JPH10186081A - Inspection/repair device in nuclear reactor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To conduct the inspection/repair work for the whole inside of a nuclear reactor by removably fitting an inspection/repair unit to a balancer pivotally fitted to a swimming type work robot main body. SOLUTION: An inspection/repair unit 15 is removably fitted to the swimming robot 20 of a swimming type work robot 14. The swimming type work robot 14 is connected to the cable winding device 41 of a robot handling device 5 with a composite cable 24, and the composite cable 24 is drawn out from the cable winding device 41 as the swimming type work robot 14 is lowered. The cable winding device 41 employs a force balance mechanism, and the composite cable 24 is drawn out with slight force. The composite cable 24 is connected to a control device installed on an operation floor from the cable winding device 41 via a cable 43. A standard item can be used for the tool conveying robot.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-reactor inspection and repair device, and more particularly to an in-reactor inspection and repair device capable of inspecting and repairing welds and the like in a reactor vessel using a swimming work robot.

[0002]

2. Description of the Related Art The life of a nuclear power plant is said to be 30 to 40 years, but not all the equipment constituting the plant have the same service life. In order to ensure the safety of a nuclear power plant, it is extremely important to maintain the integrity of the structures inside the reactor vessel (reactor structures) and their welds. Therefore, in order to maintain the safety of a nuclear power plant for a long period of time and extend its life, inspection, repair and preventive maintenance of the reactor internal structure are carried out to ensure the soundness of the reactor internal structures and their welds. It is important to maintain sex.

As a device for performing inspection and repair work on furnace internals and the like, a small swimming type work robot equipped with a small CCD camera has been developed. This small swimming type work robot is designed so that its specific gravity is about the same as that of water, and the opening of the upper lattice plate inside the reactor vessel, the opening of the core support plate, and the clearance between the control rod drive device housing The work can be performed by swimming.

[0004] Further, as another device for performing inspection and repair work on the internal structure of the reactor, there is a bottom inspection of a reactor vessel equipped with a multi-joint arm or a telescopic link mechanism having a micro CCD camera attached to the tip. Equipment is being developed. In this inspection device, the articulated arm or the telescopic link mechanism is passed through the opening of the upper lattice plate and the opening of the core support plate from the top of the reactor vessel, and is mounted on the control rod drive device housing. This is to inspect the surface of the bottom of the reactor vessel with a micro CCD camera.

[0005]

However, in the above-mentioned conventional small-sized swimming-type working robot, it is necessary to inspect the integrity of a welding line or the like in a narrow portion at the bottom of the reactor vessel or take preventive maintenance measures. could not.

Further, in the above-described conventional reactor vessel bottom inspection apparatus, when the integrity of a weld line or the like in a narrow portion is inspected over the entire reactor vessel bottom or when preventive maintenance measures are taken, a large number of cases are required. It is necessary to remove the control rod guide tube in advance, and there is a problem that the operation period is prolonged and the operation rate of the plant is reduced.

[0007] An apparatus capable of cleaning a narrow portion over the entire bottom of a reactor vessel has not yet been developed.

Accordingly, an object of the present invention is to perform inspection and repair work over the entire inside of a reactor vessel, and particularly to perform inspection and repair work without any trouble even in a narrow portion at the bottom of the reactor vessel. It is an object of the present invention to provide an in-furnace inspection and repair device.

[0009]

According to a first aspect of the present invention, there is provided an in-furnace inspection and repair apparatus for performing an inspection and repair work in a reactor by introducing a swimming type working robot into a reactor vessel. In the above-mentioned swimming work robot, a swimming robot having a robot main body having a propulsion device, a balancer pivotally attached to the robot main body, and an inspection and repair unit detachably mounted on the balancer. , Is provided.

[0010] In the furnace inspection and repair device according to the second aspect of the present invention, the balancer is attached to the robot body via a pivot shaft, and an auxiliary propulsion device is provided on the pivot shaft.

