG. 37, the multistage slide mechanism 14, the scanning mechanism 24, the body drive mechanism of the working apparatus 10 are shown.
The work tool 23a is positioned on the pedestal 132 by the 13,
The work tool 23a is attached / detached by the automatic attaching / detaching means 125.
The detached work tool 23a is placed on the pedestal 132 and the rail 13
By moving along the line 3, the work device 10 is avoided and the work tool 23a is moved to a position where it is easy to take out the work tool 23a.

The detached work tool 23a is used by the worker (see FIG. 37).
It is removed from the top of the pedestal 132 by an operation pole (not shown in FIG. 37) operated by an inside (not shown) and transferred to a storage location. Similarly, the work tool 23b to be mounted is placed on the pedestal 132 by an operation pole (not shown in FIG. 37) and moved along the rail 133 to a place where it can be mounted.

Then, the work tool 23b is positioned by the drive shaft of the working apparatus 10 and the working tool 23b is mounted by the automatic attachment / detachment mechanism 125. After the replacement of the work tool 23, the entire working device 10 is suspended again by the auxiliary hoist 91 of the refueling machine 90 or the overhead crane (not shown), and the working device 10 is installed on the flange surface 6 at the upper end of the shroud 4. , The work tool 23 at the tip is conveyed to the target site, positioned, fixed, and inspected, repaired, and preventive maintenance work is performed.

According to the present embodiment, the work tool 23 is replaced underwater, and the decontamination work when replacing the work tool 23 can be omitted, so that the work time is shortened. The working tool 23 used once can be stored underwater at all times, and the operation floor 97
The work space above can be saved. Since the distance between the worker (not shown) and the working device 10 can be maintained, the exposure dose of the worker during the work when the work tool 23 is replaced can be reduced (the above is the same as in the second embodiment. is there).

According to the peculiar effect of the present embodiment, the operation from the outside only removes the detached work tool 23 and installs the work tool 23 to be attached to a position where automatic attachment / detachment is possible. The work tool 23 can be easily replaced without requiring a high-level operation pole or the like, and the work time can be shortened.

Next, a sixth embodiment of the present invention will be described with reference to FIGS. 32, 34, 38 to 40. In the present embodiment, the above-described work tool replacement method is performed by an automatic replacement device. Regarding the configuration of the work device 10, the work tool 23 disposed at the tip of the attachment 58 of the scanning mechanism 24 is used.
1 except that an automatic attachment / detachment mechanism 125 for automatically attaching / detaching the work tool 23 is provided in place of the attachment / detachment mechanism 61, and an exchange mechanism 135 for the work tool 23 is provided on the carriage 11. This is the same as the embodiment. The automatic attachment / detachment mechanism 125 is the same as that of the fourth embodiment as shown in FIG.

As shown in FIGS. 38 and 39, the exchange 125 is a rotary drive shaft 13 driven by a motor (not shown) on the carriage 11.
The gripping mechanism 137 of the work tool 23 is disposed at the tip of the work tool 23.
Is arranged. As shown in FIG. 40, the gripping mechanism 137 of the exchanging mechanism 135 is such that the claw 139 for gripping the work tool 23 is fixed to the slider 144 that moves linearly on the guide rail 143, and further the cylinder piston is inserted via the rotary shaft 142. Connected at 140. The cylinder piston 140 is provided with input / output ports 141a and 141b for driving.

Next, the operation of this embodiment will be described with reference to FIGS.
Starting from FIG. Regarding the operation of this embodiment,
As a place to replace the work tool 23, instead of being on the operation floor 97, the work tool 23 is previously attached to the carriage 11 near the upper end of the shroud 4 with the work device 10 being flooded.
Or as shown in FIG. 32, the holding mechanism 106 of the auxiliary hoist 91 of the refueling machine 90 or the operation pole 111
The work tool 23 is grabbed and hung down by, and the work tool 23 is replaced using the replacement mechanism 135 without pulling up the work device 10.

For the exchange, first, as shown in FIG. 38, the work tool 23 to be detached and attached is grasped by the grasping mechanism 137 of the exchanging mechanism 135. At this time, in FIG. 40, the input / output port 141a of the cylinder piston 140 of the gripping mechanism 137 is opened and input to the input / output port 141b, the pawl 139 is driven to the movable limit of the guide rail 143, and the interval of the pawl 139 is set. spread.

The work tool 23 is aligned, the input / output port 141b of the cylinder piston 140 is opened, the input / output port 141a is input, the claw 139 is closed, and the work tool 23 is gripped. Next, the automatic attachment / detachment means 125 is operated to attach / detach the work tool 23.

As shown in FIG. 39, the exchanging means 135 is rotated around the rotary drive shaft 136, and the work tool 23 is received by the operation pole 138 to which the tray 145 is attached, and the claw of the grasping means 137 of FIG. 40 is received. Release 139 and release work tool 23.

The work tool 23 that has been detached and attached is either pulled up on the operation floor 97 as it is or moved to the storage place of the work tool 23 on the carriage 11. The work tool 23 to be mounted is conveyed as shown in FIG. 39 by the gripping mechanism 137 of the auxiliary hoist 91 of the refueling machine 90 or the operation pole 138.
The work tool 23 is gripped by the gripping mechanism 137.

As shown in FIG. 38, replace the exchange mechanism 135 with the rotary drive shaft.
It rotates around 136, and by the drive shaft of the furnace working device 10,
After positioning, the work tool 23 is mounted by the automatic attachment / detachment mechanism 125. The gripping means 137 is opened and the exchanging means 135 is rotated around the rotary drive shaft 136 to return to the posture as shown in FIG. 39 and the exchange is completed. When the work tool 23 is replaced,
The work tool 23 at the tip is transported to the target site, positioned, fixed, and inspected, repaired, and preventive maintenance work is performed.

According to the present embodiment, (1) the work tool 23 is replaced in water, and the decontamination work when replacing the work tool 23 can be omitted, so the work time is shortened. (2) The working tool 23 that has been used once can be stored in water at all times, saves the working space on the operation floor 97, does not need to occupy the space above the reactor pressure vessel 1, and can be used for other core work. Does not give a range constraint. (3) Workers and work equipment in the furnace
Since the distance from 10 can be maintained, it is possible to reduce the exposure dose of the worker when the work tool 23 is replaced. (4) If the work tool 23 can be stored on the dolly 11, it is not necessary to lift the in-core working device 10 by the auxiliary hoist 91 or the like, so that the holding, pulling, and installation time of the in-core working device 10 can be omitted. The working time is shortened (the above is the same as the effect of the third embodiment).

The effect peculiar to this embodiment is that the operation from the outside only removes the detached work tool 23 and installs the work tool 23 to be attached up to a position where it can be automatically attached / detached. The operation tool 23 can be easily replaced without requiring a high-level operation pole 138 or the like, and the work time can be shortened.

Next, a seventh embodiment according to the present invention will be described with reference to FIGS. 1, 10 and 41. Regarding the configuration of the present embodiment, in the working tool 23 shown in FIG. 1 of the first embodiment, the point that the scanning mechanism 146 shown in FIG. 41 is not provided with the suction pads 47a and 47b shown in FIG. All are the same, except.

In the method of inspecting, inspecting, repairing and preventive maintenance of the annulus portion 2, the scanning mechanism 146 of the work tool 23, the approach mechanism 15 of the work tool 23 to the shroud 4 and the scanning method of the work tool 23 are multi-step slides. After the approach mechanism 15, the scanning mechanism 146, and the work tool 23 are lowered by the mechanism 14 between the shroud 4 and the reactor pressure vessel 1, the link mechanism of the approach mechanism is operated to move the direct acting mechanism 18 of the approach mechanism 15. Is driven toward the shroud 4 to fix the posture.

At this time, the scanning mechanism 146 and the work tool 23 are suspended by the wire 21 of the suspension height adjusting mechanism so that they are located at the height between the riser brace and the riser bracket of the jet pump 3. The linear motion mechanism (18) of the approach mechanism (15), the rotation mechanism of the approach mechanism, and the traveling of the carriage (11) in the circumferential direction are interlocked.

As a result, the scanning mechanism 146 passes between the two jet pumps 3 and approaches the shroud 4,
The hanging height adjusting mechanism further positions the wire 21 up to the work site height.

The propulsion device 102 contacts the shroud 4, and the working tool 23 is positioned and scanned by the scanning mechanism 146 in the vertical direction and the shroud circumferential direction. After the work on the adsorption site is completed, wind up the wire 21 to the next work site,
Lowering and positioning of the shroud 4 to be worked by the carriage 11 is performed.

After the propulsion device 102 approaches the shroud 4 and the work is repeated, and the series of work is completed, the scanning mechanism 146 is moved from the position of the height between the riser brace and the riser bracket to the approach mechanism 15 and the carriage. With the interlocking of 11, the space between the jet pumps 3 is retracted from the shroud 4 toward the reactor pressure vessel 1, and the multistage slide mechanism 14 is pulled up.

Next, the operation of this embodiment will be described. Among the operations of the present embodiment, the operations relating to the parts having the same configuration are the same as those of the first embodiment.

The action peculiar to this embodiment is that the scanning mechanism is applied to the shroud 4 by the approach mechanism 15 at the time of visual inspection.
After the 146 approaches, the TV camera 59 is roughly positioned by the carriage 11 and the wire winding drum 20 (see FIG. 1). Further, when it is necessary to perform detailed positioning, the drive shafts 147a and 147b of the scanning mechanism 146 are driven to perform detailed positioning. Also, the propulsion device 102 of the scanning mechanism 24 constantly
Is operated to bring the scanning mechanism 146 into close contact with the shroud 4 side.

Next, the effect of this embodiment will be described. According to the present embodiment, the work request is applied only when the visual inspection is simple, and the visual inspection can be easily performed. Further, even when it is desired to specify the position in detail, the portion can be specified by the circumferential and vertical drive shafts 147a and 147b of the scanning mechanism 146.

Next, an eighth embodiment according to the present invention will be described with reference to FIGS. 1, 10 to 13 and 42. This embodiment is an example in which a suction pad is provided only on the frame by a hanging scanning mechanism. That is, it is a method of inspecting, inspecting, repairing, and preventive maintenance of the annulus portion 2 by using the remote furnace working device shown in the first embodiment, and the method of scanning the working tool is The scanning mechanism 148 and the work tool 23 approached the shroud 4, were further positioned to the work site by the wire of the suspension height adjusting mechanism, contacted the shroud 4 by the propulsion device 102, and then attached to the frame 46 of the scanning mechanism 148. The suction mechanism 66 sucks and fixes the shroud 4.

The work mechanism 23 is positioned and scanned in the vertical direction and the shroud circumferential direction by the scanning mechanism 148, and after the work at the suction site is completed, the suction fixation is released and the scanning mechanism 148 is moved to the next work site. Wire for hanging height adjustment mechanism
The work height and azimuth are positioned by hoisting, unwinding, and traveling of the dolly 21, and the propulsion device 102 approaches the shroud 4, is suction-fixed, and the work process is repeated.

Regarding the structure of this embodiment, in FIGS. 1 and 10 of the first embodiment, the point that the suction pad 47b is not disposed on the member 52 that drives the working tool 23 of the scanning mechanism 24 in the circumferential direction. All are the same, except. (The suction mechanism 66 is shown in FIG.
Also, in FIG. 42, the same parts as those in FIG. 10 are designated by the same reference numerals, and the description of the overlapping parts will be omitted.

Next, the operation of this embodiment will be described. Among the operations of the present embodiment, the operations relating to the parts having the same configuration are the same as those of the first embodiment.

The action peculiar to this embodiment is that after the scanning mechanism 148 approaches the shroud 4 by the approach mechanism 15, the carriage 1
Work tool 23 roughly by 1 and wire take-up drum 20
(See FIG. 1). Also, positioning in detail,
When it is necessary to fix, the propulsion device 102 is driven to be brought into close contact with the shroud 4, the suction pad 47 of the frame 46 is sucked, and the frame 46 is sucked and fixed to the shroud 4. Then, the drive shafts 147a and 147b of the scanning mechanism 148 are driven to perform detailed positioning.

According to the present embodiment, the work site is set to the welding line.
149 (see FIG. 1) is applied to the case where it is sufficient to construct only intermittent or defective parts, not continuous, and very rigid work can be performed very easily. Even if you want to specify the position in detail, the scanning mechanism
The site can be specified by the drive shafts 147a and 147b of 148.

