JPH09211182A - Device and method for remote-control work in reactor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently carry out by remote control the inspection, repair and preventive maintenance for a shroud and in-vessel structures, such as a jet pump, placed in an annular part between a reactor pressure vessel and the shroud. SOLUTION: A remote-control work device uses as a guide an upper flange face of a shroud 2 placed in a reactor pressure vessel 1 and has a working cart 11 running in the upper part of the shroud 2. The cart 11 is equipped with a position adjusting arm 13, where working tools 14 are installed. Moreover, the cart 11 is equipped with an arm mounting/removing part 17 which classifies and installs a dividing mechanism part of the position adjusting arm 13. A working tool mounting/removing part is provided to separated the working tools 14 from the position adjusting arm 13 and installed the former on the latter. Additionally, a controller is provided to control the working cart 11, the position adjusting arm 13, the arm mounting/removing part 17 and the working tool mounting/removing part. The working cart 11 has a freely rotatable prop 76 fitted into a central grid of an upper grid plate 7.

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 light water reactor including a reactor inner wall, a shroud shell outer wall, and a baffle plate (this space is hereinafter referred to as an annulus portion). Inspection to ensure the soundness of goods
The present invention relates to a remote furnace working device and a working method for performing repair, preventive maintenance, or replacement and replacement work.

[0002]

2. Description of the Related Art Conventionally, in a light water reactor, in order to secure the soundness of the welded portion in the reactor pressure vessel, an underwater television camera is attached to the end of the mast or the long rod, and the mast or the long rod is attached to the reactor. It is operated from the floor and inserted into the reactor pressure vessel, and the underwater television camera is moved inside the reactor pressure vessel to bring it close to the welded part, and the welded state and its deteriorated 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 between the reactor pressure vessel and the shroud is
The environment is extremely narrow and has poor visibility from above. At the same time, the jet pump, instrumentation pipe, and the like become obstacles inside, and it is necessary to have a function of avoiding obstacles in the reactor pressure vessel in order to approach the weld to be inspected. For this reason, the inspection, repair, and preventive maintenance work on the annulus portion with a conventional simple mast or a long rod is a very difficult task.

The present invention has been made in order to solve the above problems, and efficiently and smoothly transfers to a welded portion of a reactor internal structure installed in a space defined by the reactor inner wall, the shroud barrel outer wall, and the baffle plate. Various work tools for inspection / repair, etc. can be made accessible, and all the work of the relevant part that was conventionally developed and used for each work can be performed by one remote work system, thus improving work efficiency. It is an object of the present invention to provide a remote in-reactor working apparatus and a working method therefor, which can improve and access to a work site that cannot be approached in the past and can reduce costs.

[0006]

According to a first aspect of the present invention, there is provided a remote in-reactor working apparatus which is fixed to a lattice of an upper lattice plate of a shroud and which freely rotates around a central axis of a shroud cylinder and an upper flange of a shroud cylinder. A trolley that is configured by a drive unit that travels above the shroud barrel using the surface as a guide, and that travels along the arc shape of the shroud around the center of the shroud. Between the core spray piping, reactor pressure vessel, shroud, jet pump, and other internal structures, work tools are positioned, and a part of the mechanical structure allows remote operation inside the reactor or on the operation floor. A position adjustment arm that can be separated and installed, and whose mechanism configuration changes according to the construction site, and a detachable part that separates and installs the split mechanism part of this position adjustment arm. A work tool connected to the position adjusting arm, a detaching unit for separating and mounting the position adjusting arm and the work tool, and a control device for commonly controlling deformation and work change. Is characterized by.

According to the first aspect, it is installed on the inner surface and the bottom surface of the reactor wall, the outer surface of the shroud which is a structure installed inside the reactor vessel, or the annulus portion which is a portion between the reactor vessel and the outer side of the shroud. It is possible to remotely inspect and repair the internal structures and equipment such as jet pumps that are used.

A working method corresponding to claim 13 in which the annulus portion is inspected, inspected, repaired, and preventive maintenance is performed by using the remote furnace working device according to claim 1, is carried out in the following procedure. First of all, from the operation floor of the trolley, use either the overhead crane or the auxiliary hoist of the refueling machine,
A dolly part separated by an attachment / detachment part provided inside the mechanism or a connection part of the position adjustment arm with the dolly, or a dolly partly provided with the position adjustment arm is suspended on the flange part of the shroud.

Next, the bearing portion is inserted into the lattice of the upper lattice plate so that the center of rotation of the bogie is concentric with the shroud, the wheel is seated on the flange surface of the shroud upper ring, and the bearing portion is attached to the upper lattice plate. And then mount the trolley on the shroud.

After that, a work tool is attached by an adjustment stand temporarily placed on the operation floor or the upper part of the reactor well or a simulated carriage on the adjustment stand, and the function confirmation and work confirmation test of the position adjustment arm and the work tool are carried out. .

Next, the position adjustment arm for which the confirmation test has been completed is hung on the dolly by an overhead crane, an auxiliary hoist of a fuel exchange machine, or the like, and remotely mounted on the dolly by a mechanism attaching / detaching part of the position adjusting arm. Then, the work tool is positioned with respect to the work target portion by traveling by the dolly and the operation of the position adjusting arm, and the work is performed by the work tool.

When the work is completed and the position adjusting arm and the work tool are to be taken out of the furnace, the posture of the position adjusting arm is changed so that the mechanism attaching / detaching part of the position adjusting arm is remotely separated in the furnace. Then, the position adjusting arm and the dolly are carried out of the furnace in this order, and the position adjusting arm and the trolley are installed on the simulated dolly on the adjusting pedestal or on the adjusting pedestal.

A remote furnace working apparatus according to claim 2 is
The work tool attached to the tip of the position adjusting arm according to claim 1 is replaced. The work tools to be replaced include a TV camera, an ultrasonic flaw detector, a shot peening device for surface modification of materials, and a suction nozzle for cleaning. These work tools can be attached and detached at the tip of the position adjustment arm. Separate the attachment / detachment part of the position adjustment arm from the trolley part, pull up the position adjustment arm on the operation floor, and replace it after decontamination. To be done.

According to a third aspect of the present invention, there is provided a remote in-reactor working apparatus comprising at least two position adjusting arms, a work tool, a trolley mounted on a shroud, and a trolley on an adjustment frame. In parallel with performing the work inside the furnace with the position adjustment arm mounted on the trolley installed on the shroud,
Adjustment on the operation floor Using the position adjustment arm and work tool mounted on the trolley on the pedestal, adjustment and operation confirmation of the next work in the furnace and work confirmation test were performed, and the position adjustment arm that performed work in the furnace After removing the position adjustment arm, the confirmation tool was mounted on the trolley on the shroud, the work inside the furnace was performed, and at the same time, the position adjustment arm was decontaminated, adjusted, and set up. Can perform rearrangement work.

A remote in-core working device according to a fourth aspect is
A means for sharing a position adjusting arm for which a function confirmation test has been performed on the operation floor according to claim 3 and a control device for exchanging the taken out position adjusting arm after finishing the work in the furnace. is there. Even if the mechanism is rearranged, the controller, which is the control device, can be controlled as one device each, so that the relay box provided with the contact signal of the driver circuit of the motor for driving the carriage and the limit switch is provided between the controller and the controller. Then, change the connection. As a result, it becomes possible to control with a controller with a common specification by combining any trolley and position adjustment arm, each with one controller as the head, and also with the cable sandwiching the relay box, the controller side is within the low level management area. Can be placed in.

A remote furnace working apparatus according to claim 5 is
According to the structure of claim 1, the structure is applied between the reactor pressure vessel and the shroud, particularly in a site where interference with the jet pump is assumed.

That is, the shroud upper lattice plate is provided with a bearing portion which is fixed to the lattice of the shroud upper lattice plate and which freely rotates around the center of the shroud, and a drive portion which travels on the upper portion of the shroud barrel using the upper flange surface of the shroud barrel as a guide. A traveling carriage that travels along an arc shape around the shroud center in an arcuate trajectory, a position adjusting arm disposed on the traveling carriage, and a front-rear drive unit that operates in the radial direction of the shroud, and a drive unit of the front-rear drive unit. Tilt driving means which is disposed and swings about the circumferential direction of the shroud, insertion driving means which is disposed on the tilt driving means, and which moves linearly in the vertical direction according to the operating angle of the tilt driving means, and the insertion driving means. A multi-stage mast which is disposed in the drive section of the means and expands and contracts below the annulus section; and the multi-stage mast and the insertion drive means. An attachment / detachment part for separating / connecting, an approach drive means arranged below the multi-stage mast to bring the work tool closer to the shroud direction between the jet pumps, and an approach drive means arranged on the approach drive means, usually by a fixing means. A deployment means that is fixed and that freely slides along the arcuate shape of the outer wall of the shroud, a scanning drive means that is disposed ahead of this deployment means and that operates a work tool along the outer wall shape of the shroud, and this scanning. A suction leg drive means for directing a suction surface in the normal direction of the outer wall of the shroud to each member that is driven relatively by the drive means, and a suction leg drive means for approaching and avoiding the suction means in the shroud direction; The attachment / detachment portion is provided in the means, and the work tool is provided in the scanning drive means of these position adjusting arms.

The work method corresponding to claim 14 for inspecting, inspecting, repairing, and preventive maintenance of the annulus portion using the remote furnace working device according to claim 5 is performed in the following procedure, and in a narrow space. Can efficiently position the work tool at the work target portion.

First, the circumferential direction of the shroud is positioned between the jet pumps by the carriage. The retracted multistage mast is positioned between the reactor pressure vessel and the shroud while avoiding interference with the core spray line by driving the front-rear driving means of the position adjusting arm, the tilt shaft, and the suspension shaft.

The work tool is extended downward by a multistage mast, the work tool is moved below the annulus portion, and the approach drive means passes between the jet pumps to bring the scan drive means and the work tool closer to each other in the direction of the shroud to contact the shroud. Let

The suction means of the suction leg mechanism of the member to which the developing means of the scanning drive means is attached is extended and sucked onto the shroud. Up and down the shroud by scanning drive means,
Position and scan the work tool in the circumferential direction. When the work at the suction portion is completed, the suction means arranged on the driving member of the scanning drive means is pressed against the shroud and fixed by suction.

