JPH0933680A - Remote maintenance device of fusion reactor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate movement of an instrument of large weight with a compact structure. SOLUTION: In a tokamak type fusion reactor, a diverter-moving device is placed at the tip end of a manipulator to move a diverter in circumferential direction of a torus. The diverter moving device is provided with a balance arm 1 fixed freely rotatably around two perpendicular axes, a frame 3 with a width for fixing freely rotatable to the other end of the balance arm 1 of half or less of the diverter, support plates 7a to 7d capable of sliding horizontally to the frame 3, links 11a to 11d supported freely rotatably at each base end part and connected freely rotatably at the tip ends, hooks 12a and 12b placed capable of swinging at the connection part of a pair of links and hooked on side pins of the diverter and positioning pins projecting at the bottom of the frame 3 and inserted in the hole provided on the floor of the reactor.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote maintenance device for maintaining equipment arranged inside a torus-shaped hollow structure such as a tokamak-type nuclear fusion device, and particularly to a heavy equipment in a lateral direction. It relates to a moving device.

[0002]

2. Description of the Related Art In-core equipment of a nuclear fusion reactor that carries out a DT reaction directly faces high-temperature plasma and receives a high-energy particle load directly, so maintenance work such as periodical replacement is required. Has been done. Also, since the furnace after operation is activated, all maintenance work for the equipment inside the furnace must be performed by remote equipment.

FIG. 7 is a diagram showing a vertical cross section of an example of a tokamak-type fusion reactor. The tokamak-type fusion reactor has a hollow toroidal space 100 having an outer diameter of about 24 m and a height of about 12 m. It has a container 101, and the entire container is housed in a shield (not shown) having a thickness of several meters. The diverter 102 for discharging impurities generated during the operation of the fusion reactor among the large in-core equipment to be replaced is arranged and fixed radially at the lower end of the torus-shaped space 100. The length of the torus-shaped space is about 5 m, the width is about 0.3 m on the inner diameter side, about 0.6 m on the outer diameter side, and the height is about 2 m. It weighs about 16 tons. In addition, the blanket 103 is configured to cover the entire inner surface of the torus-shaped space 100 in which the diverter is installed, excluding the lower portion. Also, this torus-shaped space 10
Around 0, the toroidal magnetic field coil 104 and the toroidal magnetic field coil 10 are formed in an annular shape around the central axis c of the torus.
5a to 105f are arranged in a complicated manner. Therefore,
To replace the in-core equipment such as the diverter 102 and the blanket 103, use the central port 106 and the lower port 107 that are radially provided around the torus-shaped space 100 so as to avoid the equipment around them. Must.

Particularly, in a tokamak type fusion device, as a remote maintenance device which is excellent in work efficiency and reliability and is useful, Japanese Patent Laid-Open Nos. 4-212091 and 6-328373.
What is proposed in the issue is shown in FIG. 8 and FIG. The remote maintenance device is a device arranged inside a container 111 connected to the outside of a plurality of maintenance ports 110 extending in a radial direction from an internal torus-shaped space 100.
A track 112 formed of a plurality of arc-shaped links that are rotatably connected to each other and extending in a semicircular shape continuous in the torus-shaped space 100; A vehicle 114 equipped with a telescopic manipulator 113 for handling a vehicle, and a track storage means 115 arranged in the container for storing the track 112.
Then, each link of the track 112 housed in the track housing means 115 is sequentially sent out from one maintenance port 110 into the space 100 along the circumferential direction, and the track 112 is extended concentrically with the space. Orbit 112
Orbit expansion means 116 supporting the link at the rearmost end of the space 10 and the space 10 inserted from another maintenance port 117 adjacent to the one maintenance port 110.
And a track support device 118 for supporting an intermediate portion of the track 112 extending in the zero position.