Next, a ninth embodiment according to the present invention will be described with reference to FIGS. 1, 10 to 14, 20 and 43. The present embodiment is an example in which the hanging type scanning mechanism 150 and the suction pad 47 as the suction mechanism 66 are provided on the frame 46 and the attachment 58. The suction mechanism that can fix the table to the shroud 4 is provided on the table of the scanning mechanism 24. ing.

Regarding the configuration of the present embodiment, as shown in FIG. 1, the scanning mechanism 24 of the work tool 23 of the first embodiment.
In place of disposing the suction pad 47b on the member 52 which is the first stage drive shaft 147a which is driven in the circumferential direction,
Scanning except that the attachment 58 fixed to the stage 57, which is the drive shaft 147b of the stage, is provided with the suction pad 47c via the suction mechanism 66 as shown in FIG. 11, FIG. 12 or FIG. Mechanism 150 is all the same. In addition, in FIG. 43, FIG.
The same parts as those described above are denoted by the same reference numerals and the description of the overlapping parts will be omitted.

The scanning method of the work tool was such that the work tool scanning mechanism and the work tool approached the shroud, further positioned with a wire to the work site, contacted the shroud with the propulsion device, and then mounted on the frame of the scan mechanism 150. The suction device fixes the shroud by suction, and the scanning mechanism positions and scans the work tool in the vertical and circumferential directions of the shroud.

After the work at the adsorption and fixation site is completed, the table 57 is
The suction mechanism 66 arranged in the
Suction and fixing, and the suction and fixing by the suction mechanism 66 arranged on the frame 46 is released, and the entire frame 46 is moved to the next work site by a mechanism that drives the plate or table of the scanning mechanism 150, and the scanning mechanism 150 is suspended. The wire 21 of the height adjusting mechanism is wound up and down, the carriage is moved, the carriage is made to follow while adjusting the length of the wire 21, and then the suction mechanism 66 of the frame 46 is brought into close contact with the shroud and fixed by suction. After that, the suction fixing of the suction mechanism 66 of the base 57 is released, the work tool is scanned, this process is repeated, and continuous work is performed.

Next, the operation of this embodiment will be described. Among the operations of the present embodiment, the operations relating to the parts having the same configuration are the same as those of the first embodiment.

The operation peculiar to this embodiment is that after the scanning mechanism 150 approaches the shroud 4 by the approach mechanism 15, the work tool 23 is roughly positioned by the carriage 11 and the wire winding drum 20, and detailed positioning is performed. , When it is necessary to fix it, drive the propulsion device 102 to bring it into close contact with the shroud 4, suck the suction pad 47a of the frame 46, and
46 is fixed to the shroud 4 by suction (see FIG. 1).

Then, as shown in FIG. 43, the drive shafts 147a and 147b of the biaxial scanning mechanism 150 are driven to perform detailed positioning. Further, as shown in FIG. 29, it is difficult to lower the multi-stage slide mechanism 14 from above at the guide rod bracket 104 and the upright portion 105 of the core spray line 8.

In the work on such a portion, the scanning mechanism is set in the closest direction to which the multistage slide mechanism 14 can descend.
While fixed by the suction pads 47a at the four corners of the frame 46 of 150, the scanning mechanism is moved in the direction of the work site that becomes the next scanning range.
It drives the drive shaft 147a in the circumferential direction of 150. The suction pad 47c attached to the attachment 58 is pushed forward by the spring 48 (see FIGS. 1 and 12) and fixed by suction.

When the attachment 58 also confirms the suction of the suction pad 47c, the suction of the suction pads 47a at the four corners of the frame 46 is stopped, and the suction pad 47a is pulled in by the cylinder 49 (see FIGS. 11 and 12) of the suction mechanism 66. . The drive shaft 147a in the circumferential direction is driven to move the frame 46 in the circumferential direction to a portion in the next scanning range in the direction of the guide rod bracket 104.

In this case, when the carriage 11 on the shroud 4 further moves in the circumferential direction, the carriage 11 or the multi-stage slide mechanism 14 interferes with the core spray line 8, so the carriage 11 is stopped as it is, and the frame 46 of the scanning mechanism 150 is stopped. The wire 21 that suspends the scanning mechanism 150 is sent out in association with the movement amount of the wire, and the tension of the wire 21 does not reduce the moving force of the drive shaft 147a or generate the force that separates the suction pad 47c of the attachment 58. To do so.

The suction pads 47a arranged at the four corners of the frame 46 of the scanning mechanism 150 are brought into close contact with the shroud 4, sucked, and fixed to the shroud 4 by suction. After confirming the suction of the suction pad 47a of the frame 46, the suction of the suction pad 47c of the attachment 58 is stopped, and the cylinder 49 of the suction mechanism 66 is stopped.
(See FIGS. 11 and 12), the suction pad 47c is pulled in. Drive shafts 147a in the circumferential and vertical directions of the scanning mechanism 150,
The work tool 23 is positioned by driving 147b to the left and right and back and forth, respectively.

Here, when the type of work is to scan a certain inspection range without gaps such as ultrasonic flaw detection and shot peening, the scanning range of the scanning mechanism 150 must be moved accurately.

Therefore, first, in the case of ultrasonic flaw detection,
When the entire scanning range is fixed by the suction pads 47a at the four corners of the frame 46 and the data acquisition is completed, as shown in FIG.
The pulling of the cylinder 49 of the suction mechanism 66 shown in FIG. 12 is stopped, and the input / output port 65b of the cylinder piston 63 is opened by the force of the spring 48, or when the suction mechanism 66 is in FIG. 13, the input / output port 65a is opened. To enter.

As a result, the cylinder piston 63 is extended, the suction pad 47a is pressed, the frame 46 is moved away from the shroud 4, and the work tool 23 having a contactor (not shown) is released from the shroud 4. Then, the drive shafts 147a and 147b of the scanning mechanism 150 in the circumferential direction or in the vertical direction are driven in the direction of the work site which becomes the next scanning range.

The suction pad 47c attached to the attachment 58 is pushed out to the shroud 4 side by the suction mechanism 66 (see FIG. 11 and FIG. 12, or FIG. 13) and fixed by suction. After confirming the suction of the suction pads 47c, the suction of the suction pads 47a at the four corners of the frame 46 is stopped, and the suction mechanism 66 (see FIG.
11 and FIG. 12, or FIG. 13), the suction pad 47a is pulled in. Circumferential or vertical drive shafts 147a, 147
By driving b, the frame 46 is moved in the circumferential direction or the vertical direction to a portion in the next scanning range.

When the scanning range moves in the circumferential direction, the carriage 11 on the shroud 4 moves in the circumferential direction in association with the movement amount of the frame 46 of the scanning mechanism 150. When the scanning range moves in the vertical direction, the wire winding drum 20 is driven in association with the movement direction, the wire 21 is sent out and wound, and the movement of the scanning mechanism 150 is followed.

The suction pads 47a arranged at the four corners of the frame 46 of the scanning mechanism 150 are brought into close contact with the shroud 4, sucked and fixed to the shroud 4 by suction. When the suction of the suction pad 47a of the frame 46 is confirmed, the suction of the suction pad 47c of the attachment 58 is stopped, and the suction mechanism 66 (see FIGS. 11 and 12,
Alternatively, the suction pad 47c is pulled in by (see FIG. 13).

The suction mechanism 66 of the suction pad 46a of the frame 46
Thus, the suction pad 47a is pulled in, and the frame 46 is brought close to the shroud 4, so that the work tool 23 for ultrasonic flaw detection is brought into contact with the shroud 4.

[0262] Circumferential and vertical drive shafts of the scanning mechanism 150
147a and 147b are driven to the left and right and back and forth respectively, and work tools
23 is positioned and ultrasonic testing is performed. The ultrasonic flaw detection is monitored by the TV camera 59 attached to the attachment 58.

Ultrasonic flaw detection is performed by repeating the above operation. The work tool 23 for ultrasonic flaw detection when pressing the guide rod bracket 104 and the portion below the core spray line 8 is pressed to the shroud 4 and released at the same timing.

In the case of shot peening, the pump (not shown) for recovering the stainless shot 74 is operated with the wire brush 72 of the shot peening tool 69 shown in FIG. The pump (not shown) is operated to simultaneously eject and recover the stainless shot 74 from the nozzle 71.

[0265] Then, the suction pads 47 at the four corners of the frame 46
When the entire scanning range of the scanning range fixed with a is completed, the recovery shot pump (not shown) is in operation and the stainless shot 74 jetting pump (not shown) is stopped, and the stainless shot 74 Stop the gush.

While the shot peening operation state is maintained, the suction mechanism 66 (see FIG. 11 and FIG. 12, or FIG. 13) keeps the shot peening tool 69 pressed against the shroud 4. The drive shafts 147a and 147b of the scanning mechanism 150 in the circumferential direction or in the vertical direction are driven in the direction of the work area which becomes the next scanning range.

The suction pad 47c attached to the attachment 58 is pushed out to the shroud 4 by the suction mechanism 66 and fixed by suction. Suction pad 47c of attachment 58
After confirming the suction of, the suction pads 47 at the four corners of the frame 46
The suction of the suction pad 47a is stopped by the suction mechanism 66 (see FIG. 11 and FIG. 12, or FIG. 13).

Circumferential or vertical drive shaft 147a,
147b is driven to move the frame 46 to the next part to be scanned. At this time, when the scanning range is moved in the circumferential direction, the carriage 11 on the shroud 4 moves in the circumferential direction in conjunction with the movement amount of the frame 46 of the scanning mechanism 150 and moves in the scanning range in the vertical direction. If the wire take-up drum 20
Is driven, the wire 21 is sent out and wound, and the movement of the scanning mechanism 150 is followed.

The suction pads 47a arranged at the four corners of the frame 46 of the scanning mechanism 150 are brought into close contact with the shroud 4, sucked and fixed to the shroud 4 by suction. When the suction of the suction pad 47a of the frame 46 is confirmed, the suction of the suction pad 47c of the attachment 58 is stopped, and the suction mechanism 66 (FIG. 11, FIG. 12,
Alternatively, the suction pad 47c is pulled in by (see FIG. 13).

Adsorption mechanism 66 (FIG. 11, FIG. 12, or FIG.
While the shot peening tool 69 is being pressed, the pump (not shown) for ejecting the stainless shot 74 is activated again while ejecting the stainless shot 74 from the nozzle 71, while the shot peening tool 69 is being pressed. Drive the drive shafts 147a, 147b in the right and left directions,
The shot peening tool 69 is positioned and the shot peening operation is performed.

The work is monitored by the TV camera 59 attached to the attachment 58, and at the same time, the construction surface of the shroud 4 after the shot peening construction is observed to confirm the construction leakage, and the construction effect is confirmed from the image. Confirm.

The above operation is repeated to perform the shot peening operation. The timing of pressing and releasing the shot peening tool 69 against the shroud 4 when operating the guide rod bracket 104 and the portion below the core spray line 8 is the same.

Even if the area of the portion to be constructed exceeds the scanning range when the suction pad 47a of the frame 46 is fixed by suction, the shot peening tool can be moved by moving the scanning range in the circumferential direction or the height direction. The wire brush 72 of 69 can be installed without separating from the shroud 4.

The effects of this embodiment are basically the same as the effects of the first embodiment, but the unique effect of this embodiment is that it is driven by the second-stage drive shaft 147b. By disposing the suction pad 47c on the attachment 58, the scanning range can be moved in two directions, the circumferential direction and the vertical direction. Therefore, the scanning range can be continuously moved with respect to both the welding line 149 of the longitudinal welding line (not shown) and the circumferential welding line (see welding line 149 of FIG. 1), and the in-core working device 10 The applicable range of is expanded.

Next, a tenth embodiment of the present invention will be described with reference to FIGS. 1, 44 and 45. This embodiment is applied to the shroud cylinder above the jet pump,
In the first embodiment, the work tool is directly arranged at the tip of the lifting mechanism, and the movement amount of the carriage, the position adjusting mechanism of the mounting portion on the carriage, and the lifting mechanism are used for positioning, and mainly the annulus above the jet pump is used. Perform inspections, repairs, and preventive maintenance on parts. Further, the work tool side of the tip is made attachable / detachable by the elevating mechanism, the entire apparatus is pulled up to the operation floor according to the work site, and the work tool side is exchanged from the attaching / detaching part of the elevating mechanism.

As for the structure of this embodiment, as shown in FIG. 44, the multi-stage slide mechanism 14 of the first embodiment has a structure in which it can be separated via a mounting / demounting mechanism 151 by a bolt (not shown) at the lower end. , Approach mechanism 15 in FIG. 1, scanning mechanism
It is configured such that it can be attached to and detached from the additional mechanism 178 such as 24 on the tip side and the work tool 155.