The suction of the member to which the developing means of the scanning drive means is attached is stopped and the member is separated from the shroud. When the entire scanning drive means is moved to the next work site, the expanding means follows the sliding movement accordingly. Again, the suction leg mechanism of the member to which the expanding means of the scanning drive means is attached is brought close to the shroud and sucked.

By repeating the above operation of the scanning drive means, it is possible to change the work place and scan the work tool by suction walking. Moreover, since the shroud can be moved around the entire circumference by the structure of this carriage and the surface area of the carriage is large, the mounting layout of various devices such as a pump becomes easy.

A remote furnace working method according to claim 15 is:
The present invention relates to a method for returning the origin of a bogie for rehabilitating the present position of the bogie on the shroud. That is, it is composed of a wheel that is displaced on the shroud lug due to riding, a limit switch that detects the displacement due to riding, and a mechanism that guides the displacement during riding. Wheels for lag detection are provided on the trolley, which are provided with elastic supports and switch contacts so that the switch is turned on and off when the trolley travels and the wheels run on and off the shroud lug. The on / off signal of this switch is used to calibrate the current position of the truck. That is, the traveling position can be corrected by inputting the shroud azimuth for lug design into the controller in accordance with the switch on / off signal.

The traveling position can also be corrected by disposing a sensor for detecting the absolute azimuth of the traveling azimuth of the trolley on the pillar fixed to the upper lattice plate of the trolley of claim 1. Furthermore, by installing these two types of means together, even if either of the detecting means loses its current position due to a malfunction, it is possible to mutually configure them.

The remote in-core working device according to claim 6 is
The present invention relates to a cable processing means connected to a trolley with a cable connection hardware configuration to the trolley. Cables such as control signal lines, power lines, and fluid tubes connected to the bogie are collectively routed above the reactor well on the bogie near the shroud center when the bogie is installed, and the floats are attached within the submerged range of the cable. Especially.

According to this structure, the cable is prevented from diffusing, and the position of the starting point of the cable becomes constant with respect to the traveling of the carriage. In addition, by attaching the float, the cable is always routed over the reactor well at the shortest distance, and these can secure a wide view of the inside of the reactor from the operation floor or the fuel exchanger.

The remote in-core working device according to claim 7 is
This is a configuration of a work tool for performing shot peening construction for modifying the stress state on the material surface as a type of work in a furnace.
That is, a nozzle for spraying the powder particles to the shroud, a mesh chamber arranged to cover the nozzle, a position adjusting arm, and a head formed of these nozzles and the chamber, It is composed of a pressing mechanism that presses against the shroud, a pump and a tube for conveying powder particles, and a pump and a tube for collecting powder particles.

When performing shot peening with this work tool, the powder particles should be ejected from the nozzle after pressing the chamber, and the powder particles ejected in the chamber while colliding the powder particles with the shroud. You can

According to a sixteenth aspect of the present invention, there is provided a remote in-reactor working apparatus method, wherein a tip of a position adjusting arm of the remote in-reactor working apparatus when interference with the jet pump according to the fifth aspect is assumed,
A method of performing shot peening, which is a modification of a stress state on a surface of a shroud, by mounting the shot peening head according to claim 7.

When the scanning drive means is sucked and the shot peening head, which is a work tool, is scanned, the scanning drive means attached to the shroud is mounted on the drive member of the scan drive means after the scanning within a workable range is completed. The adsorbing means thus obtained is pressed against the outer surface of the shroud for adsorption.

Even while moving the member to which the expanding means of the scanning driving means is attached to the next work target portion, the shot peening head is constantly pressed against the outer surface of the shroud, the powder recovery pump is operated, and continuous work is performed. Since the shot peening head can be constantly pressed against, the leakage of powder particles can be reduced.

A remote furnace working device according to claim 8 is:
It is a remote drive device when it is applied to the annulus portion between the reactor pressure vessel and the shroud, particularly where there is no interference with the jet pump.

According to an eighth aspect of the present invention, there is provided a remote in-reactor working apparatus having a trolley that travels on a shroud in a circumferential direction, a front-rear drive unit that operates in a radial direction of the shroud, and a drive unit of the front-rear drive unit. A tilt drive means for swinging about the shroud in the circumferential direction of the shroud; an insertion drive means disposed in the tilt drive means for linearly inserting the tip end portion of the work tool attached to the annulus portion; The position adjusting arm, which is composed of an operating member according to (4), and an attaching / detaching portion arranged between the tilt driving means, and a work tool attached to the tip of the position adjusting arm.

A working method corresponding to claim 17 in which the annulus portion is inspected, inspected, repaired, and preventive maintenance is performed by using the remote furnace working device according to claim 8. First, the position adjusting arm is hung on the trolley installed on the shroud and given the current position, and attached by the attaching / detaching part.

The carriage is positioned in the circumferential direction, and the position adjusting arm can position and press the work tool against the outer wall of the shroud. The work tool can be scanned by pressing the work tool and then running the insertion drive shaft or the carriage.

A remote furnace working device according to claim 9 is:
A trolley that travels in the circumferential direction on the shroud, a front-rear drive unit that operates in the radial direction of the shroud, a tilt drive unit that is disposed in the drive unit of the front-rear drive unit, and that swings with the circumferential direction of the shroud as a rotation axis. It is arranged on the tilt drive means,
Insertion drive means that can insert the tip portion directly into the annulus portion, a self-propelled vehicle that travels by itself with wheels protruding between the shroud and the reactor pressure vessel, and is arranged between the insertion drive means and the self-propelled vehicle. Adjustable guide, a position adjusting arm composed of an operating member by front-rear driving means and an attaching / detaching portion arranged between the tilt driving means, and a self-propelled person so that the outer surface of the shroud comes into contact with the work surface via a spring. It is composed of a work tool arranged.

A working method for inspecting, inspecting, repairing, and preventive maintenance of an annulus portion using the remote furnace working apparatus according to claim 9 is to adjust the position on a trolley provided on the shroud and given a current position. Suspend the arm and attach it at the detachable part. The carriage is positioned in the circumferential direction, and the position adjusting arm inserts the self-propelled scanning means into the annulus portion.

Next, the wheels of the self-propelled scanning means are stretched between the shroud and the reactor pressure vessel, and the self-propelled scanning means is made to travel with the work tool being pressed against the outer surface of the shroud. At this time, the free guide follows the movement of the self-propelled scanning means. In this way, the work tool can be positioned, pressed, and scanned by the outer wall of the shroud by the self-propelled scanning means.

The remote furnace working device according to claim 10 is:
As a traveling means on the shroud having the structure of claim 1, the present invention relates to rail laying in which rails are laid in advance before installing the trolley on the shroud, and rails laid on the shroud and trolleys traveling on the rails. And a position adjusting arm and a work tool mounted on this trolley.

A work method corresponding to claim 18 for inspecting, inspecting, repairing, and preventive maintenance of the outer wall of the shroud from the annulus portion using the remote furnace working apparatus according to claim 10 is as follows.

First, the rail is assembled on the operation floor, and the rail is laid by suspending the rail on the shroud by using an overhead crane or an auxiliary hoist of a refueling machine. Next, suspend the trolley using an overhead crane or refueling machine auxiliary hoist, and install it on the rail.
Get the current traveling position of the trolley.

After that, the combination of the position adjusting arm and the work tool is hung on the trolley using the overhead crane or the auxiliary hoist of the refueling machine, and attached to the attaching / detaching part. Next, the work tool is positioned, pressed, and scanned at the work location by the carriage travel and position adjustment arm.
Do the work.

After the work is completed, the position adjusting arm is returned to the posture at the time of suspension, the attachment / detachment part of the position adjusting arm is separated, and the position adjusting arm, the carriage, and the rail are taken out from the furnace in this order for decontamination and curing. To do.

By laying the rails, it becomes possible to apply to the plant in which the position adjusting pins are mounted on the shroud, and it becomes unnecessary to adjust the weight balance on the carriage. Since the space in the core can be opened, the possibility of interference with other in-core work is reduced, and the shroud can be moved around 360 degrees.

A remote furnace working device according to claim 11 is
The wheels are arranged via the pressing drive means so that the running surface is in contact with the inner surface of the shroud upper ring, the wheels are arranged so that the running surface is in contact with the upper flange surface of the shroud upper ring, and the wheels are provided on the side surfaces of the shroud upper body. Wheels are provided through pressing means so that the traveling surface is in contact with the outer surface of the shroud while avoiding the attached lugs, and wheels are provided through pressing means so as to be in contact with the reactor pressure vessel. A position adjusting arm that can be attached to and detached from the trolley via a detachable section, and a work tool attached to the position adjusting arm.

When installing the trolley on the shroud,
First, hang it with an overhead crane or an auxiliary hoist of a refueling machine, and contact the shroud flange with the wheels for sending the paper while the shroud is sandwiched.

Next, after the wheels that contact the inner surface of the shroud and the outer surface of the shroud are overhanging, the wheels that contact the reactor pressure vessel are overhanging to complete the installation of the bogie on the shroud. In this case, the driving force of each pressing means is set by calculating the variation range of the weight balance which is assumed in advance. Then, the work tool is positioned and pressed by the position adjusting arm to perform the work.

Compared with the configurations and methods of claims 10 and 18, the present configuration and method do not require rail laying, and have the merit that a work place and a work process therefor are unnecessary. In comparison, the size of the trolley can be made compact and the space in the core can be opened,
The possibility of interference with other work inside the furnace can be reduced.

A remote furnace working device according to claim 12 is:
The trolley according to claim 5, a position adjusting arm attached to an attaching / detaching portion on the front-rear drive means operating in the shroud radial direction on the trolley, and a work tool. The position adjusting arm according to the present invention includes a swivel driving unit that swivels about a vertical axis, a lift drive unit that is rotated by the swivel drive unit and expands and contracts vertically downward, and is disposed at the lower end of the lift drive unit. The positioning drive means is composed of active drive means of one or more axes, and the attachment / detachment portion is provided at the tip of the swing drive means for mounting the work tool.