As shown in FIG. 9, the vehicle 114 has a pinion gear (not shown) for engaging with a sector gear 120 provided on the inner peripheral surface of the track 112 and moving along the track 112, and a drive mechanism therefor. 121 and orbit 1
12, a fixed ring 122 fixed to the vehicle 114 with an opening to prevent interference with the track support device 118 when moving on 12, and mounted so as to be movable along the circumferential direction of the fixed ring 122, A movable ring 123 having an opening similar to that of the fixed ring 122, and the movable ring 12
Drive device 124 for moving the 3 with respect to the fixed ring 122
And are provided.

The telescopic manipulator 113 is a telescope type manipulator having an end effector (not shown) at the tip thereof, and the movable ring 12 is provided.
It is connected to No. 3 and rotates around the orbit 112, and it is possible to extend up to a length of about 6 m to access the in-core equipment at the bottom of the furnace. The remote maintenance device performs maintenance work on the equipment in the entire furnace by the operation of the telescope type manipulator 113 and the vehicle 114. It should be noted that the equipment inside the furnace is replaced by the track support device 11 in the maintenance port 117 at the center.
This is done using the space below 8.

As shown in FIG. 7, since the diverter 102 is longer and larger than the radial interval of the lower end of the blanket 103, it cannot be pulled up and replaced from the central port 106. Therefore, the diverter 102
Will be replaced using the lower port 107.

The procedure for removing the diverter 102 will be described below. FIG. 10 shows the diverters 102 arranged in a radial pattern as viewed from above. First, a shield (not shown) installed in the lower port 107 is removed to open the lower port 107, and the moving cooling pipe 109 (see FIG. 7) of the diverter 102 is cut. Then, the diverter 102a in front of the lower port 107 is pulled out in the radial direction. Next, the adjacent diverter 102b is circumferentially moved to a position in front of the lower port as indicated by an arrow in the figure, and thereafter, it is similarly pulled out in the radial direction. By repeating this operation, the diverter 102 is sequentially removed from the furnace through the lower port. Installation of the new diverter 102 is performed by the reverse procedure.

[0009]

In order to move the diverter 102 in the circumferential direction as shown in FIG. 10, a driving force corresponding to "weight of the diverter" x "coefficient of friction between the diverter and the floor" is required. And the weight of one diverter is 16
Ton and friction coefficient 0.2, the required driving force in the circumferential direction is
16ton ・ f × 0.2 ＝ 3.2ton ・ f. If this driving force is to be generated by the telescope type manipulator as described above, a lateral load of 3.2 ton · f will be applied to the tip of the telescope type manipulator which extends vertically downward to a length of about 6 m. At the same time, at the base of the manipulator, 3.
A large moment of 2ton ・ f × 6m = 19.2ton ・ f ・ m will be applied.

It is mechanically very difficult to apply the above large load with the telescope type manipulator 113 mounted on the track 112 as shown in FIG.
That is, it is very difficult to directly move the diverter in the circumferential direction with the telescope type manipulator.

Even if a device for generating a driving force in the circumferential direction is constructed by using the space after removing the diverter, the space in the circumferential direction and the space in the radial direction are limited, which is not easy. In particular, when only one diverter in front of the port is removed, there is only one diverter's space, so if this space is used, the diverter cannot be moved to that space. is there. Further, the reaction force of the driving force acts on the device generating the driving force as the overturning force. For example,
When a driving force of 3.2ton ・ f acts at a height of 0.5m from the floor, a moment of 3.2ton ・ f × 0.5m ＝ 1.6ton ・ f ・ m is generated around the contact point with the floor. To work. Therefore, an excessive supporting force is required at the contact portion with the floor surface, and it becomes difficult to stably move the diverter while supporting this falling force within a limited width in the circumferential direction. There is a point. If it is not possible to construct a mechanism that supports the falling force, there is a risk that the support will be insufficient and the device will fall and become unable to move. Similarly, there is a problem that it becomes difficult to move the diverter stably because the diverter receives the driving force and the falling force acts on it.

As described above, there are many technical problems in exchanging a diverter, which is a heavy equipment, in a limited space.