Next, the operation of this embodiment will be described. In FIG. 44, the work on the part where the interference with the jet pump 3 below from the shroud middle part 153 is assumed is the same as that of the first embodiment.

When working near the shroud upper body 154 or the joint (welding line) between the shroud upper body 154 and the shroud middle body 153, the operation floor 97
Above, the lower part of the approach mechanism 14 is removed by the attachment / detachment mechanism 151 using a bolt (not shown) below the multi-stage slide mechanism 14, and the work tool 155 is attached by a bolt (not shown). Then, as in the first embodiment, the auxiliary hoist 91 of the refueling machine 90 or an overhead crane (not shown) hangs the seat on the upper end of the shroud 4 for seating.

After the in-furnace working apparatus 10 is carried in, the carriage 11 in contact with the flange surface 6 of the shroud 4 drives the drive actuator (not shown) of the wheel 12 to move the shroud 4 in the circumferential direction. The carriage 11 positions the carriage 11 in the direction of the work target of the shroud 4.

The upper body drive mechanism 13 positions the multistage slide mechanism 14 in the radial direction between the reactor pressure vessel 1 and the shroud upper shell 154, and the wire 32 wound around the wire drum 30 of the multistage slide mechanism 14 is moved. Feeding, each plate material 29
Is lowered to lower the work tool 155 to perform positioning in the height direction.

As another means, as shown in FIG. 45, the work tool 155 is provided with a pressing mechanism 156. The pressing mechanism 156 includes a cylinder piston 158 supported by a rotary shaft 159a and a rotary shaft 159b, and four rotary shafts 159c to 159e.
It consists of a pantograph mechanism 157.

The rotary shaft 159b is driven up and down in accordance with the linear movement of the cylinder piston 158, and the cylinder piston 158 is retracted to drive the pantograph mechanism 157.
The tip of the pressing mechanism 156 is pressed against the reactor pressure vessel 1 side. Then, the reactor pressure vessel 1 and the shroud 4 are stretched, and the work tool 155 is pressed against the shroud 4 to perform the work.

According to the present embodiment, the jet pump 3
The work can be carried out very easily at the work site where the interference of is not expected. Since these working parts have a size larger than the gap between the shroud 4 and the jet pump 3, the working tool 155 can be easily designed.

Also, by making the tip side of the multi-stage slide mechanism 14 attachable / detachable, it is possible to perform work in an optimal form with respect to the application site as well, and work rigidity for these work sites is improved. Can be increased.

Next, an eleventh embodiment of the present invention will be described with reference to FIGS. 1, 46 and 47. In this embodiment, a scanning mechanism for a work tool is arranged at the tip of the elevating mechanism of the first embodiment, a work tool is arranged at the tip of the scanning mechanism, the amount of movement of the carriage, and the carriage are arranged on the carriage. Position adjustment mechanism on the trolley
The elevating mechanism performs rough positioning in the circumferential, radial, and height directions, and the detailed positioning is performed by the scanning mechanism. Mainly for inspection, repair, preventive maintenance, etc. of the annulus above the jet pump. There is something to do.

With regard to the configuration of this embodiment, as shown in FIG. 46, a structure is provided in which the lower end of the multi-stage slide mechanism 14 of the tenth embodiment can be separated via a mounting / demounting mechanism 151 using bolts (not shown). It was done. Therefore, the approach mechanism 15 and the scanning mechanism 24 as shown in FIG. 1 and the additional mechanism 17 such as the upward scanning mechanism 160 to which the work tool 170 as shown in FIG.
Can be replaced with 8.

Here, in the upper scanning mechanism 160, as shown in FIG. 47, the frame 161 has an arcuate shape adapted to the upper shroud body 154, so that the shroud 4 can be scanned in the circumferential direction. Internal gear 162 and guide rail 16 at the bottom
3 are arranged corresponding to each other. A member 165 having guide wheels 164 vertically rotatably arranged so as to be able to move along the guide rail 163 is arranged, and a gear 174 connected to a shaft 167 of a motor 166 arranged on the member 165 is provided inside. Gear 162
The structure is such that the power of the motor 166 is transmitted by meshing with.

The member 165 is provided with a linear motion transmission mechanism 169 such as a ball screw 175 to which the shaft of the motor 168 is connected, and a base 171 is provided via a nut (not shown) of the linear motion transmission mechanism 69. The work tool 170 is connected to the base 171 via a mechanism 172 for attaching and detaching the work tool 170 so that the work surface faces the direction of the shroud 4.

Next, the operation of this embodiment will be described. For work on the part where the interference with the jet pump 3 below from the shroud middle part 153 is assumed,
This is the same as the first embodiment. Shroud upper torso 154
When working near the seam (welding line) between the shroud upper body 154 and the shroud middle body 153, the attachment / detachment mechanism 151 using a bolt (not shown) below the multi-stage slide mechanism 14 on the operation floor 97 The lower part is removed from the approaching mechanism 14 and the upper scanning mechanism 160 is attached by bolts (not shown).

Then, similar to the first embodiment, the auxiliary hoist 91 of the refueling machine 90 or the overhead crane (not shown) hangs it on the upper end of the shroud 4 and allows it to sit down. After the in-core work device 10 is loaded, the carriage 11 that has come into contact with the flange surface 6 of the shroud 4 drives the drive actuator (not shown) of the wheel 12a and travels in the circumferential direction of the shroud 4. The carriage 11 is positioned above the work target portion, and the upper body drive mechanism 13 positions the multi-stage slide mechanism 14 between the reactor pressure vessel 1 and the shroud upper shell 154.

The wire 32 wound around the wire drum 30 of the multistage slide mechanism 14 is fed out, each plate material 29 is slid downward, and the upper scanning mechanism 160 of the work tool 170 is lowered to position it in the height direction. I do. When it is necessary to perform detailed positioning, the vertical and horizontal drive shafts 173a and 173b of the upward scanning mechanism 170 are driven to perform the work.

Next, the effect of this embodiment will be described. According to the present embodiment, the work can be performed very easily at the work site in the annulus portion 2 that does not interfere with the jet pump 3. These work sites are
Since a size larger than the gap of the jet pump 3 is secured, the work tool 170 can be easily designed.

[0293] Additional mechanism from the multi-stage slide mechanism 14 to the tip side
By making the 178 attachable and detachable, it is possible to perform work in an optimum form even for the application site, and it is possible to enhance the work rigidity for these work sites. By disposing the detailed drive shaft 73, the positioning accuracy is improved, and the detailed positioning is possible.

Next, a twelfth embodiment of the present invention will be described with reference to FIGS. 1, 47 and 48. In this embodiment, the scanning mechanism of the work tool and the work tool are arranged on the carriage. The scanning mechanism of the work tool and the work tool are attached to the tip of the lifting mechanism arranged on the carriage via the position adjusting mechanism of the mounting portion. The movement changes the posture so that the movement follows the outer surface of the shroud, and the approach mechanism for bringing the work tool closer to the shroud is provided.The approach mechanism is provided with the scanning mechanism having the work tool at the tip, and is mainly used for the jet. Check and repair the annulus above the pump.
There is work such as preventive maintenance.

With respect to the configuration of this embodiment, the multistage slide mechanism 14 of the tenth embodiment has a structure in which it can be separated from the lower end of the multistage slide mechanism 14 through an attaching / detaching mechanism 151 using a bolt (not shown).
From the approach mechanism 15 to the tip side of the scanning mechanism 24 or the like, or the work tool 170
The additional mechanism 178 such as the upper scanning mechanism 160 provided at the tip of the detachable upper approaching mechanism 176 is replaceable.

Here, the structure of the upper scanning mechanism 160 is as shown in FIG.
As shown in 47, this is the same as in the eleventh embodiment. Further, the upward approach mechanism 176 detachably connected to the multistage slide mechanism 14 is configured by a pantograph mechanism 177 so that the upward scan mechanism 160 moves in parallel in the radial direction.
The pantograph mechanism 177 is composed of rotary joints 179a to 179d, and the rotary joint 179a to which the cylinder piston 178 is connected.
Is driven up and down, the upper scanning mechanism 176
Adjusts the position of the shroud 4 in the radial direction in a parallel posture.

Next, the operation of this embodiment will be described. First, the work for the portion below the shroud middle cylinder 153 where interference with the jet pump 3 is assumed is similar to that of the first embodiment.

Next, the operation peculiar to this embodiment will be described. When working near the seam (welding line) of the shroud upper body 154 or the upper body and the middle body 153, the attachment / detachment mechanism 151 using the bolt (not shown) below the multi-stage slide mechanism 14 on the operation floor 97. The lower part is removed from the approach mechanism 15, and the upper scanning mechanism 160 connected via the upper approach mechanism 176 as shown in FIG.
Attach. Then, similarly to the first embodiment, the auxiliary hoist 91 of the refueling machine 90 or an overhead crane (not shown) is used to suspend and seat on the upper end of the shroud 4.

After the working device 10 is carried in, the actuator (not shown) for driving the wheels 12 of the carriage 11 that is in contact with the flange surface 6 of the shroud 4 is driven to travel in the circumferential direction of the shroud 4. The carriage 11 is positioned in the direction of the work target, and the upper body drive mechanism 13 positions the multi-stage slide mechanism 14 between the reactor pressure vessel 1 and the shroud upper shell 154, and is wound around the wire drum 30 of the multi-stage slide mechanism 14. The wire 32 being fed out is slid, each plate member 29 is slid downward, and the upper approach mechanism 176 is lowered to perform positioning in the height direction.

Next, after the multi-stage slide mechanism 14 is conveyed between the shroud 4 and the reactor pressure vessel 1, the stroke limit of the body drive mechanism 13 is exceeded by the pantograph mechanism 177 of the upper approach mechanism 176. With the scanning range of the upper scanning mechanism 160 kept in the radial direction parallel to the outer surface of the shroud 4, the upper scanning mechanism 160 is attached to the shroud 4.
To approach. When it is necessary to perform detailed positioning, the vertical and horizontal drive shafts 173a, 173b of the upper scanning mechanism 160.
Drive to do the work.

Next, the effect of this embodiment will be described. According to the present embodiment, the work can be carried out very easily at the work site where the interference of the jet pump 3 is not expected. Since these working parts have a size larger than the gap of the jet pump 3,
The work tool 155 can be easily designed.

By making the addition mechanism 178 on the distal end side of the multi-step slide mechanism 14 detachable, it is possible to perform work in an optimum form with respect to application sites as well, and increase work rigidity with respect to these work sites. be able to. By disposing the detailed drive shafts 173a and 173b, the positioning accuracy is improved, and the detailed positioning becomes possible.

In particular, when the multistage slide mechanism 14 lowers the clearance between the reactor pressure vessel 1 and the shroud 4, it can be transported in a compact shape. Therefore, the shroud upper barrel 154 and the shroud intermediate barrel 153 during the transport operation. It is possible to prevent interference with and to smoothly carry the material.

Since the outer diameter of the shroud middle body 153 is smaller than that of the shroud upper body 154 at the joint between the shroud middle body 153 and the shroud upper body 154, the shroud middle body 153 is avoided by working on the shroud middle body 153. Tool 15
This is effective in compensating for the stroke in the radial direction when the stroke of the body drive mechanism 13 cannot be secured sufficiently when pressing 5.

Next, a thirteenth embodiment of the present invention will be described with reference to FIGS. 30 and 31. In the present embodiment, the attaching / detaching device is arranged at the tip of the elevating mechanism described above, the work tool side of the tip can be attached / detached from the elevating mechanism, and the entire device is submerged on the well platform depending on the work site. The work tool side is to be replaced from the attachment / detachment part of the lifting mechanism by raising it to either the pit, the reactor well, or the fuel pool.

That is, this is an example in which the work tool side is exchanged from the attachment / detachment part of the elevating mechanism by pulling it up on the well platform in a flooded state, in the DS pit, in the reactor well, or in the fuel pool. The structure of the working apparatus 10 according to this embodiment is the same as that of the first embodiment except for the attaching / detaching mechanism 151 at the lower end of the multistage slide mechanism 14.

The attachment / detachment mechanism 122 of this embodiment is shown in FIG. The attachment / detachment mechanism 122 of this embodiment is basically the same as that of the second and third embodiments. Multi-stage slide mechanism
Grooves 113 are machined in 14 plate materials 29c. On the other hand, a pawl 120 is connected via a rotary joint 116 to a work tool 155 in FIG. 44 and an additional mechanism 178 side such as the upper scanning mechanism 160 in FIG. 46, and a torsion spring 115 whose both ends are fixed by stop pins 122 is attached. It is wound around the rotary joint 116 and a force is generated in the direction of closing the claw 120.