As the work tool, an ultrasonic flaw detector, a television camera, an electric discharge machine, a shot peening head, etc. for inspection, repair and preventive maintenance work can be replaced according to the work.

When performing work using the remote furnace working apparatus of this configuration, first, the carriage and the front-rear driving means are positioned on the grid of the upper grid plate into which the lifting driving means is inserted, and the lifting driving means is lowered. The work drive tool is positioned on the work target portion by the positioning drive means, and work is performed by the work tool thus positioned.

According to this configuration, the CRD below the reactor vessel
Lower part of the reactor pressure vessel including the shroud, such as the stub tube and the weld line of the reactor bottom, mainly the bottom of the reactor pressure vessel, the shroud support leg that supports the shroud inside the reactor pressure vessel, the inner wall of the shroud support cylinder, etc. It is also possible to inspect, repair, and preventive maintenance of the internal furnace structure inside the shroud.

[0054]

BEST MODE FOR CARRYING OUT THE INVENTION

(First Embodiment) A first embodiment of a remote furnace working apparatus and a working method thereof according to the present invention will be described with reference to FIGS. 1 to 3 and FIGS. 23 and 24.

FIG. 1 shows an example when a shroud is installed in the first embodiment of the remote reactor working apparatus according to the present invention.
FIG. 2 also shows the overall configuration when applied in a nuclear reactor, and FIG. 3 also shows the upper mechanism. FIG. 23 shows the construction of the work carriage and the position adjusting arm, and FIG. 25 shows the construction of the lifting drive shaft.

The first embodiment relates to the overall structure of the remote in-working device, and particularly to an application example of a lower structure, a bridge trolley, tool exchange, and cable treatment. The remote in-reactor working device 3 (hereinafter referred to as in-reactor working device 3) according to the first embodiment is a shroud that is a structure installed on the inner surface and bottom surface of the reactor wall and inside the reactor pressure vessel. This is a device that remotely inspects and repairs internal structures and equipment such as jet pumps installed on the inner and outer surfaces of the shell or on the annulus that is outside the reactor pressure vessel and shroud.

That is, as shown in FIG. 1, the in-reactor working apparatus 3 is mounted on the upper end of the shroud 2 installed in the reactor pressure vessel 1 of the boiling water reactor so as to be in contact with the shroud 2. The pair of first wheels 12 placed and this wheel
A working carriage 11 for transmitting a driving force by 12; a position adjusting arm 13 mounted on the working carriage 11; and a work tool 14 attached to a tip of the position adjusting arm 13 are mainly used.

Further, the work tool attaching / detaching portion 17 for separately mounting the position adjusting arm 13 and the work tool 14 and the control device 30 (30a, 30a) for commonly controlling the shape deformation and the work change.
b) (see FIG. 2).

The work carriage 11 is fixedly installed at the center of the upper lattice plate 7 by fitting the fixing portion 15 into the lattice of the upper lattice plate 7 and projecting a member inside the upper lattice plate 7 (details). See Figure 23). A rotary bearing (not shown) is built in the fixed portion 15, a second wheel 34 is projected inside the shroud 2 as shown in FIG. 3 and FIG. 23, and the work carriage 11 is entirely vertical to the shroud 2. The shroud 2 can rotate freely around the direction and can travel around the center of the shroud 2 along the arc shape of the shroud 2.

The position adjusting arm 13 is arranged on the work carriage 11 and is provided between the inner surface of the furnace wall and the outer surface of the shroud 2 in the reactor such as the core spray pipe 5, the reactor pressure vessel 1, the shroud 2 and the jet pump 4. Work tools to avoid interference with structures 14
Can be positioned and separated and installed on the operation floor 10 or remotely in the furnace with a part of the mechanism configuration, and the mechanism configuration can be changed according to the construction site.

That is, as shown in FIG. 3, the position adjusting arm 13 includes a front and rear drive shaft 16, a detachable part 17, a tilt drive shaft 18, a hanging drive shaft 19, a lift drive shaft 21, an approach drive shaft 22, and a deployment mechanism 24. , Scanning mechanism 25. Front-rear drive shaft 16 is trolley 11
The position adjusting arm 13 is arranged above and drives the shroud 2 to move linearly in the radial direction. The attaching / detaching portion 17 is arranged on a member driven by the front-rear drive shaft 16 in the radial direction of the shroud, and the position adjusting arm 13 can be attached / detached by the attaching / detaching portion 17.

The tilt drive shaft 18 is disposed on a member (not shown in FIG. 1) mounted on the attaching / detaching portion 17 and is driven to rotate about an axis that coincides with the shroud circumferential direction. Suspended drive shaft 19
Is disposed on a member driven by the tilt drive shaft 18, and can be directly inserted downwardly of the annulus portion 8. The elevating drive shaft 21 is disposed on a member driven by the suspending drive shaft 19, and can be elevated and lowered by the annulus portion 8 in parallel with the driving direction of the suspending drive shaft 19, and the multistage member 20 and the linear motion guide (see FIG. Connected (not shown).

The approach drive shaft 22 is arranged at the lower end of the elevating drive shaft 21, and brings the work tool 14 closer to the shroud 2 from between the jet pumps 4. The unfolding mechanism 24 includes the approach drive shaft 22.
Is placed at the tip of the shroud 2, along the cylindrical shape of the shroud 2,
The multistage member 23 slides in an arc shape.

The scanning mechanism 25 is arranged at the tip of the expansion mechanism 24, and is moved directly in the normal direction of the outer surface of the shroud 2 when the suction pad 26 is in close contact with the shroud 2 so as to be fixed to the surface of the shroud 2 by suction. The leg mechanism 27 and the suction pad 26 fixed to the tip of the drive unit of the leg mechanism 27 are arranged, and the member (not shown) to which the work tool 14 is fixed via the mounting portion 158 is vertically and horizontally 2
Drive in the direction.

The configuration above the reactor pressure vessel 1 will be described with reference to FIG. An adjustment mount 28 is temporarily placed in the reactor well 9, and an adjustment carriage 29 used when adjusting and testing the position adjustment arm 13 and the work tool 14 of the reactor working device 3 is placed on the adjustment mount 28. Other position adjusting arms 13a are provided on the adjusting carriage 29, and control devices 30a and 30b are provided on the operation floor 10.

The cables 32 connected to the position adjusting arms 13 and 13a arranged on the furnace working device 3 and the adjustment carriage 29 and the work tool 14 are all on the operation floor 10.
Removably connected inside the relay box 31 arranged above. The relay box 31 is connected to the control devices 30a and 30b by a cable 32.

Signals and power are supplied between the control device 30a and the in-core working device 3 and between the control device 30b and the in-core working device 3 via the relay box 31. Further, the cable 32 connected to the work cart 11 and the cable 32 connected to the position adjusting arm 13 are separately routed, and a float 33 is arranged in the middle of the cable 32 submerged in water.

As shown in the enlarged view of FIG. 3, the position adjusting arm 13 is attached to and detached from the work carriage 11 with the front-rear drive shaft 16 left.
It can be separated at 17. Therefore, the position adjusting arm 13 other than the front-rear drive shaft 16, the upper mechanism 35 that is the work tool 14, and the work carriage 11 are used.
Can be separated. This makes it possible to make the suspending unit compact when carrying in and installing the in-furnace work device 3 in the furnace, which facilitates the installation work.

Referring to FIG. 23, the work cart 11, the front-rear drive shaft 16,
The structures of the attaching / detaching part 17, the tilt drive shaft 18, and the hanging drive shaft 19 will be specifically described. The work trolley 11 is in contact with the surface of the flange 2a of the shroud 2 and has a vertical first wheel 12 to which the output shaft of the motor 116 is connected via a transmission mechanism 117.
On the inner surface of the shroud 2, a horizontal second wheel 34 that extends by a cylinder piston 118 is arranged. A rotary bearing 119 is provided on the lattice of the upper lattice plate 7 in the center of the shroud 2.
A case 120 that is rotatably mounted on the main body of the carriage 11 via
A clamp mechanism 121 for fixing to the grid is provided inside.

The clamp mechanism 121 retracts the rod 125 of the cylinder piston 124 in the case 120 to project the member 123 supported by the link mechanism 122 to the upper lattice plate 7 and fix it. The case 120 fixed to the upper lattice plate 7 has a structure in which the rotational movement is restrained (not shown) by the lock mechanism when not fixed to the lattice.

The case 120 is provided with a bogie 11 which can be swung via a rotary bearing 119 and a turning angle detection sensor 157 which is arranged via a transmission mechanism (not shown). Even if the traveling azimuth is lost due to, the value can be reset using the measurement value of the turning angle detection sensor 157, and the reliability is improved.

A rail 126 and a spur gear (not shown) are arranged on the work carriage 11 in parallel with the rail 126, and the front-rear drive is connected by a guide 127 that slides directly on the rail 126. On the drive member of the shaft 16, a gear 128 directly connected to the output shaft of a motor (not shown) is a spur gear (not shown) on the carriage 11.
The shroud 2 is arranged so as to be engaged with the shroud 2 and can be moved in the radial direction of the shroud 2 by the power of the motor (not shown).

The attaching / detaching portion 17 provided on the front-rear drive shaft 16 includes
Claw 129 fixed on the drive member and cylinder piston 13
The position adjusting arm 13 is fixed to the rod 131 of 0 and has a claw 132 guided by the linear motion guide 133, and is suspended.
Is attached to the front-rear drive shaft 16 on the carriage 11 by the extension of the rod 131 of the cylinder piston 130.

The tilt drive shaft 18 is a member 135 which is rotated around a rotary joint 134 provided in the drive member of the front-rear drive shaft 16.
A guide 138, which is concentric with the rotary joint 134 and has an internal gear 136 inside and an arcuate rail 137 inside and outside, is attached to the wheel, and the wheel 139 is arranged so as to sandwich the guide 138, and the output of the motor 140 is output. A gear 142 rotated from the shaft via a transmission mechanism 141 is arranged so as to mesh with an internal gear 136 of a guide 138, and the rotation of the motor 140 causes the rotary joint 13 to rotate.
4 The member 135 can swing around.