The present invention has been made in consideration of such a point, and it is possible to move even in a state where the space is limited only by removing one moving target device, and an excessive lateral load is applied to the tip of the manipulator. A core that can stably move heavy equipment without tipping over, applying an excessive moment to the base of the manipulator, supporting the floor surface with an excessive force, and stably falling. An object is to provide a remote maintenance device for a fusion reactor.

[0014]

A remote maintenance device for a fusion reactor according to the present invention applies a driving force to a side surface of an apparatus to be moved arranged on a floor surface substantially parallel to the floor surface. A moving arm for moving the device, a lateral load supporting means for engaging the insertion portion provided on the floor to support the reaction force of the driving force of the moving arm with respect to the device to be moved, and moving to one end Supporting arm is supported and the other end is supported by the supporting arm rotatably about an axis substantially vertical to the floor surface, and the lateral load supporting means is applied to the other end by a moment generated by the driving action of the moving arm. And a balance arm that cancels the load.

Further, the remote maintenance device for a fusion reactor of the present invention is formed so that the installation width in the moving direction is less than half of the equipment to be moved, and in the space created by removing one of the equipment to be moved. It is inserted and installed, attracts the adjacent moving target device, moves to the newly created space, inserts the adjacent moving target device, pushes the adjacent moving target device, and adjoins the space created by removing one of the moving target devices. It is characterized in that a series of operations for moving the moving target device is possible.

Further, in the remote maintenance device for a nuclear fusion reactor of the present invention, in the structure capable of performing the series of operations described above, the driving force is substantially parallel to the floor surface with respect to the side surface of the equipment to be moved arranged on the floor surface. A moving arm for moving the moving target device by moving the moving target device, and a lateral load supporting means for engaging the insertion portion provided on the floor to support the reaction force of the driving force of the moving arm with respect to the moving target device. One end of the movable arm supports the working surface of the moving arm in a reversible manner, and the other end is supported by the supporting arm rotatably around an axis substantially perpendicular to the floor surface. And a balance arm for canceling the moment due to the action by a load applied to the other end in a substantially vertical direction.

Further, the remote maintenance device for a nuclear fusion reactor of the present invention is, in the above-mentioned configuration, composed of two links in which the moving arms are rotatably connected to each other, and the unconnected ends of the respective links are connected. It is characterized in that it is slidably supported substantially parallel to the floor surface in a plane substantially perpendicular to the driving direction of the moving arm.

Further, the remote maintenance device for a nuclear fusion reactor according to the present invention, in the above-mentioned structure, is provided with an engaging portion which is swingably supported by the tip of the moving arm and is engageable with the structure of the moving target device side. It is characterized by being

Further, in the remote maintenance device for a nuclear fusion reactor of the present invention, the support arm is a manipulator which is slidable in the longitudinal direction, and the other end of the balance arm is pivotally supported by the tip of this manipulator. A load is applied to the other end in a direction substantially perpendicular to the floor surface.

Further, in the remote maintenance device for the fusion reactor of the present invention, the insertion into the space created by removing one of the transfer target devices and the space created by drawing the adjacent transfer target device into the reactor It is characterized by being made by a manipulator that can be approached to other devices.

Further, in the remote maintenance device for a fusion reactor of the present invention, the other end of the balance arm and the tip of the manipulator are configured to be detachable, and the balance arm for supporting the moving arm is installed inside the manipulator. It is characterized by being attached to the tip.

[0022]

The remote maintenance device for a nuclear fusion reactor of the present invention moves the moving target device in the lateral direction by driving the moving arm to extend and retract with respect to the side surface of the moving target device such as the diverter, and at the same time, the lateral load supporting means is provided. It supports the reaction force of the drive force of the moving arm by engaging with the insertion part such as a groove or hole provided on the floor surface, and also supports the moving arm rotatably around an axis perpendicular to the floor surface at one end. The balance arm is supported by a support arm that pivotally supports the other end of the balance arm around an axis perpendicular to the floor surface. The moment is balanced to prevent the moving arm device from falling.