The wire 118 passes through the flexible tube 117 and has one end fixed to the wire fixing portion 123 of each claw 120 and the other end fixed to the wire fixing portion 123 of the hook 119. Also nails
A V-shape 121 is formed on 120, which fits the taper shape 114 at the lower end of the plate member 29c.

Next, the operation of this embodiment will be described with reference to FIG. 30 and FIG.
It will be explained with reference to 31. Regarding the operation of this embodiment, as a place to replace the additional mechanism 178, instead of replacing it on the operation floor 98, the well platform 123 is used.
, DS pit 94, reactor well 96, or fuel pool 95, using the auxiliary hoist 91 of the refueling machine 90 or the gripping mechanism 106 of the overhead crane (not shown), hoisting, hoisting, and transporting, The work device 10 is installed on the gantry 110 so as to be submerged, and the plate material 29c of the multistage slide mechanism 14 is installed.
Replace the add-on mechanism 178 at the bottom.

For the replacement, the auxiliary hoist 91 of the refueling machine 90 or the worker 112 on the operation floor 97 uses the scanning pole 111 to attach / detach or replace the additional mechanism 178. When the multi-stage slide mechanism 14 is mounted on the plate material 29c, the attaching / detaching mechanism 122 of the adding mechanism 178 is positioned below the tapered shape 114 of the plate material 29c and pushed up from below. The tapered shape 114 follows the V-shape 121 of the claw 120, the claw 120 is forcibly opened, and the tip of the claw 120 fits into the groove 113 and joins.

[0311] The additional mechanism 178 is a plate material of the multi-stage slide mechanism 14.
When separated from 29c, the hook 119 connected with the wire 118 that is routed inside the flexible tube 117 is connected to the scan pole 11.
By hooking 1 and pulling, the claw 120 is rotated and opened around the rotary joint 116, and the claw 120 is detached from the groove 113 and separated.

After the replacement of the additional mechanism 178 is completed,
21 and 22, the auxiliary hoist 91 of the refueling machine 90 or an overhead crane (not shown) is used to operate the in-core device.
The whole 10 is suspended and installed on the flange 6 surface at the upper end of the shroud 4, and the work tool 23 or work tool 155 at the tip is transported to the target site, positioned, and fixed, and inspection, repair, and preventive maintenance work is performed.

According to the present embodiment, since the addition mechanism 178 is replaced underwater, the decontamination work when replacing the addition mechanism 178 can be omitted, and the work time can be shortened. Since the additional mechanism 178 that has been used once can be stored underwater at all times, the work space on the operation floor 97 can be saved. Since the distance between the worker 112 and the in-core work device 10 can be maintained, the exposure dose of the worker 112 when replacing the additional mechanism 178 can be reduced.

Next, a fourteenth embodiment according to the present invention will be described with reference to FIGS. 31 and 32. In the present embodiment, the attaching / detaching device is arranged at the tip of the elevating mechanism described above, the work tool side of the tip is detachable from the elevating mechanism, and is mounted on the trolley in advance in a state of being separated from the elevating mechanism. hand,
This is to replace the work tool side from the attaching / detaching part of the lifting mechanism with the lifting mechanism being lifted up and the lifting mechanism being held near the upper surface of the shroud.

The construction of the working apparatus 10 according to this embodiment is the same as that of the thirteenth embodiment. That is, the figure
As shown in FIG. 31, as a place to replace the additional mechanism 178 of the work tool 23, as shown in FIG.
Instead of the above, an additional mechanism 178 for exchanging the bogie 11 in advance is stored near the upper end of the shroud 4 with the working device 10 submerged, or the auxiliary hoist 91 of the fuel exchanger 90 is stored.
The gripping mechanism 106 is used to grab and hang it, and the additional mechanism 178 is replaced without raising the working device 10.

The attachment / detachment and replacement are performed by the operator 112 grasping the hook 119 of the attachment / detachment mechanism 122 of the addition mechanism 178 by the operation pole 111 and pulling it up. Also,
At the time of mounting, the additional mechanism 178 grasped by the operation pole 111 is aligned with the lower end of the plate material 29c and pushed up to push the taper shape 114 of the plate material 29c and the claw 120 on the work tool 23 side.
Guided by the V shape on the upper surface, the claw 120 is opened,
The claw 120 is fitted into the groove 113 of the plate material 29c of the multi-stage slide mechanism 14. After the replacement of the additional mechanism 178, the work tool 23 or the work tool 155 at the tip is conveyed to the target portion,
Position, fix, perform inspection, repair, and preventive maintenance work.

According to the present embodiment, since the addition mechanism 178 is replaced underwater, the decontamination work when replacing the addition mechanism 178 can be omitted, and the work time can be shortened. The additional mechanism 178 that has been used once can be stored in water at all times, saves the work space on the operation floor 97, does not need to occupy the space above the reactor pressure vessel 1, and limits the movable range of other core work. Never give.

Since the distance between the worker 112 and the in-core work device 10 can be maintained, the exposure dose of the worker 112 when the additional mechanism 178 is replaced can be reduced. Auxiliary hoist for working device 10 in the furnace
Since it is not necessary to lift at 91 or the like, the time required for gripping, pulling up, and installing the in-furnace working device 10 can be omitted, and the working time can be shortened.

Next, a fifteenth embodiment of the present invention will be described with reference to FIGS. 31, 33, 34, 40 and 50. In this embodiment, an automatic exchanging device is used for exchanging the work tool side from the attaching / detaching mechanism arranged at the tip of the elevating mechanism. Regarding the configuration of the working device 10, the multistage slide mechanism 14 shown in FIG. 3 instead of the attaching / detaching mechanism 151 of the additional mechanism 178 arranged at the lower end of the plate material 29c of FIG.
Automatic attachment / detachment mechanism 1 to automatically attach / detach the additional mechanism 178 shown in 4
It is the same as the tenth embodiment except that 82 is provided.

FIG. 34 shows an automatic attachment / detachment mechanism 182 of the addition mechanism 178 of this embodiment. Automatic attachment / detachment mechanism 125 of the present embodiment
Is basically the same as in the fourth to sixth embodiments. The groove 113 is formed in the plate member 29c at the lower end of the multi-stage slide mechanism 14.

On the other hand, as shown in FIG. 34, the pawl 120 is connected to the addition mechanism 178 side via the rotary joint 116, and the stop pin 12 is connected.
A torsion spring 115 whose both ends are fixed by 2 is wound around the rotary joint 116, and a force is generated in a direction of closing the claw 120.

As shown in FIG. 31, the wires 118 (118a, 118b) pass through the flexible tube 117, one end of which is the wire fixing portion 123 of each claw 120, and the other end of which is the rod of the cylinder piston 126.
127 Attached to the wire fixing part 123 at the tip. The cylinder piston 126 is connected to the additional mechanism 178 via a rotary shaft 129. The claw 120 is formed with a V-shape 121 and conforms to the taper shape 114 on the plate material 29c side.

When the additional mechanism 178 is attached to the plate material 29c at the lower end of the multi-stage slide mechanism 14, the input / output ports 130a and 130b of the cylinder piston 126 are opened, and the automatic attachment / detachment mechanism 125 of the additional mechanism 178 is connected to the plate material at the lower end of the multi-stage slide mechanism 14. Position it below the tapered shape 114 of 29c and push it up from below. The tapered shape 114 follows the V-shaped 121 of the claw 120,
The claw 120 is forcibly opened, and the tip of the claw 120 is fitted into the groove 113 and coupled.

Input / output port 130 of cylinder piston 126
By opening a and inputting it to the input / output port 130b, the wires 108a and 108b are drawn in and the claw 120 is opened. Then, at the mounting position of the lower end of the plate member 29c, the adding mechanism 178
The cylinder piston 126 input / output port.
By opening 130b and inputting to the input / output port 130a, the rod 127 is returned, and the force of the torsion spring 115 causes the pawl 120 to move.
Is closed and attached to the lower end of the plate material 29c.

When the additional mechanism 178 is separated from the plate material 29c, the input / output port 130a of the cylinder piston 126 connected to the wire 118 routed inside the flexible tube 117 is opened and the input / output port 130b is opened. By inputting and pulling in the rod 127, the pawl 120 is rotated and opened around the rotary joint 116, and the pawl 120 is separated from the groove 113 and separated.

As another mechanism, as shown in FIG. 35, a hanger for installing a storage rack 131 on the operation floor 97, storing water inside, and suspending an additional mechanism 178 shown in FIG. 50. The pedestal 128 to which the 179 is fixed is installed, and the in-core working device 10 is seated. The work tool 23 is stored in the pedestal 128, and the pedestal 132 for facilitating the attachment / detachment is configured to be directly moved on the rail 133.

As shown in FIG. 50, the hanger 179 is formed with a hanging groove 180, and the projections 181 attached to both ends of the addition mechanism 178 are loosely fitted to the hanger 179. The 178 can be hung on the hanger 179 or can be taken out by the operation pole (not shown in FIG. 50).

Next, the operation of this embodiment will be described with reference to FIGS.
4, FIG. 49, and FIG. 50. Regarding the operation of this embodiment, the auxiliary hoist 91 of the refueling machine 90 is located up to the operation floor 97 as a place to replace the additional mechanism 178.
Alternatively, by using a gripping mechanism 106 of an overhead crane (not shown), hoisting, transporting, and placing on the pedestal 128, the work tool 23 at the tip of the scanning mechanism 24 is automatically replaced.

At the time of replacement, the automatic attachment / detachment mechanism of the additional mechanism 178
Install the working device 10 in the furnace and the additional mechanism 178 at a place on the operation floor 97 that can be detached by 125.
The automatic attachment / detachment mechanism 125 is used for attachment / detachment and replacement.

As another mechanism, as shown in FIG. 49, first, the working device 10 is set on the pedestal 128 installed in the storage rack 131 in which water is stored. Detachable additional mechanism
178 is carried and hung by the operation pole (not shown in FIG. 49) in the groove 180 of the hanger 179. The attachment mechanism 178 to be attached is taken out from the hanger 179 by an operation pole (not shown in FIG. 49), positioned to a position where automatic attachment is possible, and automatically attached by the automatic attachment / detachment mechanism 125.

After the replacement of the work tool 23, the work device 10 is suspended again by the auxiliary hoist 91 of the refueling machine 90 or the overhead crane (not shown), and the work device 10 is placed on the flange surface 6 at the upper end of the shroud 4. It is installed, and the work tool 23 or work tool 155 at the tip is transported to the target site, positioned, and fixed, and inspection, repair, and preventive maintenance work is performed.

According to the present embodiment, the addition mechanism 178 is replaced on the operation floor 97, so that a worker (not shown) can easily take measures when a problem occurs. However, since the attachment / detachment is not performed by the hand of the worker, the effect of reducing the radiation exposure of the worker can be obtained. Further, with the other mechanism shown in FIG. 49, the used additional mechanism 178 can be stored in the hanger 179 in the storage rack 131, and the replacement work is also performed underwater, so that the effect of reducing the radiation exposure of the worker can be further obtained.

Next, a sixteenth embodiment of the present invention will be described with reference to FIGS. 34, 36, 50 and 51. In this embodiment, the method of exchanging the work tool from the attaching / detaching mechanism arranged at the tip of the elevating mechanism is performed by the automatic exchanging device. Regarding the configuration of the working device 10, the plate member 29c at the lower end of the multistage slide mechanism 14 The automatic attachment / detachment mechanism 182 for automatically attaching / detaching the addition mechanism 178 was installed in place of the attachment / detachment mechanism 151 of the addition mechanism 178 arranged in the DS pit 94, the fuel pool 95, and the well platform 109. The tenth embodiment is the same as the tenth embodiment except that the gantry 134 is provided.

The automatic attachment / detachment mechanism 182 is similar in configuration and operation to the fourth, fifth, sixth and fifteenth embodiments (see FIG. 34). Further, the structure of the gantry 134 is similar to that of the fifth embodiment, and the work tool 23
Will be the storage place of. A pedestal 132 that linearly moves is arranged on the pedestal 134 along the rail 133.

Further, as shown in FIG. 50, a hanger 179 is fixed to the pedestal 134, and as in the fifteenth embodiment, the protrusion 181 of the adding mechanism 178 is hooked in the groove 180 to add the adding mechanism 178. Can be hung and stored.