In the furnace inspection and repair device according to the third aspect of the present invention, the inspection and repair unit is provided with an additional auxiliary propulsion device capable of generating a thrust in the same direction as the thrust by the auxiliary propulsion device. It is characterized by the following.

According to a fourth aspect of the present invention, in the furnace inspection / repair device, the balancer includes a first balancer on which the inspection / repair unit is mounted, and a second balancer movable relative to the first balancer. And a balancer.

According to a fifth aspect of the present invention, in the furnace inspection / repair device, a cable winding device is provided inside the robot main body, and the plurality of robot main bodies are connected to each other via a cable wound around the cable winding device. Are connected.

According to a sixth aspect of the present invention, there is provided an in-furnace inspection / repair device, wherein a gripping mechanism formed of a shape memory alloy and a projection gripped by the gripping mechanism are provided on each of the robot bodies, When the cable is wound, the robot main bodies are connected to each other by gripping the protrusions of the other robot main body by the gripping mechanism of one of the robot main bodies, and when releasing the connected state, Is characterized in that the gripping mechanism is released from the gripping state by heating and deforming the gripping mechanism.

According to a seventh aspect of the present invention, in the furnace inspection and repair device, the inspection and repair unit is attached to the balancer via a swing mechanism.

In the furnace inspection and repair device according to the present invention, a drive mechanism for moving the inspection and repair unit relative to the balancer between the swing mechanism and the inspection and repair unit. Is provided.

According to a ninth aspect of the present invention, in the furnace inspection / repair device, the swimming robot further includes a balancer slide mechanism for sliding the balancer in a direction of a rotation axis thereof.

According to a tenth aspect of the present invention, in the furnace inspection / repair device, the inspection / repair unit includes a laser application device having a laser irradiation nozzle for emitting a laser beam, and the laser application device includes a laser application nozzle from the laser irradiation nozzle. The emitted laser light is applied to the inner surface of the reactor vessel or the surface of the reactor internal structure.

In the furnace inspection and repair apparatus according to the present invention, the laser application apparatus includes a sweep mechanism for sweeping the laser irradiation nozzle.

[0020] In the furnace inspection and repair apparatus according to the twelfth aspect of the present invention, water is injected from the laser irradiation nozzle together with the laser beam.

According to a thirteenth aspect of the present invention, in the furnace inspection / repair device, the laser application device includes a lens for converging a laser beam, an oscillating reflector for reflecting the laser beam converged by the lens, A swing mechanism for swinging the swing reflector.

According to a fourteenth aspect of the present invention, there is provided the in-furnace inspection / repair device according to the present invention, wherein the laser application device is provided with a cylindrical lens, and the laser light reflected by the oscillating mirror is made incident on the cylindrical lens. Features.

A fifteenth aspect of the present invention is directed to the in-furnace inspection / repair device, wherein the laser irradiation nozzle is provided with a suction nozzle mechanism.

According to a sixteenth aspect of the present invention, in the furnace inspection / repair device, the inspection / repair unit includes a suction hose formed of a shape memory alloy, and a filtration device for filtering water sucked by the suction hose. The cleaning device is characterized in that the cleaning hose is appropriately deformed by conducting and heating the suction hose when performing an in-furnace inspection and repair work.

According to a seventeenth aspect of the present invention, in the furnace inspection / repair device, the inspection / repair unit comprises an image unit having a CCD camera surrounded by a radiation shield.

In the furnace inspection and repair device according to the invention, the furnace inspection and repair device further includes a robot handling device for introducing the swimming work robot into the reactor vessel. The robot handling device has a tubular main body for housing the swimming work robot therein, and the inside of the reactor vessel is opened from a lower end opening of the tubular main body suspended inside the reactor vessel. Wherein the swimming type work robot is introduced.