Further, the remote maintenance device for a fusion reactor of the present invention is formed so that the installation width in the moving direction is less than half of the equipment to be moved, and is provided in the space after one of the equipment to be moved is removed. , Is inserted so as to provide a space of approximately half of the movement target device between adjacent movement target devices, pulls the adjacent movement target device by approximately half, and is reinserted into a newly generated approximately half space, By pushing out the remaining approximately half, the entire moving target device adjacent to the first space in which one moving target device has been removed is moved. As a result, the movement-targeted device can be easily moved to the front of the port with a space for one movement-targeted device, and the movement-targeted device can be sequentially taken out of the fusion reactor through the port.

Further, in the remote maintenance device for a fusion reactor of the present invention, a space after removal of one of the transfer target devices provides an approximately half space between the transfer target devices and an adjacent transfer target device. It is installed so that the lateral load supporting means is engaged with an insertion part such as a groove or a hole provided on the floor surface, and the tip end of the moving arm is hooked on a structural part on the side surface of the adjacent moving target device. By pulling it, it is moved about half the width of the device to be moved. Then, the direction of the moving arm is reversed and inserted into the newly generated space, and the lateral load supporting means is installed so as to engage with the insertion portion of the floor surface. By pushing the side surface of the target device with the moving arm, the adjacent target device is moved to the space where the first target device is removed. As a result, the movement-targeted device can be easily moved to the front of the port with a space for one movement-targeted device, and the movement-targeted device can be sequentially taken out of the fusion reactor through the port.

Further, the remote maintenance device for a nuclear fusion reactor of the present invention is configured such that the moving arm is composed of two links rotatably connected to each other, and the other end is slidable in the same direction. By controlling the sliding position as desired, the angle and position of the link are controlled to control the position of the tip of the moving arm that is the linking part of the link, and the angle of the link is widened to allow the moving arm to move. Can be retracted for compact storage.

Further, the remote maintenance device for the fusion reactor of the present invention controls the engaging portion such as a hook provided at the tip of the moving arm so as to be swingable, and the pin provided on the side of the equipment to be moved. The device to be moved can be easily pulled or pushed by engaging with the structure. Further, when not in use, the distal end portion of the moving arm and its engaging portion can be compactly stored.

The remote maintenance device for a nuclear fusion reactor of the present invention is a manipulator in which a supporting arm is slidable in the longitudinal direction, and the other end of the balance arm is pivotally supported by the tip of this manipulator. Applies a load to the other end in a direction substantially perpendicular to the floor surface.

The remote maintenance device for a fusion reactor according to the present invention has a space after removal of only one device to be moved and a half of a space generated after pulling adjacent devices to be moved by about half the width. The insertion into the space is made freely by the manipulator.

Further, the remote maintenance device of the fusion reactor of the present invention is configured such that the manipulator and the tip device attached to the tip of the manipulator are detachable, and the tip device passes through a route different from that of the manipulator so as to move the equipment to be moved. After being installed in the vicinity,
It is attached to the tip of the manipulator, and after moving the target equipment, it is separated from the manipulator and removed from the fusion reactor via a route different from the manipulator.

[0030]

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

FIG. 1 shows a remote maintenance apparatus according to an embodiment of the present invention. Particularly, in a tokamak fusion reactor as shown in FIG. 7, a diverter 102 is arranged in the circumferential direction of the torus.
2 shows a diverter moving device attached to the tip of a manipulator for moving the robot. In FIG. 7, reference numeral 107 is a lower port for loading and unloading the diverter 102, 108 is a rail provided on the floor for moving the diverter 102 in the circumferential direction of the torus, and the rail is provided on the bottom surface of the diverter 102. A roller (not shown) rolling along 108 is assembled. Also,
Reference numeral 109 is a cooling pipe for the diverter 102. In this example, the size of one diverter is 1 torus-shaped space.
00 has a length of about 6 m, a height of about 2 m, a width of about 0.3 m on the inner diameter side, about 0.6 m on the outer diameter side, and a weight of about 16 m.
Tons.

In FIG. 1, one end of the balance arm 1 is attached to the tip of the telescope type manipulator 113 so as to rotate about an orthogonal m axis and n axis by an actuator (not shown).
A frame 3 is attached to the other end of the frame 3 so that it can be rotated around the p-axis by the drive unit 2. The width of the frame 3 is less than half the width of one diverter.