Next, the operation of this embodiment will be described with reference to FIGS. 36 and 51. Regarding the operation of this embodiment, the operation floor 97 is used as a place for replacing the additional mechanism 178.
Instead of the above, the well platform 109, the DS pit 94, and the fuel pool 95 with the in-core working device 10 submerged
Using any of the auxiliary hoist 91 of the refueling machine 90 or the gripping mechanism 106 of the overhead crane (not shown), the pedestal 134 is lifted up, transported, and set aside.

Also, the auxiliary working hoist 91 of the refueling machine 90 or the gripping mechanism 106 of the overhead crane (not shown) is used to hoist the working device 10 in the reactor, transfer it and place it on the stand 134, and automatically add the additional mechanism 178. Replace with.

The attachment / detachment and replacement of the addition mechanism 178 are performed in the following order. First, the attaching / detaching additional mechanism 178 is supported by the auxiliary hoist 91 or the operation pole (not shown in FIG. 36), and the automatic attaching / detaching mechanism 182 automatically detaches the adding mechanism 178. The attached / detached additional mechanism 178 is grasped by the grasping mechanism 106 of the auxiliary hoist 91 or the operation pole (not shown in FIG. 36), and transferred to the storage location.

Next, a worker (not shown in FIG. 36) uses the operation pole (not shown in FIG. 36) from the auxiliary hoist 91 or the operation floor 97 to attach the attachment mechanism 178 to be attached. Take out from the hanger 179, transport and position to a position where it can be automatically attached and detached. Next, the automatic attachment / detachment mechanism 182 attaches the additional mechanism 178.

As another mechanism, as shown in FIG. 51, the additional mechanism 178 of the working device 10 is supported by an auxiliary hoist 92 and an operation pole (neither of which is shown in FIG. 51) to support the additional mechanism 178 to be attached / detached. Then, the attachment / detachment mechanism 178 is attached / detached by the automatic attachment / detachment mechanism 182. The detached attachment mechanism 178 is conveyed by the auxiliary hoist 92 or the operation pole (neither is shown in FIG. 51), and is added to the groove of the hanger 179.
The eight protrusions 181 are positioned and hung on the hanger 179 so that they fit together.

Further, the attachment mechanism 178 to be mounted is similarly equipped with the auxiliary hoist 92 or the operation pole (both in FIG. 51,
(Not shown) removes from the hanger 179, conveys and positions to a place where automatic mounting is possible, and the automatic attaching / detaching mechanism 182 mounts the adding mechanism 178.

After the addition mechanism 178 has been replaced,
The working device 10 as a whole is suspended by an auxiliary hoist 91 of the refueling machine 90 or an overhead crane (not shown), the working device 10 is installed on the flange surface 6 at the upper end of the shroud 4, and the working tool 23 or working tool 155 at the tip is installed. Transport, position, and fix to the target site, and perform inspection, repair, and preventive maintenance work.

According to this embodiment, the addition mechanism 178 is replaced underwater, and the decontamination work when replacing the addition mechanism 178 can be omitted, so the work time is shortened. The add-on mechanism 178 that has been used once can be stored underwater, and the work space on the operation floor 97 can be saved. Since the distance between the worker (not shown) and the furnace working device 10 can be maintained,
It is possible to reduce the exposure dose of the worker when the addition mechanism 178 is replaced (the above is the same as in the second embodiment).

The effect peculiar to this embodiment is that the operation from the outside only removes the attached / detached additional mechanism 178 and installs the additional mechanism 178 to be mounted to a position where automatic attachment / detachment is possible. The additional mechanism 178 can be easily replaced without the need for manipulating techniques such as various operation poles, and the work time can be shortened.

Next, a seventeenth embodiment according to the present invention will be described with reference to FIGS. 32, 34 and 52 to 54. In the present embodiment, the method of exchanging the work tool from the attaching / detaching mechanism arranged at the tip of the elevating mechanism is performed by an automatic exchanging device.
Regarding the construction of the working device 10, the multistage slide mechanism 14
Instead of the attaching / detaching mechanism 151 of the adding mechanism 178 shown in FIG. 31 arranged at the tip of the plate material 29c of FIG. 31, an automatic attaching / detaching mechanism 182 shown in FIG.
Is the same as that of the tenth embodiment, except that the above is provided and the exchanging mechanism 183 of the adding mechanism 178 is provided on the carriage 11. The automatic attaching / detaching mechanism 182 is the same as that of the fourth embodiment, as shown in FIG.

As shown in FIGS. 52 to 54, the exchange mechanism 183
Is mounted on the mounting portion 184 connected via the body drive mechanism 13 of the carriage 11 via the linear motion transmission mechanism 185 such as a ball screw connected to the output shaft (not shown) of the motor 199. An arm 189 provided with a rotary joint 187a to 187c and a gripper 188 having an open / close joint matching the rotary joint 187c is connected to the base 186.

Further, as shown in FIG. 54, the arm 189 is provided with a linear motion guide 194 along the linear motion transmission mechanism 185, and the rotary joints 187a, 187b, 187c respectively have a motor 190.
a, 190b, 190c are provided. In this case, the motor 1
The output shaft (not shown) of 90c is fixed to the link 198,
The casing 231 of the motor 190c is fixed to the claw 196a.

Furthermore, the cylinder piston 191 is rotatably connected to the rotary joints 195a and 195b, and the claw 196b is rotatably connected to the rotary joint 187c. The rotary joint 195a, the cylinder piston 191, the rotary joint 195b, and the rotary joint 187c.
Constitutes a 4-bar linkage. Also, cylinder piston
Input / output ports 192a and 192b for driving are provided in 191.

Next, the operation of this embodiment will be described with reference to FIGS. 32 and 52 to 54. Regarding the operation of the present embodiment, as a place for replacing the additional mechanism 178, instead of on the operation floor 97, near the upper end of the shroud 4 with the working device 10 submerged, as shown in FIG. Holding mechanism 106 of auxiliary hoist 91 of 90 or FIG.
As shown in FIG. 3, the additional mechanism 178 is grasped and hung down by the operation pole 197, and the additional mechanism 178 is exchanged using the exchanging mechanism 183 without pulling up the working device 10.

In the exchange, first, as shown in FIG. 52, the gripper 188 of the exchange mechanism 183 grips the attachment mechanism 178 to be detached and attached. At this time, in FIG. 54, the input / output port 192a of the cylinder piston 191 of the gripper 188 is opened and input to the input / output port 192b, and the claw 196b with respect to the claw 196a.
It is driven in the opening direction around the rotary joint 187c.

Then, the addition mechanism 178 is aligned, the input / output port 192b of the cylinder piston 191 is opened, the input / output port 192a is input, and the pawl 196b is closed.
After gripping the additional mechanism 178, the automatic attachment / detachment mechanism 182 is operated to remove the additional mechanism 178.

Next, as shown in FIG. 53, the exchange mechanism 183
The arm 189 and the linear motion transmission mechanism 185 are driven to convey the attached / detached additional mechanism 178, and then a part of the attached / detached additional mechanism 178 is hooked on the hook 200 of the operation pole 197 to open the gripper 188 to open the additional mechanism. Release 178. The attached / detached additional mechanism 178 is lifted as it is onto the operation floor 97.

Next, the attachment mechanism 178 to be mounted is hooked on the gripping mechanism 137 of the auxiliary hoist 91 of the fuel exchanger 90 or the hook 200 of the operation pole 197 and conveyed as shown in FIG. 53, and the addition mechanism 178 is gripped by the gripper 188. Grab by.

Then, as shown in FIG. 52, positioning is performed by the linear motion transmission mechanism 185 and arm 189 of the exchange mechanism 183, the body drive mechanism 13 of the in-core working apparatus 10, the multistage slide mechanism 14, etc. Install the attachment mechanism 178 by. Next, the gripper 188 is opened, the exchange mechanism 188 is changed to a posture that does not interfere with the operation of the in-core work device 10, and the exchange is completed. After the replacement of the additional mechanism 178, the work tool 23 or the work tool 155 at the tip is conveyed to the target portion,
Position, fix, perform inspection, repair, and preventive maintenance work.

According to the present embodiment, the replacement of the additional mechanism 178 is performed in the reactor water, and the decontamination work when replacing the additional mechanism 178 can be omitted, so that the working time is shortened. The additional mechanism 178 that has been used once can be stored in water at all times, saves the work space on the operation floor 97, does not need to occupy the space above the reactor pressure vessel 1, and limits the movable range of other core work. Never give.

In addition, a worker (not shown) and a working device in the furnace
Since the distance from 10 can be maintained, it is possible to reduce the exposure dose of the worker when the additional mechanism 178 is replaced. Furthermore, the working device 10
Since it is not necessary to hoist the auxiliary working hoist 91 or the like, it is possible to omit the time for gripping, pulling up, and installing the in-furnace working device 10, thereby shortening the working time.

As a peculiar effect of the present embodiment, the operation from the outside only removes the detached additional mechanism 178 and installs the additional mechanism 178 to be mounted up to a position where automatic attachment / detachment is possible. The operation mechanism such as the advanced operation pole 197 is not required, the additional mechanism 178 can be easily replaced, and the work time can be shortened.

Next, an 18th embodiment according to the present invention will be described.
This will be described with reference to 55 to 61. The present embodiment relates to a wheel arrangement for a full-circumferential movement, a wheel supporting method, and an upper avoidance mechanism. Regarding the configuration, except for the wheel 12 arrangement of the carriage 11 and the sandwiching mechanism 201, the first embodiment It is similar to the form.

In the dolly 11 shown in FIG. 55, the wheels 12 are arranged such that the running surface is in contact with the inner surface of the shroud upper ring 5.
The wheels 12 are arranged so that the running surface contacts the upper flange surface 6 of the shroud upper ring 5, avoiding the lug 7 fixed to the side surface of the upper shell of the shroud 4, and contacting the running surface with the outer surface of the shroud 4. The wheels 12 are arranged in this manner, a mechanism and an actuator for avoiding the upright portion 105 of the core spray line 8 are arranged, and a mechanism (not shown) for transmitting traveling power and a power An actuator (not shown) is arranged on the carriage 11.

Then, using the remote furnace working apparatus having the above-mentioned configuration, inspection of the annulus portion. Inspect, repair, preventive maintenance. When the truck 11 travels on the upper surface of the shroud 4, the method is to connect wheels to which a mechanism for transmitting traveling power is connected.
When the core spray line 8, the guide rod, the guide rod bracket and the circumferential moving carriage interfere with each other by driving the wheel 12, the wheels contacting the traveling surface on the outer side of the shroud are provided for avoiding the rising portion of the core spray line. The actuator is to avoid these interferences.

That is, as shown in FIGS. 55 and 56, the truck 11 that moves in the circumferential direction at the upper end of the shroud 4 contacts the inner surface of the shroud upper ring 5, and drives the wheel 12a whose axial direction is the vertical direction. A motor (not shown) is connected to the shaft, and a wheel 12b that contacts the flange surface 6 of the shroud upper ring 5 is provided.

Further, the wheel 12c is arranged so that the lug 7 of the shroud 4 is avoided and the cylinder piston 202 sandwiches the shroud 4 from the outside. This wheel 12c
When driven in the direction opposite to the pinching, the truck 11
The driving range is such that the wheels 12c are housed on the side.

The pinching mechanism 201 is driven by a cylinder piston 202 which is rotatably supported by a rotary joint 204a and a piston rod 205 by a rotary joint 204b. The wheel 12c is attached to the tip of the pinching mechanism 201 that shares the rotary joint 204c, and the other end is attached to the rotary joint 204c.
It is rotatably connected to the carriage 11 via b. Also,
The pinching mechanism 201 has a structure capable of avoiding the lug 7.

FIG. 55 shows the wheels 12 (12a to 12) seen from above.
It is the arrangement of c). Wheels 12c are arranged at both ends of the bogie 11, but the intervals between the mounting positions are larger than the width between the rising portions 105 of the core spray line 8.

Next, the operation of this embodiment will be described. The working method and procedure are the same as those in the first embodiment. The operation unique to the present embodiment will be described below.

In the case of this embodiment, the input / output port 203b of the cylinder piston 202 of the pinching mechanism 201 is opened,
The cylinder rod 205 is retracted by inputting to the input / output port 203a. Then, as shown in FIG. 57, the sandwiching wheels 12c are retracted, and the portion mounted on the bogie 11 by the body drive mechanism 13 is also the rising portion 105 of the core spray line 8.
Therefore, the bogie 11 can travel all around the shroud 4 without interfering with the core spray line 8.