The suspending drive shaft 19 is connected via a guide 144 that slides on a linear motion rail 143 arranged on the member 135, and directly connected via a transmission mechanism 146 connected to the output shaft of the motor 145. A spur gear (not shown) arranged in parallel with the moving rail 143 can rotate a gear 147 arranged so as to mesh with the spur gear (up and down). Also, the mounting part 156
Thus, it is configured so that it can be connected to and separated from the lifting drive shaft 21.

Next, the structure of the elevation drive shaft 21 will be described with reference to FIG. Each member 20 (20a, 20b, 20c) has a rail 148
Are arranged and are slidably connected to the respective members 20 through guides 149. Belt 15 inside member 20
A pulley 151 (151a to 151c) on which 0 is hung is arranged, and a motor (not shown) is arranged on the pulley 151a of the member 20a via a transmission mechanism 152.

The belt 150 is fixed to the base 153 or the member 20 at a fixing point 154 on the base 153 side, and the belt 150 on the tip side is fixed to the member 20 next to the tip side at a fixing point 155. . The base 153 is configured so that it can be connected to the suspension drive shaft 19 at the mounting portion 156 in FIG.

With such a structure, each member 20 can be extended by the rotation of the motor (not shown) while maintaining a uniform displacement amount, and even when the member 20 is extended and the tip is lowered. By not only simply using the power but also by forcibly driving, it is possible to suppress the influence of the sliding unevenness of the guide 149, the operation is smoothed, and the reliability is improved.

Next, referring to FIG. 4, the structure of the approach drive shaft 22, which is disposed at the lower end of the elevating drive shaft 21, the developing mechanism 24, the scanning mechanism 25, and the shot peening head 55 which is one of the work tools 14 will be described.

The approach drive shaft 22 is moved linearly by a cylinder piston 36 arranged at the end of the lift drive shaft 21 in parallel with the lift drive shaft 21 by a linear guide (not shown).
And a parallel link 53 composed of members 52a and 52b and a rotary shaft 38a, and a parallel link 53 connected by a rotary shaft (not shown) near the middle of the member 52b, which is connected to the lifting drive shaft 21 by the rotary shaft 38b.
The configuration is connected by.

The expansion mechanism 24 attached to the tip of the parallel link 53 can move back and forth in the direction of the shroud 2 while maintaining the parallel posture. In addition, the deployment mechanism 24 is a member 23.
It is possible to freely slide along the arc-shaped guide rail 51.

Since the unfolding mechanism 24 slides freely, a fixing means for forcibly returning and fixing to the most retracted state is provided. Although not shown, this fixing means is realized by fixing one end to the end node of the expansion mechanism 24 and forcibly pulling the wire routed through the base node of the expansion mechanism 24 with a spring or an air cylinder. You can

At the four corners of the frame 37 of the scanning mechanism 25 attached to the tip of the expanding mechanism 24, suction pads 26a and leg mechanisms 27a for moving the suction pads 26a back and forth in the direction of the shroud 2 are provided. . Further, a horizontal scanning shaft 40 that is driven in the horizontal direction is arranged with respect to the frame 37, and is driven by a combination of a rack and pinion 43a and a motor 42a.
Further, the horizontal scanning axis 40 is provided with a suction pad 26b and a leg mechanism 27b for moving the suction pad 27b back and forth in the direction of the shroud 2.

As shown in FIG. 5, the horizontal scanning axis 40 has a motor.
A vertical scanning shaft 41 for driving the member 54 in the vertical direction is provided by a combination of the 42b, the bevel gear 49, and the rack and pinion 43b, and the member 54 is operated to move the suction pad 26c and the suction pad 26c back and forth in the direction of the shroud 2. A leg mechanism 27c is provided. The lower end of the member 54 is attached to the work tool 14 via the mounting portion 158.
A shot peening head 55, which is a type of

As shown in FIG. 4, the shot peening head 55 is composed of a nozzle 44 for spraying powder particles and water together, and a chamber 45 arranged so as to cover the nozzle 44. A projection tube 46 is connected to the nozzle 44, and a recovery tube 47 is connected to the inside of the chamber 45. These tubes 46 and 47 are connected to the inside of a pipe 48 attached only to the member 20 at the end of the lifting drive means 21. Through the elevating drive means 21
Is routed upwards along.

A mechanical stopper (not shown) for preventing the chamber 45 from being pressed against the shroud 2 more than necessary and a limit switch (not shown) for detecting the contact state with the shroud 2 are provided.

Next, referring to FIG. 5, the vertical drive shaft 41 of the scanning mechanism 25 will be described.
Will be described in detail. A bevel gear 49a arranged on an output shaft 42c of a motor 42b arranged on the horizontal scanning shaft 40, a bevel gear 49b rotatably fixed to a housing 56, and a rack 43.
a and the pinion 43b transmit power, and the linear guide 50 restrains the linear motion, and the work tool is attached to the tip through the mounting portion 158.
The member 54 to which 14 is attached is moved up and down.

Instead of the shot peening head 55 shown in FIG. 4, a television camera, an ultrasonic probe, a suction nozzle for clad removal, etc. can be attached to the mounting portion 158. When a TV camera is attached, visual inspection can be performed, when an ultrasonic probe is attached, ultrasonic flaw detection can be performed, and when a suction nozzle is attached, decontamination of clad, etc. ， Can perform cleaning work.

Next, referring to FIG. 6, the suction pad 26 and the leg mechanism 27 are shown.
Will be described in detail. The suction pad 26 is fixed so as to be sandwiched between the housing 68 in which the suction hole 69 and the air supply hole 70 are opened, the holding plate 62 in which the suction hole 69 is opened and the screw 63a, and the pad resin 66 in which the suction hole 69 is opened. Composed of.

The housing 68 of the suction pad 26 is fixed so as to slide on the linear guide 67 fixed to the cylinder 59 of the leg mechanism 27, and the O-ring is inserted from above the cylinder 59.
The piston 58 is fitted into the cylinder 59 with the 57b sandwiched, and is fixed with the screw 63c with the O-ring 57c sandwiched between the piston 58 and the piston 58 having a hole corresponding to the air supply hole 70 formed in the housing 68. The space between piston 58 and cylinder 59
64 are provided. The cylinder 65 has a lid 65 and an O-ring 57a.
It is fixed by sandwiching it, and screws 63 are attached to the frame 37 of the scanning mechanism 25.
It is fixed at b.

When the leg mechanism 27 extends, air is supplied from the air tube 60 connected to the air supply hole 70, and the piston 58 moves in the direction of pushing the spring 64. In the case of contracting, the air supply to the air tube 60 is stopped, the air is further opened to the atmospheric pressure, or the force of the spring 64 acts by forcibly exhausting the air in the space surrounded by the cylinder 59 and the lid 65, The suction pad 26 shrinks.

In the case of suction, the suction surface of the suction pad 26 is brought into close contact with the object, and the inside of the suction tube 61 connected to the suction hole 69 of the housing 68 is sucked with negative pressure. On the contrary, when the adsorption is released, the suction tube 61 is pressurized with pure water, so that the suction tube 61 can be easily removed without applying a large peeling force.

Next, the connection switching method of the control devices 30a and 30b will be described with reference to FIG. In order to improve work efficiency, it is necessary to introduce a plurality of position adjustment arms 13 and it is necessary to perform a confirmation test of the construction before performing the construction. 2 trolley 11 installed on 2 and adjustment pedestal 28 29 trolleys for adjustment installed on
Is a connection configuration of the control devices 30a and 30b and the relay box 31 when performing the construction, the adjustment, and the test in parallel using.

First, the combination of the dolly 11 and the position adjusting arm 13 is carried out by the combination of the drive circuit 71c for the dolly 11, the drive circuit 71a for the position adjusting arm 13b, and the control device 30b capable of executing the control program. Be seen. On the other hand, the adjustment carriage 29 and the position adjustment arm 13a are the drive circuit 71d for the adjustment carriage 29 and the position adjustment arm 13a.
The adjustment and the test are performed by the combination of the drive circuit 71b for use with the control device 30a.

When the work of each combination is completed, the position adjusting arm 13b is taken out of the furnace for setup change and readjustment, and the position adjusting arm 13a is used instead of the carriage.
It will be installed on 11, and this time the construction will be carried out with the combination of the carriage 11 and the position adjusting arm 13a, and the adjustment test will be carried out with the combination of the adjusting carriage 29 and the position adjusting arm 13, and the combination of the mechanisms will be changed.

On the other hand, in order to allow each control device 30 to independently control each combination, as in the case before the change, the drive circuit 71c and the control device for the carriage 11 arranged in the relay box 31 are arranged. 30b, the connection of the drive circuit 71d for the adjustment carriage 29 and the control device 30a is changed by the connector 72d, and the connection is changed to the combination of the cable 73b and the cable 74a and the combination of the cable 73a and the cable 74b.

By doing so, even if the mechanism is rearranged, the respective control devices 30a and 30b can independently control, and in particular, the motor (not shown) and the drive circuits 71c and 71b.
By changing the servo driver in the group d, it is not necessary to readjust the servo gain, and the control system can be efficiently switched.

Next, with reference to FIGS. 8 to 15, an example of a carriage origin returning method and a tool exchanging method will be described as an installation / extraction sequence. FIG. 8 is a block diagram showing the flow of work from installation of the reactor work device in the reactor pressure vessel to its removal, that is, the steps from setup of the upper mechanism, assembly to decontamination of the truck, and curing.

First, as shown in FIG. 9, the carriage 11 is hung and installed on the upper end of the shroud 2 in the reactor pressure vessel 1 by using the fuel exchanger 75 or the overhead crane (not shown). As shown in FIG. 10, the dolly 11 is a part of the fixed portion 15, and when it is not fixed to the upper grid plate 7, its rotation is restricted by a lock mechanism (not shown) and the lock mechanism (not shown). The pillars 76, which can be rotated by releasing the (1), are inserted into the central lattice of the upper lattice plate 7 so that the rotation axes coincide with each other, and then the wheel 12 is grounded to the shroud 2 flange, and then the wheel 34 is attached to the shroud 2. Position it on the inner surface. Then, the lock mechanism (not shown) of the fixed portion 15 is released, and the clamp mechanism 121 causes the upper lattice plate 7 to cover the case 120.
Is fixed and the carriage 11 can run (see FIG. 23).