In the reactor inspection and repair apparatus according to the present invention, a bottom cover is provided at a lower end portion of the tubular main body so as to openably open a lower end opening of the cylindrical main body portion, and the reactor vessel Wherein the bottom cover is opened to introduce the swimming work robot into the reactor vessel.

According to a twentieth aspect of the present invention, there is provided the in-furnace inspection and repair device according to the present invention, wherein a fixing flange is provided at an upper end of the cylindrical main body, and the cylindrical main body is provided with an opening of an upper lattice plate in the reactor vessel. The tubular main body is suspended from the reactor vessel by being inserted into the opening of the reactor core support plate and engaged with the upper surface of the upper lattice plate by the fixing flange. It is characterized in that it is fixed inside the container.

According to a twenty-first aspect of the present invention, the in-furnace inspection and repair device further comprises a robot handling device for introducing the swimming work robot into the reactor vessel. The robot handling device includes an upper structure portion inserted into an opening of an upper lattice plate in the reactor vessel, and an upper structure portion inserted into an opening of a core support plate in the reactor vessel, and the swimming type work robot is internally inserted. A lower-structure part to be housed in the reactor vessel, and a telescopic mechanism that can expand and contract the upper-structure part and the lower-structure part. It is characterized in that a work robot is introduced.

[0030] The in-furnace inspection and repair device according to the invention according to claim 22, wherein the in-furnace inspection and repair device further comprises a robot handling device for introducing the swimming work robot into the reactor vessel. The robot handling device includes an upper structure portion inserted into an opening of an upper lattice plate in the reactor vessel, and an upper structure portion inserted into an opening of a core support plate in the reactor vessel, and the swimming type work robot is internally inserted. And a multi-stage joint mechanism for connecting the upper structure and the lower structure to each other, wherein the swimming type work robot is inserted into the reactor vessel from a lower end opening of the lower structure. It is characterized by introducing.

According to a twenty-third aspect of the present invention, the in-furnace inspection and repair device further comprises a robot handling device for introducing the swimming work robot into the reactor vessel. The robot handling device, a hose winding device that can float on the surface of the reactor water,
A hose wound around the hose winding device,
The swimming type working robot is connected to an end of the hose, and the swimming type working robot is introduced into the reactor vessel.

[0032]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment A first embodiment of a furnace inspection and repair device according to the present invention will be described below with reference to the drawings.

FIG. 1 is a longitudinal sectional view showing a state in which the in-reactor inspection and repair apparatus according to the present embodiment is disposed inside a reactor pressure vessel 1 of a boiling water reactor. As shown in FIG.
Inside the reactor pressure vessel 1, a cylindrical core shroud 16 is provided.
The core shroud 16 is supported by the shroud support 8. An upper lattice plate 6 having a plurality of openings 17a is provided at the upper end of the core shroud 16, and below the upper lattice plate 6,
A core support plate 7 having a plurality of openings 17b is provided.

A shroud inner chamber 195 for accommodating a core (not shown) is formed between the upper lattice plate 6 and the core support plate 7, and a pressure vessel lower chamber 12 is provided below the core support plate 17. Is formed. A plurality of control rod drive housings 13 are provided upright on the lower mirror 18 of the reactor pressure vessel 1 via a plurality of stub tubes 138. A partition 180 is provided outside the core shroud 16, and a partition lower chamber 179 is formed below the partition 180. Further, a plurality of jet pumps 78 are disposed in the annulus section chamber 196 between the reactor pressure vessel 1 and the core shroud 16. In FIG. 1, reference numeral 3 indicates an operation floor, and reference numeral 4 indicates a reactor pit.

The opening 17a of the upper lattice plate 6 and the opening 1a of the core support plate 7 are provided inside the reactor pressure vessel 1.
The robot handling device 5 is installed so as to penetrate through 7b. The lower end of the cylindrical main body 5a of the robot handling device 5 is located in the lower chamber 12 of the pressure vessel, and the swimming work robot 14 descends into the lower chamber 12 of the pressure vessel from the lower end opening of the cylindrical main body 5a. Have been.