Further, as shown in FIG. 55, since the mounting intervals of the wheels 12c are larger than the intervals of the core spray line 8, even when one wheel 12c avoids the core spray line 8, either wheel 12c is always Sandwiches shroud 4.

As another mechanism, as shown in FIGS. 58 to 61, a wheel 12c and a wheel 12d, which are rotatably connected to a sandwiching mechanism 206 by a bearing 209 and to which the shaft of a motor 208 is connected.
However, the wheel 12c is arranged so that the shroud 4 and the wheel 12d are rotated to the reactor pressure vessel 1 side, the wheel 12c is rigidly connected to the pinching mechanism 206, and the wheel 12d is provided in the linear guide 210 by the spring 211. , Always connected to be pushed out. The driving method and structure of the pinching mechanism 206 by the cylinder piston 202 are the same as those of the above mechanism.

In the case of this mechanism, when moving in the traveling direction 212 shown in FIGS. 59 and 60, the wheels 12c of the pinching mechanism 206a which interfere with the core spray line 8 from the upper body of FIG.
The rotating shaft 207 to which the wheel 12d is connected is rotated to avoid it, the input / output port 203b of the cylinder piston 202 is opened, and the input is made to the input / output port 203a.

As a result, the piston rod 205 is retracted and the storage posture shown in FIG. 58 is obtained. When the core spray line 8 is avoided, the shroud 4 is sandwiched by the sandwiching mechanism 206a, and at the same time, the wheels 12d are brought into contact with the reactor pressure vessel 1 to prevent overturning, in the reverse process.

Next, the effect of this embodiment will be described. Since it is possible to travel around the shroud 4 avoiding the upright portion 105 of the core spray line 8, there is no need to change the installation on the shroud 4 by suspending it with an auxiliary hoist 91 or the like, thus improving work efficiency. .

Since the carriage 11 has a wide structure along the arcuate shape of the upper end of the shroud 4, the range in which the center of gravity can exist is expanded and the stability during traveling is improved. Since there is no interference between the carriage 11 and the core spray line 8, the multi-stage slide mechanism
The descent position of 14 can be brought close to the core spray line 8, and the conveyance range by the truck 11 can be expanded as compared with the case where the truck 11 is limited by interference. Also, like other mechanisms, by arranging the wheels 12d,
The fall of 11 can be prevented and the traveling posture of the carriage 11 can be stabilized.

Next, a nineteenth embodiment of the present invention will be described.
A description will be given from 62 to FIG. 68. The configuration of the present embodiment will be described. In this embodiment, instead of directly installing the carriage 11 of the first embodiment as shown in FIG. 1 on the flange surface 6 of the shroud upper ring 5, a guide rail 213 is laid on the upper end of the shroud 4, and the guide rail 213 is installed. The configuration is the same as that of the first embodiment except that it is constituted by a carriage 214 that travels on a rail 213.

The bogie 11 in the first embodiment is to lay a rail on the upper part of the shroud cylinder and guide it indirectly, instead of directly guiding the upper flange surface 6 of the shroud 4 cylinder.

By using the remote furnace working device having the above-mentioned configuration,
As shown in Fig. 62, the inspection, inspection, and repair of the annulus 2 are performed.
When performing preventive maintenance, first guide rail 213
Is installed on the upper flange portion of the shroud cylinder, and the entire device is suspended from the operation floor on the flange portion of the shroud using either an overhead crane or an auxiliary hoist of the fuel exchanger.

After that, a multistage slide mechanism which is a lifting mechanism
The approach mechanism 15, the scanning mechanism 24 of the work tool 23, and the work tool 23 are lowered between the shroud 4 and the reactor pressure vessel 1, and the approach mechanism 15 is operated to move the scanning mechanism 24 toward the shroud 4. Then, the suspension height adjusting mechanism of the scanning mechanism 24 adjusts the length of the hanging wire.

The scanning tool 24 scans the work tool 23 with respect to the shroud 4 to perform the work. After the work is completed, the approach mechanism 15 retracts the shroud 4 toward the reactor pressure vessel 1, and the multistage slide mechanism 14 Of the guide rail 21.
Remove 4 and finish the work.

That is, the guide rail 213 has a ring-shaped cross section as shown in FIG. 64, and the seating surface 216 is horizontal so as to contact the flange surface 6 of the shroud upper ring 5 and the shroud upper ring. The groove 218 is machined to avoid the locating pin 217 attached to the flange surface 6 of No. 5. Further, in order to fix the shroud 4, the support legs 219 are extended from the inside of the shroud upper ring 5 toward the outside, and the cylinder pistons 220 to which the input / output ports 221 are attached are arranged at intervals of 90 degrees.

Also, as shown in FIGS. 67 and 68,
The wheel 215 of 214 is a wheel 215b in which two wheels 215a are arranged on the inner diameter surface of the guide rail 213, and a driving motor 222 is connected to the shaft at the upper end thereof, and a wheel 215b which freely rotates.
15c, a wheel 215d for sandwiching the outside is provided.

[0380] Note that the pinching wheel 215d is a rotary shaft.
The piston rod 227 of the cylinder piston 226 supported by 225a is supported by the rotary shaft 225b arranged in the linear motion part 228, and the linear motion guide 223 slides on the rail 224 to move the linear motion part 228 through the linear motion part 228. It is configured to be pressed against the guide rail 213.

Next, the operation of this embodiment will be described. In the present embodiment, first, as shown in FIG. 63, the guide rail 213 is provided with the auxiliary hoist 91 of the fuel exchanger 90.
Alternatively, by using an overhead crane (not shown), the lifting device 230
If there is a locating pin 217, the groove 218 avoids the locating pin 217 and the shroud 4
The upper end is seated so that the flange surface 6 and the seating surface 216 are in contact with each other.

Then, the input / output port 221a of the cylinder piston 220 arranged on the guide rail 213 is opened and input to the input / output port 221b, whereby the support leg 219 is extended and fixed to the inner surface of the shroud 4.

Next, the working device 10 is hung by the auxiliary hoist 91 or the overhead crane (not shown), and the
Sit on the guide rail 213 as shown in FIG. And
As shown in FIGS. 67 and 68, with respect to the guide rail 213,
The wheel 215a is in contact with the inner surface of the guide rail 213, the wheel 215c is in contact with the upper surface of the upper end, and the wheel 215b is in contact with the lower surface of the guide 213 to set the reference position.

Also, the input / output port 229b of the cylinder piston 226 is opened and input to the input / output port 229b, so that the cylinder rod 227 is pulled in, and the direct acting portion 228 is moved.
Moves linearly along the rail 224, presses the rotatable wheel 215b against the outer surface of the guide rail 213, and sandwiches the guide rail 213 between the wheel 215a and the wheel 215b to support the carriage 11.

Further, by driving the wheel 215b to which the output shaft of the motor 222 is connected, the carriage 11 moves in the circumferential direction along the guide rail 213. At this time, the body drive mechanism 13
The bogie 11 has a stroke sufficient to avoid the core spray line 8 and the bogie 11 itself can avoid the core spray line 8, so that the bobbin 11 moves all over the shroud 4. can do.

The present embodiment is applied to a plant which is not suitable for running on the flange surface 6 such as the positioning pin 217 attached to the flange surface 6 of the shroud upper ring 5. Wheels 21 suitable for guide rails 213
Since the structure and arrangement of 5 can be prepared, posture stability is improved and running accuracy is improved. As in the eighteenth embodiment, since the shroud 4 can be moved around the entire circumference without being rehung, the work efficiency is improved.

[0387]

The effects of the present invention are listed below. According to the present invention, (1) the transport, positioning, and
In the annulus portion, which is a gap between the reactor pressure vessel and the shroud, which was difficult to fix, the work tool can be transported, positioned, and fixed particularly over the entire surface of the shroud. (2) Since the worker only has to operate and monitor the device on the operation floor, the amount of radiation exposure to the worker is almost the same as the conventional periodic inspection work.

(3) Since the work tool can move in the gap between the shroud and the jet pump when the work tool is transported, it is necessary to raise it once to avoid the jet pump when moving in the circumferential direction through the jet pump. Since it does not exist, work efficiency is improved.

(4) As a work tool, a TV camera is permanently installed, and the ultrasonic flaw detection tool and the shot peening tool can be exchanged, improving the versatility of work and attaching / detaching to / from other tools. It can be applied by making the mechanism common.

(5) Shot peening cannot be carried out in the conventional apparatus due to the reaction force of the work, but the construction can be realized by fixing the suction mechanism such as the suction pad or the suction cup.

(6) By disposing the suction mechanism on the drive shaft in addition to the frame of the scanning mechanism, the scanning range can be moved without separating the chamber for collecting the particles of the shot peening tool, and the scattering of the particles can be performed. The effect of prevention and improvement of work efficiency can be obtained. Therefore, the reliability of these preventive maintenance work can be improved.

By realizing such work,
The effects of prolonging the life of the plant can be obtained by monitoring the aging deterioration of the nuclear power plant, discovering the defective part in advance, repairing the defective part and preventive maintenance of the assumed defective part. Therefore,
The present invention significantly improves the reliability of a nuclear power plant.

[Brief description of the drawings]

FIG. 1 is a bird's-eye view shown in a partial cross-section for explaining a first embodiment of a remote working device in a nuclear reactor according to the present invention.

FIG. 2 is a cross-sectional view showing a part of the dolly of the working apparatus in FIG.

FIG. 3 is a cross-sectional view showing a state in which a trolley of the work device is operated in FIG.

FIG. 4 is a vertical cross-sectional view showing a part of the entire working apparatus shown in FIG.

5 is an operation conceptual diagram of the body drive mechanism in FIG.

FIG. 6 is an operation conceptual diagram showing another first example of the body drive mechanism in FIG. 1.

7 is an operation conceptual diagram showing another second example of the body drive mechanism in FIG.

FIG. 8 is a bird's eye view showing the approach mechanism in FIG.

FIG. 9 is a bird's eye view showing another example of the approach mechanism in FIG.

FIG. 10 is a bird's-eye view showing the operating mechanism in FIG.

FIG. 11 is a cross-sectional view partially showing a side view of a state where the suction mechanism provided in the scanning mechanism in FIG. 1 is extended.

FIG. 12 is a cross-sectional view showing a partial side view of the state in which the suction mechanism arranged in the scanning mechanism in FIG. 1 is retracted.

13 is a sectional view showing another first example of the suction mechanism arranged in the scanning mechanism in FIG.

FIG. 14 is a bird's eye view showing the shot peening tool of the work tool in FIG. 1.

FIG. 15 is a cross-sectional view showing a part of a side view of a cable routing state around the scanning mechanism in FIG.

16 is a cross-sectional view showing a state in which a part of the cable in FIG. 15 is pulled up by a side surface.

17 is a top view showing a cable routing state in the approach mechanism in FIG. 1. FIG.

FIG. 18 is a top view schematically showing a cable routing state in a state where the beam is activated in FIG.

FIG. 19 is a side view partly conceptually showing a state where a thick cable is routed around the work tool in FIG. 1.

20 is a cross-sectional view showing a mechanism for feeding a thick cable in FIG.

FIG. 21 is a conceptual diagram showing a state in which the in-reactor work device in FIG. 1 is hung and conveyed by an auxiliary hoist of a fuel exchanger.

22 is a conceptual diagram showing a state in which the working device is suspended by an auxiliary hoist of the fuel exchanger in FIG. 21 and is seated on the upper end of the shroud.

FIG. 23 is a bird's-eye view showing a state in which the working device in FIG. 1 is transported and seated on the shroud.

FIG. 24 is a vertical cross-sectional view showing a state in which the working device is carried in and seated on the shroud in FIG. 23.

25 is a bird's-eye view showing a state in which the multi-stage slide mechanism of the working apparatus in FIG. 1 is extended in a partial cross section.

26 is a bird's-eye view showing a state in which the approach mechanism of the working device in FIG. 1 is changed in posture so as to face the shroud.

27 is a vertical cross-sectional view showing a part of a side view of a state where the scanning mechanism of the working apparatus in FIG. 1 is close to the shroud.

28 is a top view of the state in which the working device in FIG. 1 has passed between the jet pumps and the shroud has approached, as seen from above. FIG.

FIG. 29 is a bird's-eye view showing a state in which the working device in FIG. 1 is installed below the core spray line standing portion.

FIG. 30 is a conceptual diagram showing a state in which the work device according to the second and thirteenth embodiments of the present invention replaces the work tool or the additional mechanism at the lower end of the multistage slide mechanism in the temporary equipment pit.