The frame 3 has lateral ribs 4a, 4b,
4c and 4d are provided in parallel, and ribs 4a and 4b,
Rails 5a and 5 of linear guides are provided on the front surfaces of 4c and 4d.
b, 5c and 5d are attached. The linear guide blocks 6a, 6b that slide along the rails 5a, 5b, 5c, 5d of these linear guides are joined by a support plate 7a, and similarly the linear guide blocks 6
c and 6d (the linear guide block of 6d is hidden by the front part) are connected by a support plate 7b. The support plates 7a and 7b are respectively slid by ball screws 9a and 9b which are rotationally driven by drive units 8a and 8b each including a servomotor and a speed reducer. A ball nut 10a (a ball nut corresponding to 10b is drawn on the front side). Figure 1
(Not shown in the figure), and is independently slid. Further, the support plates 7a and 7b respectively rotatably support the base ends of the links 11a (the links corresponding to 11b are not shown in FIG. 1 because they are behind the parts drawn in the foreground). ing. The two links 11a and 11b are rotatably connected around the q-axis, and the hook 12a is swingably moved around the q-axis on the q-axis by a hook drive unit 13a including a servomotor and a speed reducer. Is attached to. The hook 12a can be hooked on a pin (not shown) provided on the side surface of the diverter 102.

Similarly to the above, the lower ribs 4c and 4b also have linear guide rails, linear guide blocks,
Support plates 7c, 7d, drive unit, ball screw,
A similar mechanism composed of the links 11c and 11d, the hook 12b, and the hook drive unit 13b is configured. The hook 12b swings around the r-axis symmetrically with the hook 12a.

On the other hand, alignment pins (not shown in FIG. 1 because they are hidden behind the frame 3) are provided at two places on the lower surface of the frame 3 immediately below the hooks 12a and 12b.
The reference numerals 14a and 14b) are provided so as to project downward.

2 and 3 show the above four links 1
It is a schematic diagram which shows the relationship between the position of the base end part of 1a, 11b, 11c, and 11d, and the position of the hook drive units 13a and 13b, and is what looked at the frame 3 from above. In FIG. 2, links 11a, 11b, 11c,
The swing center axes of the base end portions of 11d are sa, sb,
The axes connecting the links 11a and 11b at the positions sc and sd and the axes connecting the links 11c and 11d are located at the positions q1 and r1, respectively, and the hook 12
The a and 12b are drawn into the frame 3 in the open state.

FIG. 3 shows links 11a, 11b, 11c,
Slide the base end of 11d to the positions ea, eb, ec, and ed to move the axes connecting the links to the q2 and r2 positions, and rotate the hooks 12a and 12b there to rotate the hooks 12a and 12b to the side surface of the diverter 102. Pins 20a, 20b provided
It shows a state of being hooked on.

In this way, each link 11a, 11
The positions of the hooks 12a and 12b can be freely two-dimensionally controlled by independently slidingly driving the base ends of b, 11c, and 11d.

A procedure for removing the diverter 102 by the remote maintenance device equipped with the diverter moving device having the above-described structure will be described.

First, as shown in FIG. 8, an arcuate orbit 112 connected by joints is developed in a furnace, and a vehicle 114 equipped with the above-mentioned telescope type manipulator 113 can run on the orbit 112. Keep it. The diverter moving device shown in FIG. 1 is attached to the tip of the telescope manipulator 113.

On the other hand, in FIG. 7, the shielding plug (not shown) of the lower port 107 is removed, and the cooling pipe 109 of the moving diverter 102 is removed. Then, as shown in FIG. 10, the diverter 102a in front of the lower port 107 is pulled out from the lower port 107 in the radial direction of the torus-shaped space.

The telescope type manipulator 113 moves the diverter moving device shown in FIG. 1 to the space formed by pulling out the diverter 102 in this way. At this time, the hooks 12a, 12b are placed in front of the diverter 102 so as to leave a space half the width of the diverter 102,
The alignment pin provided on the lower surface of the frame 3 is inserted into the hole provided on the floor surface.