FIG. 2 is a longitudinal sectional view showing the robot handling device 5 having the swimming work robot 14 built therein. As shown in FIG. 2, the swimming work robot 14 is configured such that the inspection and repair unit 15 is detachably mounted on the swimming robot 20.

At the upper end of the cylindrical main body 5a of the robot handling device 5, a fixing flange 5b is provided.
At the lower end, a bottom lid 42 made of a shape memory alloy is provided. The bottom lid 42 made of a shape memory alloy is provided with an opening / closing mechanism (not shown) that brings the bottom lid 42 from a closed state to an open state by heating and energizing.

A swimming work robot 14 is housed in the lower part inside the cylindrical main body 5a of the robot handling device 5,
The swimming type working robot 14 includes a cable winding device 4.
One composite cable 24 is connected. The composite cable 24 is connected from a cable winding device 41 via a cable 43 to a control device, a laser oscillation device, and the like installed on the operation floor 3 (see FIG. 1). The composite cables 24 and 43 are composite cables composed of cables for transmitting electric power, control signals, measurement and video signals, cables for transmitting laser light (optical fibers), hoses for water supply, and the like. It is configured so that the specific gravity is about the same as the specific gravity.

FIG. 3 is a side view showing a schematic configuration of the swimming robot 20 constituting the swimming work robot 14 shown in FIG. 2, and the swimming robot 20 has a robot body 43 as shown in FIG. The robot main body 43 is provided with two screw-type propulsion devices 21 at the rear for moving in a horizontal plane, and a screw-type propulsion device 22 for raising and lowering is provided on the main body. Further, the balancer 23 is provided on both sides of the robot body 43 so as to be pivotable, and a composite cable 24 for power and signal transmission is attached to the upper part thereof. The swimming robot 20 and the composite cable 24 have the same specific gravity as water, and are configured such that the center of buoyancy of the swimming robot 20 is above the center of gravity. In addition, the front of the robot body 43 of the swimming robot 20 has a transparent shell structure,
Inside, a CCD camera (not shown) with a swing function for forward inspection, an illumination device (not shown), a water depth measurement device,
A propulsion device driving device and the like are mounted.

FIG. 4 shows a swimming-type working robot 14 constructed by attaching an inspection and repair unit 15 to a swimming robot 20.
FIG. 5 is a front view (a view taken in the direction of arrow 5-5 in FIG. 4) of the swimming work robot 14 shown in FIG. As shown in FIG.
Is detachably attached to the balancer 23 of the swimming robot 20 via an attachment structure 28.
A laser applied surface reforming device (laser applied device) 25 is attached to 8 via a swing mechanism 26. Here, the swing mechanism 26 can be made of a shape memory alloy, or can be made of an ultrasonic motor. By configuring the oscillating mechanism 26 using a shape memory alloy or an ultrasonic motor in this manner, a speed reduction mechanism is not required, the structure is simplified, and the manufacturing cost can be reduced.

A contact structure 27 is provided on the front surface of the laser-applied surface modifying device 25, and an optical fiber 56 is connected to the laser-applied surface modifying device 25. Further, as shown in FIG. 5, the laser applied surface modification apparatus 25 has a laser irradiation window 31. Further, as shown in FIG. 4, a balancer 197 is provided on the mounting structure 28 so as to project rearward.