FIG. 31 is a bird's-eye view showing the attachment / detachment mechanism of the work tool of the second and third embodiments of the present invention and the attachment / detachment mechanism of the addition mechanism of the thirteenth and fourteenth embodiments.

FIG. 32 is a conceptual diagram showing a state in which the work device according to the third and fourteenth embodiments of the present invention replaces the work tool at the upper end of the shroud or the additional mechanism at the lower end of the multistage slide mechanism.

FIG. 33 is a conceptual diagram showing a state in which the work device according to the fourth and fifteenth embodiments of the present invention automatically replaces the work tool or the additional mechanism at the lower end of the multistage slide mechanism in the storage rack on the operation floor.

FIG. 34 is a mechanism in which the working device in the fourth, fifth, sixth, fifteenth, sixteenth, and seventeenth embodiments of the present invention automatically replaces the working tool or the additional mechanism at the lower end of the multistage slide mechanism. Bird cage illustration.

FIG. 35 is a bird's-eye view showing a case where the work device according to the fourth embodiment of the present invention automatically replaces the work tool.

FIG. 36 is a conceptual diagram showing a state in which the work tool or the additional mechanism at the lower end of the multi-stage slide mechanism is automatically replaced by the work device in the fifth and sixteenth embodiments of the present invention.

FIG. 37 is a bird's-eye view showing a state in which the work tool is automatically exchanged by the work device in FIG. 36.

FIG. 38 is a bird's-eye view showing a state in which a work tool is automatically replaced by the work device according to the sixth embodiment of the present invention (the work tool is in a detached state).

FIG. 39 is a bird's-eye view showing a state in which the work tool is automatically replaced by the work device in FIG. 38 (the work tool is attached).

FIG. 40 is a bird's-eye view showing a work tool replacement mechanism of the work device according to the sixth embodiment of the present invention.

FIG. 41 is a bird's-eye view showing the scanning mechanism of the working apparatus according to the seventh embodiment of the invention.

FIG. 42 is a bird's-eye view showing the scanning mechanism of the working device according to the eighth embodiment of the invention.

FIG. 43 is a bird's-eye view showing the scanning mechanism of the working apparatus according to the ninth embodiment of the invention.

FIG. 44 is a bird's-eye view showing a state in which a work tool (as an additional mechanism) is attached to the lower end of the multistage slide mechanism of the work device according to the tenth embodiment of the present invention.

FIG. 45 is a bird's-eye view showing a case where a working tool as another example of an additional mechanism is attached to the lower end of the multistage slide mechanism of the working device in the tenth embodiment of the invention.

FIG. 46 is a bird's-eye view showing a state in which an upper scanning mechanism as an additional mechanism is attached to the lower end of the multistage slide mechanism of the work device according to the eleventh embodiment of the present invention.

FIG. 47 is a bird's-eye view showing an upward scanning mechanism as an additional mechanism of the working device in the eleventh and twelfth embodiments of the present invention.

FIG. 48 is a bird's-eye view showing a case where an upper approach mechanism and an upper scan mechanism as additional mechanisms of the working apparatus according to the twelfth embodiment of the present invention are mounted.

FIG. 49 is a bird's-eye view showing a state where the additional mechanism is automatically replaced in the storage rack on the operation floor at the lower end of the multistage slide mechanism of the work device according to the fifteenth embodiment of the present invention.

FIG. 50 is a front view showing a hanger arranged on a rack installed in a rack or a DS pit that stores the additional mechanism of the working device according to the fifteenth and sixteenth embodiments of the present invention.

FIG. 51 is a bird's-eye view showing a state where the additional mechanism is automatically replaced in the temporary equipment pit at the lower end of the multistage slide mechanism of the working device in the sixteenth embodiment of the present invention.

FIG. 52 is a view showing a state in which the lower end of the multistage slide mechanism of the working device according to the seventeenth embodiment of the present invention is seated on the upper end of the shroud, and the additional mechanism being automatically mounted is grasped by the exchange mechanism. The bird cage diagram shown.

FIG. 53 is a bottom view of the multistage slide mechanism of the working device according to the seventeenth embodiment of the present invention, in which the additional mechanism that is detached when the additional mechanism is automatically replaced is seated on the upper end of the shroud by the exchange mechanism. Bird cage diagram showing the condition.

FIG. 54 is a bird's-eye view showing the exchanging mechanism of the adding mechanism according to the seventeenth embodiment of the present invention.

FIG. 55 is a top view showing, in a partial cross section, almost ½ of the wheel arrangement state of the truck of the work device according to the eighteenth embodiment of the present invention.

FIG. 56 is a vertical cross-sectional view showing a pinching mechanism of a carriage of a work device according to an eighteenth embodiment of the present invention.

57 is a longitudinal sectional view showing a state where the core spray line is avoided by the sandwiching mechanism of the carriage in FIG. 56. FIG.

FIG. 58 is a vertical cross-sectional view showing a state in which the core spray line is avoided by the sandwiching mechanism of another carriage in FIG. 56.

FIG. 59 is a top view showing another arrangement state of wheels of the work device according to the eighteenth embodiment of the present invention.

FIG. 60 is a top view showing still another arrangement state of the wheels of the work device according to the eighteenth embodiment of the present invention.

FIG. 61 is a vertical cross-sectional view showing a state in which the shroud is sandwiched by another sandwiching mechanism of the working apparatus according to the eighteenth embodiment of the present invention and is projected to the reactor pressure vessel.

FIG. 62 is a bird's-eye view showing a state in which the guide rail in the working apparatus according to the nineteenth embodiment of the present invention is installed on the shroud, and the work is in progress.

FIG. 63 is a vertical cross-sectional view showing a state in which the guide rail is suspended and installed in the shroud in FIG. 62.

64 is a vertical cross-sectional view partially showing a state in which the guide rail is installed on the shroud in FIG. 63.

FIG. 65 is a bird's-eye view showing a state in which the work device is installed on the guide rail in FIG. 62.

66 is a vertical cross-sectional view showing a state in which the work device is installed on the guide rail in FIG. 63.

FIG. 67 is a vertical cross-sectional view showing a guide rail and a carriage and its surroundings of a work device according to a nineteenth embodiment of the present invention.

FIG. 68 is a top view showing a wheel arrangement state of a bogie of a work device according to a nineteenth embodiment of the present invention.

[Explanation of symbols]

1 ... Reactor pressure vessel, 2 ... Annulus part, 3 ... Jet pump, 4 ... Shroud, 5 ... Shroud upper ring,
6 ... Flange surface, 7 ... Lug, 8 ... Core spray line,
9 ... Lower shroud ring, 10 ... Working device, 11 ... Truck,
12 ... wheels, 13 ... body drive mechanism, 14 ... multi-stage slide mechanism,
15 ... approach mechanism, 16 ... cylinder piston, 17 ... joint, 18 ...
Linear motion mechanism, 19 ... Rotary shaft, 20 ... Wire winding drum, 21 ...
Wire, 22 ... Beam, 23 ... Work tool, 24 ... Scanning mechanism, 25
… Cylinder piston, 26… Mounting part, 27… Rotary shaft, 28…
Rotating shaft, 29 ... Plate material, 30 ... Wire drum, 31 ... Pulley, 32
... Wire, 33 ... Shaft, 34 ... Linear guide, 35 ... Link, 36 ... Ball screw, 37 ... Stand, 38 ... Rotation mechanism, 39 ... Joint, 40 ... Cylinder piston, 41 ... Hollow shaft, 42 ... Motor,
43 ... Timing belt, 44 ... Cable carrier, 45 ... Guide mechanism, 46 ... Frame, 47 ... Suction pad, 48 ... Spring, 49 ...
Cylinder, 50 ... Internal gear, 51 ... Guide rail, 52 ... Member,
53 ... Motor, 54 ... Gear, 55 ... Input port, 56 ... Linear motion transmission mechanism, 57 ... Stand, 58 ... Attachment, 59 ... TV camera, 60 ... Tube, 61 ... Detaching mechanism, 62 ... Suction port, 63
… Cylinder piston, 64… Pantograph mechanism, 65… Input / output port, 66… Suction mechanism, 67… Piston rod, 68… Joint, 69… Shot peening tool, 70… Bolt, 71… Nozzle, 72… Wire brush, 73… Opening part, 74 ... Stainless steel shot, 75 ... Cable, 76 ... Cable, 77 ... Cable feed mechanism, 78 ... Rotation actuator, 79 ... Crawler, 80
… Joint, 81… Pantograph mechanism, 82… Suction port, 83…
Tube, 84 ... Suction pad, 85 ... Bearing, 86 ... Member, 87 ... Rotary joint, 88 ... Linear guide, 89 ... Linear section, 90 ...
Refueling machine, 91 ... auxiliary hoist, 92 ... water supply sparger,
93 ... Control device, 94 ... Temporary equipment pit, 95 ... Fuel pool,
96 ... Reactor well, 97 ... Operation floor, 98 ... Shroud upper shell, 99 ... Riser brace, 100 ... Riser bracket, 101 ... Trajectory, 102 ... Propulsion device, 103 ... Motor, 104 ... Guide rod bracket, 105 ... Standing part ,
106 ... Gripping mechanism, 107 ... Guide roller, 108 ... Timing belt, 109 ... Wel platform, 110 ... Stand,
111 ... Operation pole, 112 ... Worker, 113 ... Groove, 114 ... Tapered shape, 115 ... Torsion spring, 116 ... Rotating joint, 117 ... Serpentine tube, 118 ... Wire, 119 ... Hook, 120 ... Claw, 121 ... V
Character shape, 122… Detachment mechanism, 123… Wire fixing part, 124…
Stop pin, 125… Automatic attachment / detachment mechanism, 126… Cylinder piston, 127… Rod, 128… Cradle, 129… Rotary shaft, 130…
I / O port, 131… Storage rack, 132… Pedestal, 133…
Rails, 134 ... Stand, 135 ... Exchange mechanism, 136 ... Rotation drive shaft, 137 ... Gripping mechanism, 138 ... Operation pole, 139 ... Claws, 14
0 ... Cylinder piston, 141 ... Input / output port, 142 ... Rotating shaft, 143 ... Guide rail, 144 ... Slider, 145 ...
Saucer, 146 ... scanning mechanism, 147 ... driving shaft, 148 ... scanning mechanism, 149 ... welding line, 150 ... scanning mechanism, 151 ... detachment mechanism,
152 ... Guide wheels, 153 ... Shroud middle body, 154 ...
Shroud upper body, 155 ... Work tool, 156 ... Pressing mechanism, 157 ... Pantograph mechanism, 158 ... Cylinder piston, 159 ... Rotating shaft, 160 ... Upper scanning mechanism, 161 ... Frame, 162 ... Internal gear, 163 ... Guide rail, 164 ... Guide wheel, 165 ... Member, 166 ... Motor, 167 ... Shaft, 168 ...
Motor, 169 ... Linear motion transmission mechanism, 170 ... Work tool, 171 ...
Table, 172 ... Attachment / detachment mechanism, 173 ... Drive shaft, 174 ... Gear, 175
… Ball screw, 176… Upward approach mechanism, 177… Pantograph mechanism, 178… Addition mechanism, 179… Hanger, 180…
Groove, 181 ... Protrusion, 182 ... Automatic attachment / detachment mechanism, 183 ... Exchange mechanism, 184 ... Mounting portion, 185 ... Linear motion transmission mechanism, 186 ... Stand,
187 ... Rotary joint, 188 ... Gripper, 189 ... Arm, 190
… Motor, 191… Cylinder piston, 192… I / O port, 193… Groove, 194… Linear motion guide, 195… Rotary joint, 19
6 ... Pawl, 197 ... Scan pole, 198 ... Link, 199 ... Motor, 200 ... Hook, 201 ... Clamping mechanism, 202 ... Cylinder piston, 203 ... Input / output port, 204 ... Rotary joint, 20
5 ... Piston rod, 206 ... Entrapment mechanism, 207 ... Rotating shaft, 208 ... Motor, 209 ... Bearing, 210 ... Linear guide, 211 ... Spring, 212 ... Direction of travel, 213 ... Guide rail, 214 ... Bogie, 215 ... Wheel , 216 ... Seating surface, 217 ... Positioning pin, 218 ... Groove, 219 ... Support leg, 220 ... Cylinder piston, 221 ... Input / output port, 222 ... Motor, 223 ...
Linear motion guide, 224 ... Rail, 225 ... Rotating shaft, 226 ... Cylinder piston, 227 ... Piston rod, 228 ... Linear motion part,
229 ... I / O port, 230 ... Lifting equipment, 231 ... Casing.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Katsuhiko Sato 8 Shinsita-cho, Isogo-ku, Yokohama-shi, Kanagawa Inside the Yokohama Works of Toshiba Corporation (72) Inventor Junichi Takabayashi 2-4, Suehiro-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Inside Toshiba Keihin Office (72) Inventor Yoshio Hamamoto 2-4 Suehiro-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Inside Toshiba Keihin Office