Next, as shown in FIGS. 2 and 3, by sliding the base ends of the links 11a, 11b, 11c, 11d, the two hooks 12a, 12b are extended in the circumferential direction, and the hooks 12a, 12b. The hooks 12a, 12 to the pins 20a, 20b on the side surface of the diverter 102b (see FIG. 10) adjacent to the diverter 102a.
Hook b. FIG. 4 shows the state as seen from above, and FIG. 5 shows the state as seen from the circumferential direction.

In FIG. 5, reference numeral 112 is a cross section of an orbit developed concentrically with the center of the torus in the furnace, and 114 is a vehicle moving along the orbit 112. The telescope type manipulator 113 rotates around the track 112 and is slid with respect to the vehicle 114. The shaded portion is the diverter moving device shown in FIG.

In FIG. 4, the diverter 1 is changed from this state.
When 02b is pulled by half the width of the module, a space having the width of half the module is newly formed on the other side of the diverter 102b.

Then, the telescope type manipulator 11
3 by pulling out the diverter moving device shown in FIG.
Rotate the frame 3 around the p-axis by 180 ° and hook 12a,
After reversing the direction of 12b, it moves to the newly created space,
14b is inserted into the hole provided on the floor.

This time, by hooking the hooks 12a, 12b on a pin (not shown) on the opposite side of the diverter 102b and pushing it, the diverter 102 is pushed out by half the width.

By the above series of operations, the lower port 1
The entire diverter 102b adjacent to the diverter 102a in front of 07 can be moved to the front of the lower port 107.

Now, the operation of the alignment pins 14a and 14b provided on the lower surface of the frame 3 and the balance arm 1 will be described with reference to FIG. FIG. 6 is an explanatory view of the force acting when attracting the adjacent diverter in the remote maintenance device according to the present embodiment as viewed from the radial direction.

In FIG. 6, the alignment pins 14a and 14b on the lower surface of the frame 3 are provided with holes 21a provided on the floor,
21b, respectively. Hooks 12a, 12
When the diverter is pulled by b, the hook 12a,
12b has a pulling force Fh1 to the left in the figure,
Fh2 acts, and a downward pressing force Fv acts from one end of the balance arm 1 from the tip of the telescope type manipulator 113 connected thereto. A lateral reaction force Nh that balances Fh1 + Fh2 acts on the side faces of the positioning pins 14a and 14b, and a reaction force corresponding to the sum of the above pressing force Fv and the weight Mg of the remote maintenance device acts on the lower surface of the frame 3. Force Nv is acting upward. Hook 1
The heights of the floors 2a and 12b from the floor surface are h1 and h2, respectively, and the position where the downward pressing force Fv acts from the tip of the telescope type manipulator 113 at the tip of the balance arm 1 and the position of the alignment pins 14a and 14b. Assuming that the lateral shift from and is d, the alignment pins 14a,
Moment M _pin expressed by the following formula around 14b
Works.

[0051]

[Equation 1] M _pin = Fh1 · h1 + Fh2 · h2−Fv · d Here, the load expressed by Fv = (Fh1 · h1 + Fh2 · h2) / d from the telescope manipulator 113 is applied to the balance arm 1. By setting M _pin = 0, it is possible to cancel the moment that acts to invert the device by the lateral force acting on the hook. In this way, the load in the expansion / contraction direction that can be easily generated by the telescope type manipulator 113 can balance the moments and prevent falls.

It should be noted that the magnitude of Fv does not have to be exactly equal to the value of the above equation, and the reaction force Nv from the floor changes with the position or the root of the manipulator does not exist even if there is some error. There is no problem as it will cause a slight lateral load.

On the other hand, when pushing the diverter with the hooks 12a and 12b, if the balance arm 1 is rotated by 180 ° around the p-axis and then a downward load is applied to the tip of the balance arm 1, the fall of the diverter is caused as in the case of pulling the diverter. It is possible to easily cancel out the moment that acts to cause it.