Next, as shown in FIG. 11, the upper mechanism 35 in which the work tool 14 and the position adjusting arm 13 are combined is used as an adjustment stand.
The adjustment trolley 29 on the 28 is lifted and mounted using an overhead crane (not shown) or the like, and when the adjustment and confirmation tests are completed, while maintaining the state of electricity and control circuit inside the control device 30, Separate the upper mechanism 35 from the adjustment carriage 29,
As shown in Fig. 11, an overhead crane (not shown) and lifting equipment
Suspend in the reactor pressure vessel 1 by 77.

Regarding the control device 30, the drive circuit 71 for the adjustment carriage 29 and the drive circuit 71 for the carriage 11 are reconnected in the relay box 31. Then, it is aligned on the dolly 11, is seated so that the attaching / detaching part 17 fits, the attaching / detaching part 17 is activated, the upper mechanism 35 is attached to the dolly 11, and the state shown in FIG. 12 is obtained.

At this point, the origin position of each drive shaft of the upper mechanism 35 has been detected, but the current position of the carriage 11 is unknown. Therefore, in the sequence shown in FIG. 13, the direction on the shroud 2 of the carriage 11 is detected.

First, the origin detection wheel 78 and the wheel 78 are moved up and down to a position on the lug 6 of the shroud 2 of the carriage 11 and the spring 79 for generating a restoring force in the direction in which the wheel 78 descends and the up-and-down movement are guided. A position detection mechanism 82 composed of a guide 81 and a limit switch 80 is provided, and the carriage 11 is moved near the target lug 6.

On the control software, the lag 6 in FIGS.
The center azimuth value D83 is input to move the carriage 11 in the direction 87 which is the center direction of the lug 6. At this time, as shown in FIG. 15, the threshold value is set as the displacement at which the limit switch 80 is turned on and off.
When set as 85, the limit switch 80 changes from ON to OFF at the temporary origin 88 in the wheel locus 84 of FIG.

At this timing, the traveling origin of the dolly 11 is determined, and in the future, the relative azimuth and movement amount of the two shrouds can be measured by multiplication with the conversion coefficient given in advance. Next, when the truck 11 is further traveled, when the wheel 78 reaches the origin correction point 89 in the wheel locus 84, the limit switch 80
The output of changes from ON to OFF.

At this point, the relative azimuth from the position where the origin is initially secured is measured, half the value of the moving azimuth d86 is converted to the central azimuth value D83, and the traveling displacement of the carriage 11 is changed again. In this way, the carriage 11 can secure an accurate present bearing with respect to the shroud 2. If the wheels 12
Even if the current bearing is lost due to, it can be reset by the measurement value of the turning angle detection sensor 157 in FIG.

Next, the front-rear drive shaft 16 of the position adjusting arm 13
And then the tilt drive shaft 18, the front-rear drive shaft 16, and the suspension drive shaft 19 are interlocked to avoid interference with the shroud 2, the core spray line 5, and the reactor pressure vessel 1, and the work tool 14 and The ascending / descending drive shaft 21, the approach drive shaft 22, the expansion mechanism 24, and the scanning mechanism 25 in the stored state are inserted into the annulus portion 8.

Thereafter, the carriage 11 is driven to position it between the jet pumps 4, the elevating drive shaft 21 is extended, and the tip end is lowered. At this time, an underwater camera (not shown) is installed in the annulus unit 8 to check the operation and monitor for interference. Next, with the approach drive shaft 22, the scanning mechanism 25 in which the expansion mechanism 24 and the leg mechanism 27 extend the suction pad 26 from between the jet pumps 4, the work tool 14 is moved closer to the shroud side, and the suction pad 26 of the scanning mechanism 25 is removed. The work surface of the work tool 14 that needs to be in close contact with the shroud 2 is attracted to the outer wall of the shroud 2.

In this case, for the ultrasonic probe (not shown) and the shot peening head 55 as the work tool 14 that needs to be in close contact with the work target, some compliance mechanism using a spring, a cylinder piston, etc. Press with (not shown). Then, the horizontal scanning axis 40 and the vertical scanning axis 41 of the scanning mechanism 25 are driven to scan the work tool 14 to perform the work.

The working tool 14 is the shot peening head 55.
In the case of, while sucking the water in the chamber 45, powder particles (not shown) are jetted from the nozzle 44 at the same time as the construction is started, and the powder particles collide with the outer wall of the shroud 2, and the powder particles are discharged into the chamber 45. Collected without leaking from the outside. When the arrival time of the powder particles at the nozzle opening is measured, the scanning mechanism 25 scans the shot peening head 55 at the same time when the projection is started.

After the work of the scanning range in which the scanning mechanism 25 is sucked is completed, in FIG. 4, the suction pads 26b and 26c attached to the horizontal scanning axis 40 and the vertical scanning axis 41 are connected to the leg mechanisms 27b and 27, respectively.
Extend with c and adsorb. Next, after releasing the suction of the suction pad 26a arranged on the frame 37, the leg mechanism 27
Degenerate with a. Next, the horizontal scanning axis 40 is driven to move the frame 37 to the next adjacent scanning range.

In this case, the fixing mechanism (not shown) of the unfolding mechanism 24 is released and the frame 37 freely slides in accordance with the movement of the frame 37. Then, the suction pad arranged on the frame 37
26a is extended by the leg mechanism 27a and absorbed. Next, the suction pads 26b attached to the horizontal scanning axis 40 and the vertical scanning axis 41,
The suction of 26c is stopped, the leg mechanisms 27b, 27c are retracted, the work tool 14 is scanned, and the work is performed.

The movement of the scanning mechanism 25 in the vertical direction is performed in the same manner as the movement in the horizontal direction using the suction pads 26a and 26c, the leg mechanisms 27a and 27c, and the vertical scanning shaft 41, or the expansion mechanism 24 is temporarily stored. After returning the scanning mechanism 25 to the state, the fixing mechanism (not shown) of the expansion mechanism 24 is operated, the suction of the scanning mechanism 25 is released, the height of the elevation drive shaft 21 is aligned, and scanning is performed again. The mechanism 25 is sucked and the work is performed.

Further, even if the suction of the scanning mechanism 25 is peeled off, the wire connected to the tip member of the expanding mechanism 24 which is also the fixing mechanism of the expanding mechanism 24 is pulled by the cylinder piston or expanded by the restoring force of the spring. The storage means (not shown) of the mechanism can be used as the emergency recovery means.

In this way, when the range between the jet pumps 4 is completed, the scanning mechanism 25 releases the suction walk or suction until the deployment mechanism 24 is in the stored state, and then the deployment mechanism 24 is fixed (not shown, explained). Will be returned by the above), and in any case, finally, the fixing mechanism (not shown) of the expansion mechanism 24
Release the adsorption while operating. Next, in FIG. 4, the cylinder piston 36 of the approach drive shaft 22 is retracted, and the scanning mechanism 25 and the work tool 14 pass between the jet pumps 4 and return to the reactor pressure vessel 1 side.

When continuously constructing different heights between the same jet pumps 4, the height is adjusted by the elevating and lowering drive shaft 21 and the work is performed in the same manner as described above. Further, when the construction between the jet pumps is completed, the lifting drive shaft 21 is raised to raise the work tool 14 to above the shroud 2. And when working continuously between different jet pumps,
The carriage 11 is driven to position it in the next direction and work is performed in the same manner as described above.

When the upper mechanism 35 needs to be adjusted by exchanging the work tool 14, changing the setup, etc., the tilt drive shaft 18, the suspension drive shaft 19, the front-rear drive shaft 16 with the lift drive shaft 21 in the highest position. Are interlocked while avoiding interference with the core spray line 5, the shroud 2, and the reactor pressure vessel 1, and the tip portion is retracted from the annulus portion 8.

After returning to the same posture as when the suspension was attached,
As shown in 11, grip the upper mechanism 35 with the lifting device 77 and
To remove it from the reactor well 9 and pull it up above the reactor well 9, pull it up on the operation floor 10, decontaminate, cure, replace the work tool 14, etc. Install it in the factory and make adjustments and confirmation tests.

When two upper mechanisms 35 can be prepared, as shown in FIG. 1, during the operation in one furnace, another one is installed on the upper adjustment carriage 29 to adjust and A confirmation test can be performed. Furthermore, when replacing the upper mechanism 35, it is necessary to change the connection related to the control circuit. In this way, construction and adjustment can be performed in parallel, improving efficiency.

Next, the upper structure will be described with reference to FIGS. FIG. 16 shows a position adjusting arm 92 for positioning the work tool 90 with respect to the upper inside portion of the shroud 2. FIG. 17 shows a work tool on the outer side above the shroud 2, especially at a height where no jet pump exists.
A position adjusting arm 93 for positioning 91.

Position adjusting arms 92, 93 in FIGS. 16 and 17
Is the front-rear drive shaft 16 disposed on the carriage 11 as in the above-mentioned configuration.
The tilt drive shaft 18 mounted on the drive unit of the front-rear drive shaft 16 and mounted on the attaching / detaching unit 17 and the suspending drive shaft 19 mounted on the drive unit of the tilt drive shaft 18 are the same.

The tip end side of the elevating drive shaft 21 inserted into the suspending drive shaft 19 in FIG. 1 is removed by the mounting portion 156, and instead, the work tool 90 for the inside of the shroud 2 or the outside upper part of the shroud 2 is removed. The work tool 91 is attached.

The positioning method of the work tools 90, 91 in this configuration is as follows: the carriage 11 in the circumferential direction of the shroud 2, the front-rear drive shaft 16 in the amount of pressing the shroud 2 inward, and the tilt drive shaft 18 in the shroud 2. The pressing angle is adjusted by adjusting the pressing height with the suspending drive shaft 19, and various work can be performed with the work tools 90 and 91.