FIG. 6 is a cross-sectional view (a cross-sectional view taken along line 6-6 in FIG. 7) of the laser-applied surface modifying apparatus 25 as viewed from the front.
FIG. 7 is a cross-sectional view of the laser-applied surface modifying device 25 as viewed from the plane (view taken along the line 7-7 in FIG. 6), and FIG. 8-8). As shown in FIGS. 6 to 8, the laser applied surface modification apparatus 25 includes a laser irradiation nozzle 44, an X-axis direction sweeping mechanism 45, a Y-axis direction sweeping mechanism 46, an optical fiber connection structure 47, a reflection optical system 48, and the like. It is composed of The X-axis direction sweeping mechanism 45 includes a set gear 49, a driving device 50, and a guide rail 51, and the Y-axis direction sweeping mechanism 46 includes a set gear 52, a driving device 53, and a guide rail 54. The optical fiber connection structure 47 includes an optical system 55, an optical fiber 56, and an emission end structure 57. 6, reference numeral 58 denotes a range of the laser irradiation window 31 (see FIG. 7), and reference numeral 59 denotes a range of laser irradiation.

Next, a method for inspecting and repairing the area around the shroud support 8 inside the reactor pressure vessel 1 using the in-furnace inspection and repair apparatus according to the present embodiment will be described with reference to FIG.

After the fuel in the reactor pressure vessel 1 is taken out, the control rod guide tube 29 located at the position where the robot handling device 5 is installed is taken out. FIG. 9 shows the robot handling device 5
FIG. 10 is a cross-sectional view of the reactor pressure vessel 1 showing the installation position of the shroud support 8 by installing the robot handling device 5 at the positions of B1, B2, B3, and B4 shown in FIG. Work can be carried out.

After taking out the predetermined control rod guide tube 29,
The robot handling device 5 is moved by the inspection / repair device hanging crane (not shown) attached to a work vehicle (fuel handling device) (not shown) running on the operation floor 3 (see FIG. 1) in the reactor building. The control rod guide tube 29 in the reactor pressure vessel 1 is suspended at the position B1 (see FIG. 9). Then, as shown in FIGS. 1 and 2, the cylindrical main body 5a of the robot handling device 5 is inserted into the openings 17a and 17b of the upper lattice plate 6 and the core support plate 7, and the lower end of the cylindrical main body 5a is formed. The robot handling device 5 is fixed by positioning the portion in the pressure vessel lower chamber 12 and engaging the fixing flange 5 b (see FIG. 2) at the upper end with the upper surface of the upper lattice plate 6.

Next, the bottom cover 42 at the lower end of the cylindrical main body 5a is provided.
The shape memory alloy of the opening and closing mechanism is electrically heated to open the bottom lid 42, and the swimming type working robot 14 housed in the robot handling device 5 is lowered by operating the propulsion device 22, and the robot handling device 5 Then, the swimming type working robot 14 is introduced into the pressure vessel lower chamber 12.

The swimming type working robot 14 and the cable winding device 41 of the robot handling device 5 are connected by a composite cable 24 (see FIG. 2), and the cable winding device 41 is moved as the swimming type inspection and repair robot 14 descends. , The composite cable 24 is pulled out. Cable winding device 4
Reference numeral 1 indicates that a composite cable 24 is pulled out with a slight force by adopting a force balance mechanism. The composite cable 24 is connected via a cable 43 from a cable winding device 41 to a control device and a laser oscillation device installed on the operation floor 3. The composite cable 24 is a composite cable composed of a cable for transmitting power, a control signal, a measurement / video signal, a cable for transmitting a laser beam, and a hose for transmitting water, and has a specific gravity of water and a specific gravity of identification. It is configured to be.

Next, a space 30 surrounded by the shroud support 8 and the control rod guide pipe 29 in the lower chamber 12 of the pressure vessel.
After lowering the swimming-type work robot 14 (see FIG. 9), the swimming robot 14 swims in the space 30 and moves to the position of the welding line of the shroud support 8, and the contact structure 27 of the laser applied surface reforming device 25 has the welding line. The propulsion device 21 is operated until it hits a structure around the part. Then, when the laser applied surface modification device 25 reaches a predetermined surface modification position, a preventive maintenance operation is performed by irradiating the welded portion with a laser by the following operation.