As described above, this embodiment has the following effects.

(1) A hook for pulling or pushing the diverter is provided at the joint portion that rotatably connects the two links, and the position of the base end portion of the link is independently controlled to slide. The position and orientation can be controlled arbitrarily. In particular, it is possible to easily move the diverter in the circumferential direction around the central axis of the torus-shaped space. Furthermore, by separating the two base ends,
The link can be compactly housed in the circumferential direction of the torus space, and the device can be made compact and lightweight.

(2) The width of the diverter moving device is less than half the width of the diverter, and one diverter is inserted into the space created by the removal, and the adjacent diverters are attracted by half the width to newly generate. Since the diverter moving device is moved to a different space and the side surface of the diverter is pushed out by half the width, the diverter can be moved even in a limited space where one diverter can be pulled out.

(3) The moment generated by the lateral force in the hook is offset by applying a vertical load to the tip of the balance arm. Moreover, it is sufficient for the manipulator that extends long vertically to have a vertical load that can be easily generated, and a lateral load at the tip, which is difficult to generate in terms of rigidity and strength, is not necessary. Therefore, since it is not necessary to generate an excessive supporting force, the device can be made small and lightweight, and a large moment can be balanced within a limited space, and the device can be stably moved while preventing a fall. .

In the above embodiment, the system in which the orbit, the vehicle and the manipulator are carried into the furnace while the diverter moving device, which is the core of the present invention, is attached to the tip of the manipulator has been adopted. , The tip of the manipulator and the upper part of the diverter moving device are detachably configured, and after removing the diverter in front of the lower port, the diverter moving device is loaded into the furnace from the lower port and the tip of the manipulator is moved. It may be attached to.

In this case, since it is not necessary to carry the diverter moving device together with the vehicle and the manipulator into the furnace through the central port, the size and shape of the diverter moving device can be relaxed. In particular, even when the central port is small, or when it is difficult to carry in the furnace with a large device attached to the tip of the manipulator, it is possible to implement the remote maintenance device of the present invention.

[0060]

As described above, according to the remote maintenance device for a fusion reactor of the present invention, an excessive lateral load is applied to the tip of the manipulator in a limited space where only one piece of equipment to be moved is removed. It is possible to stably move a heavy equipment and perform replacement work without applying a force and without needing to support the floor surface with an excessive force.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of a remote maintenance device for a fusion reactor of the present invention.

FIG. 2 is a diagram showing a relationship between a position of a base end portion of a link and a position of a hook of the remote maintenance device of FIG.

FIG. 3 is a diagram showing a relationship between a position of a base end portion of a link and a position of a hook, similar to FIG.

FIG. 4 is a top view of a state in which a hook is hooked on a pin on the side surface of an adjacent diverter.

5 is a view of the state of FIG. 4 viewed from the circumferential direction.

FIG. 6 is a view for explaining the action of the alignment pin and the balance arm.

FIG. 7 is a vertical sectional view showing an example of a tokamak-type fusion reactor.

FIG. 8 is a perspective view illustrating the outline of the overall configuration of a remote maintenance device.

9 is a perspective view illustrating a mounting portion of a manipulator of the remote maintenance device shown in FIG.

FIG. 10 is a view from above of diverters that are radially arranged in the tokamak-type fusion reactor.

[Explanation of symbols]

 1 ... Balance arm 2 ... Drive unit 3 ... Frame 4 ... Ribs 5a-5d ... Linear guide rails 6a-6b ... Linear guide block 7a-7d .... Support plate 11a to 11d ... Link 12a, 12b ... Hook 13a, 13b ... Hook drive unit 14a, 14b ... Alignment pin, 113 ... Telescope type manipulator