Further, a work tool for the upper outer side of the shroud 2
91 is L-shaped so that even in the joint portion between the core spray line 5 and the shroud 2 in FIG.
Positioning can be performed while avoiding interference with the core spray line 5. The installation procedure for installing the bogie 11 on the shroud 2 and then mounting the position adjusting arms 92, 93 on the bogie 11 and the parallel work of the confirmation test are the same as the above-described configuration.

According to this structure, since the upper part of the shroud 2 which does not interfere with the jet pump 4 can be controlled with the minimum required three degrees of freedom, the control software and the operating procedure become easy.

(Second Embodiment) Referring to FIG. 18, a second embodiment of the present invention will be described. First, the structure of the self-propelled scanning mechanism of the present embodiment will be described. FIG. 18 shows the configuration of the position adjusting arm 95 of the second embodiment for positioning the work tool 94 with respect to the upper outer side of the shroud 2.

The structure up to the suspending drive shaft 19 is the same as that described above. In this embodiment, the mounting portion 156 of the suspension drive shaft 19 is used.
Similarly to the deployment mechanism 24 having the configuration shown in FIG. 1, a self-propelled scanning mechanism 96 is arranged via a deployment mechanism 98 that can freely slide in two shroud circumferential directions and a free guide 99 that can freely slide in the shroud radial direction. Installed in the scanning mechanism 96
94 are provided.

Wheels 97 are arranged in the scanning mechanism 96 so as to contact the outside of the shroud 2, and power is transmitted to these wheels 97 (not shown). Further, on the reactor pressure vessel 1 side, the wheel 100 has a cylinder piston 101.
It is arranged through.

Next, the work sequence according to the above configuration will be described. According to this configuration, after the work preparation in which the position adjusting arm 95 is mounted on the carriage 11 is completed, the carriage 11 positions the circumferential direction of the shroud 2, and the front-rear drive shaft 16 sets the radial direction of the shroud 2 in the tilt drive shaft. 18 and hanging drive shaft 19
Then, the scanning mechanism 96 is inserted into the annulus portion 8 and positioned.

Next, the cylinder piston 101 is extended,
The wheel 100 is pressed against the reactor pressure vessel 1, and the wheels 97 (partly not shown) arranged at the four corners of the scanning mechanism 96 are pressed against the shroud 2 and fixed so as to be stretched. The work tool 94 that needs to be pressed is appropriately pressed by a compliance mechanism (spring mechanism) (not shown) so that the unnecessary work tool 94 can maintain an appropriate distance from the shroud 2.

Next, one of the wheels 97 is driven so that the scanning mechanism 96 runs along the circumferential direction of the shroud 2. In this case, the expansion mechanism 98 guides the traveling of the scanning mechanism 96 in the circumferential direction, and expands and contracts freely, and the free guide follows the unevenness of the shroud 2 in the radial direction, and the position is freely adjusted back and forth. .

The procedure from installation of the carriage 11 on the shroud 2 to the mounting of the position adjusting arm 95 on the carriage 11 to its removal and the parallel work of the confirmation test are the same as those in the above configuration.

According to the present embodiment, when the work above and outside the shroud 2 is performed, only the control of the scanning mechanism 96 is required.
Since the carriage 11 and other mechanisms are stopped, control becomes easy. Further, due to the expansion mechanism 98, at the joint between the core spray line 5 and the shroud 2 in FIG.
Positioning can be performed while avoiding interference with the core spray line 5.

(Third Embodiment) In this embodiment, instead of directly guiding the bogie to the upper flange portion of the shroud cylinder, a rail system is laid on the upper part of the shroud cylinder and indirectly guided. It relates to the bogie structure of. That is, as shown in FIG. 19, the rail 102 is previously laid on the shroud 2 as a means for the carriage 104 to travel on the shroud 2.

The flange 102 of the shroud 2 is attached to the rail 102.
It has a cylindrical portion 108 so as to be in contact with the surface a. Rail 10
Cylinder pistons 103 are arranged at various places in the circumferential direction of 2, and the cylinder pistons 103 are fixed by performing overhanging, aligning and fixing with respect to the inner surface of the flange 2a of the shroud 2. Further, the rail 102 is provided with information on the orientation of the shroud 2, and the carriage 104 is provided with a reading device (not shown) for the orientation of the shroud 2 and wheels 107.

The trolley 104 contacts the rail 102 and the motor
The power of 105 can be transmitted to the wheels 107 via the transmission mechanism 106 to travel on the rail 102. Also, rail 102
The wheel 109 is arranged so as to contact the outside of the cylindrical portion 108 of the cylinder 108, and the wheel 110 is mounted on the inner surface of the cylindrical portion 108 of the cylinder piston.
111 Extending and projecting, shroud radial carriage
Position 104.

The front-rear drive shaft 16 of the position adjusting arm 13 is disposed on the carriage 104, and the upper mechanism 35 is mounted via the attaching / detaching portion 17. The configuration of the upper mechanism 35 is similar to that of the first embodiment, and the second embodiment may be adopted.

This embodiment is different from the first embodiment in that before the carriage 104 is installed on the shroud 2, the rail
The procedure is almost the same except that the step of installing 102 is added. In particular, when installing the bogie 104 on the rail 102, the bogie 104 is hung so that the wheel 109 and the wheel 110 sandwich the cylindrical portion 108, and when the wheel 107 touches the rail, the cylinder piston 111 is extended to extend the rail. 102 Grounding on top completed.

According to this structure, even when the positioning pin (not shown) is erected on the shroud 2 flange which is the traveling surface of the bogie 104 in the first embodiment, the entire shroud circumferential direction is provided. It is possible to drive around. Also, rail 10
2 You can write information about the driving direction on the top, so lug 6
It is possible to easily set the current position of the trolley 104 without using.

(Fourth Embodiment) This embodiment relates to a traveling type carriage structure, and this embodiment will be described with reference to FIGS. 20 to 21. 20, 21, and 22 show a configuration in which the shroud 2 is a rail as means for traveling on the shroud 2 as a fourth embodiment of the present invention.

The bogie 112 is seated on the flange of the shroud 2 shown in FIG. 1 and transmits the traveling power, the wheel 113, the wheel 114 that contacts the inner peripheral surface of the shroud 2, and the shroud 2
Has wheels (not shown) that contact the outer peripheral surface of the reactor and wheels 115 that contact the reactor pressure vessel 1.
115 are provided on the carriage 112 via pressing means (not shown) such as cylinder pistons.

An upper mechanism 35 having a position adjusting arm 13 and a work tool 14 similar to that of the first embodiment is arranged on the dolly 112, and other work except the installation sequence and the removal sequence of the dolly 112 is performed. The sequence and the parallel work are the same as those in the first embodiment.

When installing the bogie 112 on the shroud 2, first, the traveling wheel 113 is seated on the flange of the shroud 2, and the wheel 114 in contact with the inner peripheral surface of the shroud and the wheel in contact with the outer surface of the shroud (not shown). ) Overhangs,
The position of the shroud 2 in the radial direction is determined, and then the wheels 115 in contact with the reactor pressure vessel 1 extend to balance the load. In this way, the truck 112 installed on the shroud 2 can travel the shroud 2 for a half round.

Further, since the carriage 112 can travel only a half turn, in consideration of the dead space of the carriage 112, the lift drive shaft 21 shown in FIG. 20 or the lift drive shaft 21 shown in FIG.
22 is provided with a mounting portion 156 for the work tools 90 and 91, and when pulling up on the operation floor 10 for setup change,
By changing the lifting drive shaft 21, the entire circumference can be installed.

According to the present embodiment, since the structure of the trolley 112 can be made compact, the work space on the operation floor can be reduced, there is no possibility of interference with other work, and decontamination, curing and storage are possible. Will be easier.

(Fifth Embodiment) The fifth embodiment will be described with reference to FIG. This embodiment is an in-reactor working device for inspecting, repairing, and preventive maintenance of the reactor internal structure in the shroud 2 or the bottom of the reactor pressure vessel 1 using the trolley 11 of the first embodiment. Is.

That is, the in-furnace working apparatus 16 of the present embodiment
As shown in FIG. 25, 4 is a swivel drive shaft 159 as an upper mechanism 165 that can be mounted on the attachment / detachment part 17 disposed in the drive part of the front-rear drive shaft 16 on the bogie 11 and can swivel about the vertical axis. ,
A mast 160, which is an upper mechanism that is vertically expandable and contractable and is disposed in the drive unit of the swivel drive shaft 159, and the mast 16
A swing drive shaft that is vertically swingably arranged at the lower end of 0.
161 and a working tool 163 arranged on the swing drive shaft 161 via a mounting portion 162. The work tools 163 are a TV camera, an ultrasonic flaw detector, a shot peening head, an electric discharge machine, a cutting machine, etc., and these can be easily replaced by the mounting part 162.

When carrying out work using the in-furnace work apparatus 164 of the present embodiment, first, the dolly 11 is set on the shroud 2, then the upper mechanism 165 is suspended, and the dolly 17 is attached and detached.
Attach it to 11. Next, the front and rear drive shafts 16 and the dolly 11 are moved to position on a predetermined lattice of the upper lattice plate 7, and the mast 160
Extend and lower the tip to adjust the height. Next, the turning drive shaft 159 and the swing drive shaft 161 are operated, the vertical angle is adjusted, the work tool 163 is positioned, and the work is performed.

According to the present embodiment, the work tool is efficiently conveyed and positioned even in the core portion of the shroud 2, and the inner surface of the shroud 2, the surface of the upper grid plate 7, the surface of the core support plate 166, and the shroud support leg. 167, the CRD stub tube 168, and the bottom of the reactor pressure vessel 1 can be commonly used for various operations such as inspection, repair, and preventive maintenance.

[0150]

EFFECTS OF THE INVENTION According to the present invention, (1) the space between the forested reactor pressure vessel of the jet pump and the shroud, particularly the gap between the jet pump and the shroud, which has been impossible in the past, can be efficiently and efficiently operated. Work devices for inspection, inspection, repair and preventive maintenance can be positioned and fixed on the part.