Claims (22)

[Claims] 1. An inner surface of a reactor pressure vessel, an outer surface of a shroud installed in the reactor pressure vessel, or an annulus portion formed between the outer surface of the shroud and the inner surface of the reactor pressure vessel. In a remote reactor internal work device for remotely inspecting or repairing in-reactor structures, equipment, etc., a bogie running in the circumferential direction above the shroud, a position adjusting mechanism arranged on the bogie, and An in-reactor remote working device comprising: an elevating mechanism for attaching and lowering a work tool to an annulus portion; a scanning mechanism for the work tool; and an approach mechanism for bringing the scanning mechanism closer to the shroud. 2. The position adjusting mechanism is configured to drive devices mounted on the carriage, and the elevating mechanism has a multi-stage member that slides up and down to wind a wire attached to a member at a tip end. A multi-stage slide mechanism having a device, the work tool includes various work devices such as a shot peening device for surface modification and an ultrasonic flaw detection device, and the scanning mechanism has a shape adapted to the cylindrical curved surface of the shroud. Formed in the direction of the shroud,
A frame in which a propulsion device for pressing is disposed, a plate for driving the shroud in the circumferential direction or the vertical direction via a gear device to the frame, an actuator for driving the plate, and an in-plane along the shroud surface. The plate is configured to include a table for driving in a direction orthogonal to the driving direction of the plate and an actuator for driving the table. The approaching mechanism is provided at a tip end portion of the multi-stage slide mechanism, and the height adjusting wire of the scanning mechanism is provided. 2. A rotating mechanism for rotating a beam passing through one end about a vertical axis, a linear moving mechanism for linear movement, and a link mechanism for rotating the shroud in the radial direction with the circumferential direction as the rotation axis. The remote work device in the nuclear reactor described. 3. The remote working device in a nuclear reactor according to claim 1, wherein a detachable suction mechanism that can be fixed to the shroud is arranged on a frame of the scanning mechanism. 4. The plate of the scanning mechanism is provided with a suction device that moves toward the outer surface of the shroud and can fix a frame to the shroud.
The remote work device in the nuclear reactor described. 5. The remote work device in a nuclear reactor according to claim 1, wherein a plurality of suction mechanisms fixed to the shroud are arranged on the base of the scanning mechanism. 6. The work tool comprises a brush-shaped chamber for preventing leakage of powder particles, which is arranged around a construction surface, a nozzle for discharging powder particles, and a pump for discharging powder particles. 2. The remote work device in a nuclear reactor according to claim 1, wherein the pumps for recovery, the tubes connected to these pumps each comprise a nozzle for ejecting powder particles, and a shot peening device connected to the recovery chamber. . 7. The work tool and the scanning mechanism for the work tool are scanned by the work tool at the tip of the elevating mechanism arranged via a position adjusting mechanism of a trolley-mounted portion mounted on the trolley. A mechanism and an approach mechanism for changing the posture of the work tool so as to follow the outer surface of the shroud and for approaching the work tool to the shroud are provided, and the approach mechanism includes a scanning mechanism for the work tool at the tip. The remote work device in a nuclear reactor according to claim 1, which is provided. 8. The bogie includes a wheel whose traveling surface contacts the inner surface of the shroud upper ring, a wheel whose traveling surface contacts the upper flange surface of the shroud upper ring, and a lug fixed to a side surface of the shroud upper body. A wheel, the traveling surface of which is in contact with the outer surface of the shroud, is provided with a mechanism and an actuator that avoids an upright portion of the core spray line, and a mechanism and a power actuator that transmit traveling power to at least one of the wheels. The remote work device in a nuclear reactor according to claim 1, wherein the remote work device is provided. 9. The carriage is provided with an in-horizontal plane positioning mechanism such that a traveling surface is in contact with an inner surface of the reactor pressure vessel, or a mechanism for avoiding a core spray line by separating from the reactor pressure vessel. The remote work device in a nuclear reactor according to claim 1, wherein 10. A control signal and one end of a cable such as a power line and a fluid tube are connected to the operation mechanism, and the cable length is adjusted according to the ascending / descending portion of the scanning mechanism so that the cable is not excessive. The remote work device in a nuclear reactor according to claim 1, wherein 11. A work tool is a shot peening device or an ultrasonic flaw detector, which is detachable from the traveling mechanism,
The remote work device in a nuclear reactor according to claim 1, wherein a television camera is arranged in the vicinity of these devices. 12. The in-reactor remote control device according to claim 1, wherein a guide rail is laid on an upper portion of the shroud cylinder. 13. A work method for inspecting, inspecting, repairing, and preventive maintenance of an annulus portion formed between a reactor pressure vessel and a shroud installed in the reactor pressure vessel. A bogie that travels in the circumferential direction, a position adjusting mechanism arranged on the bogie, and an elevating mechanism that attaches and lowers a work tool to the annulus portion,
A remote working device in a nuclear reactor having a scanning mechanism for the working tool and an approaching mechanism for bringing the scanning mechanism closer to the shroud is provided with the shroud from an operation floor, an overhead crane, or an auxiliary hoist of a refueling machine. Installed on the flange portion of the carriage, the lowering position of the elevating mechanism is adjusted by the position adjusting mechanism on the carriage, and then the approaching mechanism, the hanging height adjusting mechanism, and the working tool scanning mechanism by the elevating mechanism. And lowering the work tool between the shroud and the reactor pressure vessel, actuating the approaching mechanism to move the scanning mechanism and the working tool closer to the shroud, and the scanning mechanism moves the working tool against the shroud. After the work is completed by scanning, the scanning mechanism and the work tool are moved by the approach mechanism by the approach mechanism. Remote work inside the reactor characterized by retracting from the loudspeaker toward the reactor pressure vessel, pulling up the lifting mechanism, returning to the initial installation state, and then pulling up the remote unit inside the reactor on the operation floor. Method. 14. A method of approaching the scanning mechanism of the work tool and the shroud of the work tool, and a method of scanning the work tool, wherein the approach mechanism, the scanning mechanism, and the work tool are moved by the multistage slide mechanism of the elevating mechanism. And the reactor pressure vessel, the link mechanism of the approach mechanism is operated to drive the multistage slide mechanism in the shroud direction to fix the posture, and the scanning mechanism and the work tool are jet pumped. The two jets are hung by the wire of the position adjusting mechanism so as to be positioned at a height between the riser race and the riser bracket, and the multistage slide mechanism and the rotating mechanism are linked to the traveling of the carriage in the circumferential direction. The scanning mechanism passes between the pumps to approach the shroud for further work by the position adjustment mechanism. Position with wire to the site height,
After contacting the shroud with a propulsion device provided in the scanning mechanism, positioning and scanning the work tool by the scanning mechanism in the vertical direction and the shroud circumferential direction, after the work at the suction site is completed, the next work After winding up and down the wire to the site and positioning the height and direction of the shroud to be worked by the trolley, approaching the shroud with the propulsion device, repeating the work process, and after a series of work is completed , The scanning mechanism is retracted from the position between the height of the riser race and the riser bracket to the reactor pressure vessel from the shroud between the jet pumps by interlocking the approach mechanism and the carriage, 14. The remote working method in a nuclear reactor according to claim 13, wherein the mechanism is pulled up. 15. The method of scanning a work tool according to claim 1, wherein the work tool scanning mechanism and the work tool approach a shroud, further position the work site with a wire of the position adjusting mechanism, and contact the shroud with the propulsion device. After that, a plurality of suction mechanisms arranged on the frame of the scanning mechanism are suction-fixed to the shroud, and the scanning mechanism positions and scans the work tool in the vertical direction of the shroud or the shroud circumferential direction. After the work in the above is completed, the suction fixing of the suction mechanism is released, and the work height and direction are determined by hoisting and unwinding the wire of the position adjusting mechanism to the next work site and traveling of the carriage, and then the propulsion is performed. 14. The remote operation in a nuclear reactor according to claim 13, characterized in that the process of approaching the shroud with a device, adsorbing and fixing the shroud, and repeating the work is repeated. Law. 16. A plurality of suction mechanisms arranged on the frame are pressed and fixed to the outer surface of the shroud by suction, the suction fixing of the suction mechanism is released, and the frame is driven to the next work site by a driving mechanism of the frame of the scanning mechanism. The whole is moved, the wire is wound up and down, the bogie is moved, the bogie follows while adjusting the wire length of the position adjustment mechanism,
Next, after the suction mechanism is brought into close contact with the shroud and fixed by suction, the suction fixing of the suction mechanism is released, and the process of scanning the working process is repeated to perform continuous work. Remote operation method in nuclear reactor. 17. A suction mechanism arranged on the base of the scanning mechanism is pressed against the outer surface of the shroud to be fixed by suction, and the suction fixing by the suction mechanism arranged on the frame is released, and the frame or the next working portion is reached. A mechanism for driving the platform moves the entire frame, winds and lowers the wire of the position adjusting mechanism, moves the truck, and causes the truck to follow while adjusting the length of the wire. Make the suction mechanism of the frame stick to the shroud,
14. After the adsorption and fixation, the adsorption and fixation of the adsorption mechanism of the table is released, the work tool is scanned, this process is repeated, and continuous operation is performed, wherein the remote operation method in the nuclear reactor according to claim 13. . 18. The wire is made to be excessive in a shroud direction where equipment and the wire interfere with each other, such as adjusting the length of the wire during movement of the suction mechanism of the scanning mechanism and around the upright portion of a guide rod or core spray line. 14. The scanning mechanism and the work tool are moved in the circumferential direction by the holding force of the suction mechanism to perform work, and the wire is not excessive during construction of the shroud orientation in which the wire does not interfere. Remote operation method in nuclear reactor. 19. In a preventive maintenance work for surface modification of the shroud, a shot peening device is used as a work tool, and when the shot peening device is scanned, the shot peening device is arranged on the suction mechanism arranged on the frame or the table. After the adsorption mechanism is pressed against the outer surface of the shroud to adsorb the shroud, the shot peening device is pressed against the outer surface of the shroud and the powder recovery pump is operated regardless of the time when the frame is moved to the next work target site. 14. The remote operation method in a nuclear reactor according to claim 13, wherein the continuous operation is performed. 20. An attachment / detachment device is provided at the tip of the elevating mechanism so that the work tool side of the tip can be attached to and detached from the elevating mechanism, and the elevating mechanism is lifted upward depending on the work site to raise the upper surface of the shroud. 14. The remote working method in a nuclear reactor according to claim 13, wherein the work tool side is replaced from the attaching / detaching part of the lifting mechanism while being held in the vicinity. 21. When a bogie travels on the upper surface of the shroud, a wheel to which a mechanism for transmitting traveling power is connected is driven to interfere with the core spray line, the guide rod, the guide rod bracket and the circumferential moving bogie. 14. The remote working method in a nuclear reactor according to claim 13, characterized in that a wheel having a traveling surface in contact with the outside of the shroud is used to avoid these interfering substances by a mechanism and an actuator for avoiding an upright portion of the core spray line. 22. In the method of inspecting, inspecting, repairing, and preventive maintenance of the annulus portion, first, a guide rail is installed on an upper flange portion of a shroud cylinder, and the remote in-core working device is installed on an operation floor from an overhead crane. , Suspended from the flange portion of the shroud using any one of the auxiliary hoists of the refueling machine, and then the approach mechanism, the scanning mechanism of the work tool, and the work tool are mounted on the shroud and the reactor by the multistage slide mechanism. Down to the annulus part with the pressure vessel, actuating the approaching mechanism to bring the scanning mechanism closer in the direction of the shroud,
The length adjusting wire is adjusted by the position adjusting mechanism, the working tool is scanned by the scanning mechanism with respect to the shroud, and after the work is completed, the approach mechanism is used to move the reactor pressure from the shroud to the reactor pressure. 14. The nuclear reactor according to claim 13, wherein the operation is completed by retracting in the direction of the container, pulling up the multistage slide mechanism to pull up the remote in-core working device on the operation floor, and removing the guide rail. Remote work method.