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kiyoshi Oka 1 801 Mukaiyama, Naka-cho, Naka-cho, Naka-gun, Ibaraki Prefecture, Japan 1 inside the Naka Institute, Japan Atomic Energy Research Institute (72) Mitsunobu Kondo 801 Mukaiyama, Naka-cho, Naka-cho, Ibaraki Prefecture No. 1 No. 1 in the Naka Institute of Japan Atomic Energy Research Institute (72) Kiyoshi Shiwanuma No. 801 Mukaiyama, Naka-cho, Naka-cho, Naka-gun, Ibaraki Prefecture No. 1 No. 1 in the Naka Institute of Japan Atomic Energy Research Institute (72) Shin Shin Murakami 1 Toshiba-cho, Fuchu, Tokyo Address: Toshiba Fuchu Plant (72) Inventor Tadashi Munakata 1st, Toshiba Town, Fuchu City, Tokyo Toshiba Fuchu Plant

Claims (8)

[Claims] 1. A moving arm for moving a moving target device by applying a driving force to the side surface of the moving target device arranged on the floor surface substantially parallel to the floor surface, and a moving arm provided on the floor surface. And a lateral load supporting means for supporting the reaction force of the driving force of the moving arm with respect to the device to be moved by engaging the inserting portion, and the moving arm is supported at one end and the supporting arm at the other end. Is rotatably supported about an axis substantially vertical to the floor surface, and is substantially perpendicular to the floor surface which is applied to the other end by a driving action of the moving arm applied to the lateral load supporting means with respect to the moving target device. A remote maintenance device for a fusion reactor, comprising: a balance arm that cancels by a directional load. 2. The installation width in the moving direction is formed so as to be less than half of the moving target device, and one of the moving target devices is inserted and installed in a space created by the removal, and an adjacent moving target device is attracted. , A series of operations is possible in which the device is moved and inserted into a newly created space, the adjacent moving target device is pushed, and the adjacent moving target device is moved to the space created by removing one of the moving target devices. A remote maintenance device for a fusion reactor, which is characterized in that 3. The remote maintenance device for a nuclear fusion reactor according to claim 2, wherein a driving force is applied to a side surface of the moving target device arranged on the floor surface substantially in parallel with the floor surface. A moving arm for moving, and a lateral load supporting means for engaging with an insertion portion provided on the floor surface to support a reaction force of a driving force of the moving arm with respect to the movement target device,
One end of the movable arm supports the action surface of the moving arm in a reversible manner, and the other end is supported by the supporting arm so as to be rotatable about an axis substantially vertical to the floor surface. A balance maintenance arm for canceling a moment due to a driving action of the arm for movement to the device to be moved by a substantially vertical load applied to the other end, and a remote maintenance device for a nuclear fusion reactor. 4. The remote maintenance device for a fusion reactor according to claim 1 or 3, wherein the moving arm comprises two links rotatably connected to each other, and the respective links are connected. A remote maintenance device for a nuclear fusion reactor, characterized in that its free end is slidably supported substantially parallel to the floor in a plane substantially perpendicular to the driving direction of the moving arm. 5. The remote maintenance device for a nuclear fusion reactor according to claim 1, 3, or 4, wherein the remote arm is swingably supported by a tip of the moving arm and is related to a structure of a moving target device side. A remote maintenance device for a nuclear fusion reactor, which is provided with a mating engagement portion. 6. The remote maintenance device for a fusion reactor according to claim 1, wherein the support arm is a manipulator slidable in the longitudinal direction, and the other end of the balance arm is provided at the tip of the manipulator. A remote maintenance device for a nuclear fusion reactor, wherein the manipulator applies a load to the other end in a direction substantially perpendicular to the floor surface. 7. The remote maintenance device for a fusion reactor according to claim 2 or 3, wherein a space created by removing one of the moving target devices and a space created by drawing adjacent moving target devices together. A remote maintenance device for a fusion reactor, characterized in that the insertion into the reactor is performed by a manipulator that can be close to the equipment in the reactor. 8. The remote maintenance device for a nuclear fusion reactor according to claim 6 or 7, wherein the other end of the balance arm and the tip of the manipulator are detachably configured to support the moving arm. A remote maintenance device for a nuclear fusion reactor, wherein the balance arm is attached to a tip of the manipulator in the reactor.