(2) Since the position adjusting arm can be mounted on the trolley installed in advance on the shroud in a place with good visibility from the refueling machine or the operation floor, it is possible to mount the position adjusting arm on the shroud of the working device in the furnace. Installation work becomes easy.

(3) The position adjustment arm is changed mainly depending on the presence or absence of the jet pump in the work target portion, and the work tool is replaced according to the type of work. The cost can be reduced. (4) Since parallel work can be performed by a plurality of furnace working devices, the process can be shortened.

(5) When consideration is given to sharing the control device, and when the in-reactor work devices have different configurations, or in the case of parallel work, a combination of mounting a plurality of position adjusting arms on a carriage and a test carriage is used. Even if it is changed, the common control device can control by changing the control software and changing the connection of the trolley drive circuit, so that the number of production of the control device can be reduced and the production cost can be reduced. (6) Since the work can be carried out efficiently, the radiation exposure of workers who install and operate the in-core work device according to the present invention can be reduced.

[Brief description of drawings]

FIG. 1 is a perspective view showing an example when a shroud is installed in a first embodiment of a remote reactor working apparatus according to the present invention.

FIG. 2 is an elevation view showing the overall configuration of the remote reactor working apparatus according to the first embodiment of the present invention when applied to a reactor.

FIG. 3 is a perspective view showing an upper mechanism in the first embodiment of the remote furnace working apparatus according to the present invention.

FIG. 4 is a perspective view showing the configuration of the lower end portion of the lifting mechanism in the first embodiment of the remote in-core working device according to the present invention.

FIG. 5 is a perspective view showing a mechanism of a vertical drive shaft of the scanning mechanism in the first embodiment of the remote in-core working device according to the present invention.

FIG. 6 is a vertical cross-sectional view showing the suction leg mechanism of the scanning mechanism in the first embodiment of the remote in-core work device according to the present invention.

FIG. 7 is a system diagram showing the connection state of the control cables when two units are applied in the first embodiment of the remote in-core work device according to the present invention.

FIG. 8 is a process diagram showing a work flow in the first embodiment of the remote in-core working device according to the present invention.

FIG. 9 is a schematic cross-sectional view showing a state in which the trolley in the remote furnace working apparatus according to the first embodiment of the present invention is installed on the shroud.

FIG. 10 is a top view of the state in which the trolley in the first embodiment of the remote furnace working apparatus according to the present invention is installed on the shroud as seen from above.

FIG. 11 is a perspective view showing a state in which the upper mechanism on the trolley in the first embodiment of the remote furnace working apparatus according to the present invention is suspended.

FIG. 12 is a perspective view showing a state in which an upper mechanism is mounted on a trolley in the first embodiment of the remote in-core work device according to the present invention.

FIG. 13 is a process diagram showing a flow for acquiring the present azimuth of the trolley in the first embodiment of the remote in-core work device according to the present invention.

FIG. 14 is a perspective view showing a locus along which the wheels of the position detection mechanism of the bogie in the first embodiment of the remote in-core work device according to the present invention pass on the shroud lug.

FIG. 15 is a front view showing a locus along which the wheels for position detection of the bogie in the first embodiment of the remote in-core work device according to the present invention pass over the shroud lugs.

FIG. 16 is a perspective view showing an example of constructing the inner surface of the shroud above the upper lattice plate in the first embodiment of the remote internal working device according to the present invention.

FIG. 17 is a perspective view showing an example at the time of construction of a portion that may interfere with the core spray line above the shroud in the first embodiment of the remote in-core work device according to the present invention.

FIG. 18 is a perspective view showing an example in which a work tool is attached to a vehicle that is stretched between a shroud and a reactor pressure vessel and travels at the tip of the remote reactor working apparatus according to the second embodiment of the present invention.

FIG. 19 is a vertical cross-sectional view showing an example in which a rail is laid on a shroud of a remote reactor working apparatus according to a third embodiment of the present invention, and a truck that travels on the rail is used.

FIG. 20 is a perspective view showing an example in which wheels are extended between the shroud and the reactor pressure vessel of the remote reactor working apparatus of the fourth embodiment of the present invention and the vehicle travels.

FIG. 21 is an example of constructing the inner surface of the shroud above the upper lattice plate in the case where the wheel is extended between the shroud and the reactor pressure vessel of the remote reactor working apparatus according to the fourth embodiment of the present invention; FIG.

FIG. 22 is a perspective view showing an example of constructing an outer wall of an upper shroud in a case where wheels are extended between the shroud and the reactor pressure vessel of the remote in-reactor working apparatus according to the fourth embodiment of the present invention and the vehicle is run.

FIG. 23 is a vertical cross-sectional view showing the configurations of a work carriage and a position adjusting arm according to the first embodiment of the present invention.

FIG. 24 is a vertical cross-sectional view showing the configuration of a lifting drive shaft according to the first embodiment of the present invention.

FIG. 25 is a perspective view showing a remote furnace working device according to a fifth embodiment of the present invention.

[Explanation of symbols]

1 ... Reactor pressure vessel, 2 ... Shroud, 3 ... Remote reactor working device, 4 ... Jet pump, 5 ... Core spray piping,
6 ... Lug, 7 ... upper lattice plate, 8 ... annulus part, 9 ... reactor well, 10 ... operation floor, 11 ... work cart, 12 ... first wheel, 13 ... position adjusting arm, 14 ... work tool, 15 ... Fixed part, 16 ... Front / rear drive shaft, 17 ... Attachment / detachment part, 18 ... Tilt drive shaft, 19 ... Suspension drive shaft, 20 ... Member, 21 ... Lift drive shaft, 22 ... Approach drive shaft, 23 ... Member, 24 … Deploy drive shaft,
25 ... Scanning mechanism, 26 ... Suction pad, 27 ... Leg mechanism, 28 ... Adjusting stand, 29 ... Adjusting carriage, 30 (30a, 30b) ... Control device,
31 ... Relay box, 32 ... Cable, 33 ... Float, 34 ... Second
Wheels, 35 ... Upper mechanism, 36 ... Cylinder piston, 37 ... Frame, 38 ... Rotation axis, 39 ... Linear motion section, 40 ... Horizontal scanning axis, 41 ...
Vertical scan axis, 42 ... Motor, 43 ... Rack and pinion, 44 ... Nozzle, 45 ... Chamber, 46 ... Projection tube 47 ... Collection tube, 48 ... Pipe, 49 ... Bevel gear, 50 ... Linear guide, 51 ...
Guide rail, 52 ... Member, 53 ... Parallel link, 54 ... Member,
55… Shot peening head, 56… Housing, 57…
O-ring, 58 ... Piston, 59 ... Cylinder, 60 ... Air tube, 61 ... Suction tube, 62 ... Holding plate, 63 ... Screw, 64 ... Spring, 65 ... Lid, 66 ... Pad resin, 67 ... Linear guide, 68 ... Housing, 69 ... Suction hole, 70 ... Air supply hole, 71 ...
Drive melting furnace, 72 ... Connector, 73 ... Cable, 74 ... Cable, 75 ... Refueling machine, 76 ... Strut, 77 ... Lifting tool, 78 ...
Origin detection wheel, 79 ... Spring, 80 ... Limit switch, 81
... guide, 82 ... position detection mechanism, 83 ... central bearing value, 84 ... wheel locus, 85 ... threshold value, 86 ... moving bearing d, 87 ... direction, 88 ...
Temporary origin, 89 ... Origin correction point, 90 ... Work tool, 91 ...
Work tool, 92… position adjustment arm, 93… position adjustment arm,
94 ... Work tool, 95 ... Position adjustment arm, 96 ... Scanning mechanism, 97
… Wheels, 98… Deployment mechanism, 99… Free guide, 100… Wheels,
101 ... Cylinder piston, 102 ... Rail, 103 ... Cylinder piston, 104 ... Bogie, 105 ... Motor, 106 ... Transmission mechanism, 107 ... Wheel, 108 ... Cylindrical part, 109 ... Wheel, 110 ... Wheel, 111 ... Cylinder piston, 112 ... bogie, 113 ... wheel, 114 ... wheel, 115 ... wheel, 116 ... motor, 117 ... transmission mechanism, 118 ... cylinder piston, 119 ... rotary bearing, 12
0… Case, 121… Clamp mechanism, 122… Link mechanism,
123 ... Member, 124 ... Cylinder piston, 125 ... Rod,
126… Rails, 127… Guides, 128… Gears, 129… Claws,
130 ... Cylinder piston, 131 ... Rod, 132 ... Claw, 13
3… Linear motion guide, 134… Revolving joint, 135… Member, 136…
Internal gear, 137… Rail, 138… Guide, 139… Wheel, 14
0 ... Motor, 141 ... Transmission mechanism, 142 ... Gear, 143 ... Rail, 144 ... Guide, 145 ... Motor, 146 ... Transmission mechanism, 14
7 ... Gear, 148 ... Rail, 149 ... Guide, 150 ... Belt, 151 ... Pulley, 152 ... Transmission mechanism, 153 ... Base, 154
… Fixed point, 155… Fixed point, 156… Mounting part, 157… Swing angle detection sensor, 158… Mounting part, 159… Swivel drive shaft, 160
... Mast, 161 ... Rotation drive shaft, 162 ... Mounting part, 163 ... Work tool, 164 ... In-furnace work device, 165 ... Upper mechanism, 166 ...
Core support plate, 167 ... Shroud support leg, 168 ... C
RD stub tube.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Eiji Iwasa 2-4, Suehiro-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Toshiba Keihin Office (72) Inventor Yoshio Hamamoto 2--4, Suehiro-cho, Tsurumi-ku, Yokohama, Kanagawa Address inside Toshiba Keihin office

Claims (18)

[Claims] 1. A work for traveling along an arcuate path around the central axis of the shroud, with a drive portion that travels above the shroud using the upper flange surface of the shroud installed in the reactor pressure vessel as a guide. Trolley, a position adjusting arm arranged on the work trolley, a work tool attached to the position adjusting arm, and an arm attaching / detaching part for separating and attaching the dividing mechanism part of the position adjusting arm, A work tool attachment / detachment section for separating and attaching the position adjustment arm and the work tool, and a control device for controlling the work cart, the position adjustment arm, the arm attachment / detachment section, and the work tool attachment / detachment section. Remote furnace working device to be. 2. The work tool comprises a surface modification shot peening device, an ultrasonic flaw detector, a television camera, a cutting tool, an electric discharge machining tool, etc., and is configured to be detachable from the position adjusting arm or the traveling carriage. The remote furnace working apparatus according to claim 1, wherein: 3. At least two pairs of the position adjusting arm and the work tool are arranged inside and outside the reactor pressure vessel, respectively, and the position adjusting arm and the work tool arranged outside the reactor pressure vessel are the reactor. The remote furnace working apparatus according to claim 1, wherein the remote furnace working apparatus is installed and installed on an adjustment stand temporarily placed on the upper part of the well or on the operation floor, or a simulated carriage arranged on the adjustment stand. 4. The control device is arranged between a motor driver of each drive shaft of a drive unit, a position adjustment arm, an arm attachment / detachment unit, and a work tool attachment / detachment unit of the work carriage, and a controller that executes control software. 2. The remote reactor according to claim 1, further comprising: a relay box, a cable between the motor driver and the controller, and a cable connection portion of various sensors installed in the reactor pressure vessel. In-work device. 5. The work carriage is fixed to a lattice of an upper lattice plate above the shroud, and the position adjusting arm is
Front-rear driving means arranged on the work cart and operating in the radial direction of the shroud; tilt driving means arranged on the drive part of the front-rear driving means for swinging about the circumferential direction of the shroud; The insertion drive means is provided in the tilt drive means, and the insertion drive means moves in a vertical direction depending on the operation angle of the tilt drive means, and the insertion drive means is provided in the drive section of the insertion drive means.
A multistage mast that expands and contracts below the annulus portion, a detachable portion that separates and connects the insertion drive means and the multistage mast, and a multistage mast that is disposed below the multistage mast, and allows a work tool to approach between the jet pumps in the shroud direction. The approaching drive means, the deploying means disposed on the approaching drive means, which is usually fixed by the fixing means, and which freely slides along the arc shape of the outer wall of the shroud, and the forward side of the deploying means. , A scanning drive means for operating the work tool along the outer wall shape of the shroud, and a suction means in the normal direction of the outer wall of the shroud to each member relatively driven by the scanning drive means, and the suction means is approached in the shroud direction. ，
2. The remote in-core working device according to claim 1, further comprising: a suction leg driving means for avoiding, a driving portion of the front-back driving means, and an attaching / detaching portion provided in the tilt driving means. 6. Cables such as control signal lines and power lines, fluid tubes, etc. connected to the work carriage are gathered on the work carriage near the center of the shroud, and are routed over the reactor well to The remote in-core work device according to claim 1, wherein a float is attached within the submerged range. 7. The work tool comprises a mesh chamber for preventing leakage of powder particles, which is disposed around the construction surface, a nozzle for spraying powder particles, and a pump for spraying powder particles. A collection pump and a shot peening head in which the tubes connected to these pumps are connected to the powder jet nozzle and chamber, respectively, and a mechanism for pressing the shroud outer surface is arranged between the shot peening head and the position adjustment arm. The remote in-reactor working device according to claim 1, wherein the remote in-reactor working device is provided. 8. The position adjusting arm is arranged on the traveling carriage, and is operated in a radial direction of the shroud, and a front-rear driving means, and is arranged in a driving part of the front-rear driving means so as to rotate in a circumferential direction of the shroud. A tilt driving means that swings as an axis, and an insertion driving means that is disposed in the tilt driving means and that directly moves a tip portion of the annulus portion formed between the reactor pressure vessel and the shroud in the vertical direction. 2. The remote in-core work device according to claim 1, comprising a drive unit of the front-rear drive unit and an attachment / detachment unit arranged in the tilt drive unit. 9. The position adjusting arm is provided with a self-propelled scanning unit that is self-propelled while being stretched by a wheel provided between the nuclear reactor pressure vessel and the shroud via a projecting unit, the self-propelled scanning unit being provided. 2. The remote in-core work device according to claim 1, wherein the work tool is elastically supported by the means. 10. The remote in-core work device according to claim 1, wherein a rail is laid on an upper portion of the shroud cylinder. 11. The work trolley according to claim 1, wherein wheels are arranged via a pressing drive means so that the running surface contacts the inner surface of the shroud upper ring, and the running surface is located on the upper flange surface of the shroud upper ring. The wheels are arranged so as to contact with each other, avoiding the lug attached to the side surface of the shroud upper shell, the wheels are arranged through the pressing means so that the traveling surface contacts the outer surface of the shroud, and the The remote in-core work device according to claim 1, wherein the wheels are arranged so as to be in contact with each other via a pressing means. 12. A position adjusting arm attached to an attaching / detaching portion on a front-rear driving means that moves in a radial direction of the shroud on the work carriage, and a swivel driving means that rotates about a vertical axis,
An elevating and lowering driving means that is rotated by the swivel driving means and expands and contracts vertically downward, a positioning and driving means arranged at the lower end of the ascending and descending driving means for at least one axis, and a detachable portion arranged at the tip of the positioning and driving means. The working device according to claim 1, further comprising a working tool connected through the working device. 13. A work for traveling along an arcuate path around a central axis of the shroud, which has a drive portion that travels above the shroud with the upper flange surface of the shroud installed in the reactor pressure vessel as a guide. Trolley, a position adjusting arm arranged on the work trolley, a work tool attached to the position adjusting arm, and an arm attaching / detaching part for separating and attaching the dividing mechanism part of the position adjusting arm, A work tool attachment / detachment section for separating and attaching the position adjustment arm and the work tool, and a control device for controlling the work cart, the position adjustment arm, the arm attachment / detachment section and the work tool attachment / detachment section, First, from the operation floor of the work carriage, by using either an overhead crane or an auxiliary hoist of a refueling machine, a connecting portion of the position adjusting arm with the work carriage or Is separated by a mounting / dismounting part provided inside the mechanism, and the working carriage only or the traveling carriage having a part of the position adjusting arm is hung on the flange portion of the shroud to rotate the working carriage. Insert the bearing into the lattice of the upper lattice plate so that the running center is concentric with the shroud, seat the wheel on the flange surface of the shroud upper ring, and fix the bearing to the upper lattice plate, After installation on the shroud, on an adjustment stand temporarily placed on the operation floor or the upper part of the reactor well, or on a simulated carriage on this adjustment stand,
A work tool is attached, and the position adjustment arm for which function confirmation and work confirmation tests have been carried out is hung on the dolly by an overhead crane, an auxiliary hoist of a fuel exchange machine, etc. Finally, the work tool is positioned with respect to the work target part by the traveling by the dolly and the operation of the position adjusting arm, the work is performed by the work tool, and the work is completed. In order to take it out from the furnace, change the posture so that the position adjustment arm can be taken out, remote-separate the mechanism attachment / detachment part of the position adjustment arm in the furnace, and carry it out of the furnace in the order of the position adjustment arm and the carriage. A remote furnace working method characterized by being installed on a simulated trolley on an adjustment stand or on an adjustment stand. 14. The work cart positions the circumferential direction of the shroud between the jet pumps, and drives the front-rear driving means of the position adjusting arm, the tilt shaft, and the hanging shaft,
While avoiding interference with the core spray line, the degenerate multi-stage mast is positioned between the reactor pressure vessel and the shroud, extended downward by the multi-stage mast, and passed between the jet pumps by the approach drive means to move the shroud. The scanning drive means and the work tool are brought closer to each other in a direction, and brought into contact with the shroud, and the suction means of the suction leg mechanism of the member to which the developing means of the scan drive means is attached is extended and sucked by the shroud. The work tool is positioned and scanned in the vertical and circumferential directions of the shroud, and after the work at the suction part is completed, the suction means arranged in the driving member of the scanning drive means is pressed against the shroud,
Adsorption fixed, stopping the adsorption of the member attached to the expanding means of the scanning drive means and separating from the shroud, moving the entire scanning drive means toward the next work site, the sliding movement of the expanding means follows with it, Again, the suction leg mechanism of the member to which the deploying means of the scanning driving means is attached is brought closer to the shroud to cause suction, and by repeating the operation of these scanning driving means, the work place is changed and the work tool is scanned by suction walking. 14. The remote in-reactor work method according to claim 13, which is performed. 15. The method for calibrating the traveling position of the work trolley is characterized in that a wheel for lug detection, in which elastic support and switch contacts are arranged so that a switch is turned on and off when the wheel gets on and off a shroud lug, is used. A strut that is arranged on a work carriage and that uses the signal of switching on and off to rehabilitate the present position of the carriage or that is fixed to the grid of the shroud upper grid plate of the carriage traveling around the central axis of the shroud cylinder. 14. The remote in-reactor working method according to claim 13, wherein the absolute azimuth of the current position is informed by a sensor that detects a traveling azimuth angle between and. 16. A method of performing preventive maintenance work for surface modification of the shroud using the work tool, wherein scanning within a range where a shot peening head, which is a work tool, is attached to the scanning drive means attached to the shroud is performed. After that, the suction means attached to the driving member of the scanning drive means is pressed against the outer surface of the shroud to be adsorbed, and even while the member to which the developing means of the scanning drive means is attached is moved to the next work target site, 14. The method for working in a remote furnace according to claim 13, wherein the shot peening head is pressed against the outer surface of the shroud, the powder recovery pump is operated, and continuous operation is performed. 17. The remote furnace working method according to claim 13, wherein the positioning means for the work tool is performed by traveling by the work carriage and by the position adjusting arm. 18. A rail is installed on an upper flange portion of the shroud cylinder before the procedure for installing the work carriage,
After installing the work carriage from the operation floor by suspending it on the flange portion of the shroud by using either an overhead crane or an auxiliary hoist of the fuel exchanger,
14. The remote in-reactor work method according to claim 13, further comprising suspending and mounting the position adjusting arm on which the work tool is attached and which has been subjected to the function confirmation test and the work confirmation test.