The visible light pulse laser light transmitted through the optical fiber 56 shown in FIG. 6 is emitted from the emission end structure 57, and the expanded light flux is converted into a parallel light by the optical system 55.
The light is guided to the laser irradiation nozzle 44 via the reflection optical system 48 and converged by an optical system (not shown) of the laser irradiation nozzle 44 so as to have a predetermined light diameter on the welding line. Drive 53
To move the laser irradiation nozzle 44 at a predetermined speed in the Y-axis direction via the assembled gear 52. The moving speed is set as a function of the number of superpositions of the irradiated pulse laser light, the energy density of the irradiation laser, the pulse width, the irradiation light diameter, and the like. After performing laser irradiation over a predetermined width in the Y-axis direction, the driving device 50 is operated to drive the Y-axis direction sweeping mechanism 46 integrally with the laser irradiation nozzle 44 via the gear 49 at a predetermined speed in the X-axis direction. To move. The moving speed is set as a function of pulse radiation, irradiation light diameter, and the like. The laser irradiation procedure in the X-axis direction and the Y-axis direction may be interchanged.

When the laser irradiation in the range 59 of the laser irradiation window 31 is completed, in the case of a horizontal welding line, the propulsion unit 2
1 (see FIG. 4), the swim-type work robot 14 is moved slightly toward the shroud support 8 while slightly changing the drive of the propulsion device 21 and changing the circumferential direction. Contact structure 2 at a position (may have some overlap) arranged in the irradiation range
7 is again pressed against the welding line portion of the shroud support 8 to perform laser irradiation. Then, the above operation is repeated, and when the surface modification of the welding line in the space 30 is completed, the swimming type working robot 14 is moved to the space 32 (see FIG. 9), and the laser is applied to the welding line in the space 32. Irradiation is performed again to perform the surface modification work.

When the surface modification work of the welding line in the space 32 is completed, the swimming type working robot 14 is collected in the robot handling device 5 and the robot handling device 5 is moved above the upper lattice plate 6 by the inspection / repair device hanging crane. Up to Next, the robot handling device 5 is moved from the position B1 to the position B2 in FIG. 9, and the surface modification work is performed again by the above-described procedure.

Next, the inside inspection and repair apparatus according to the present embodiment cleans the inner surface of the lower mirror 18 (see FIG. 1), inspects and maintains the control rod drive unit housing 13, and inspects and maintains the neutron instrumentation piping housing. A method of performing inspection and repair work such as the above will be described with reference to FIG. Note that a description of a procedure common to the above-described inspection and repair work around the shroud support 8 is omitted.

After the fuel in the reactor pressure vessel 1 is taken out, the control rod guide tube 29 located at the position where the robot handling device 5 is installed is taken out. FIG. 10 is a cross-sectional view of the reactor pressure vessel 1 showing the installation position of the robot handling device 5, and by installing the robot handling device 5 at the positions A1 to A6 shown in FIG. The surface modification operation can be performed over the entire range of the weld between the device housing 13 and the stub tube 138 and the weld between the stub tube 138 and the lower mirror 18.

After installing the robot handling device 5 at the predetermined position shown in FIG. 10, the cylindrical main body 5 of the robot handling device 5
The swimming type work robot 14 is introduced into the pressure vessel lower chamber 12 from the lower end opening part of FIG. The swimming type working robot 14 introduced into the pressure vessel lower chamber 12 uses the propulsion devices 21 and 22 to swim between the control rod driving device housings 13 (see FIG. 1) and repairs the control rod driving device housing 13. And the welding position of the stub tube 138 and the welding position of the stub tube 138 and the lower mirror 18.

Next, the propulsion devices 21 and 22 are operated until the contact structure 27 (see FIG. 4) of the laser-applied surface modification device 25 hits the structure around the weld line. At this time, control for changing the direction of the balancer 23 to change the direction of the contact structure 27 is also performed at the same time. The laser irradiation nozzle 44 is moved along the welding line while operating the Y-axis direction sweeping mechanism 46 and the propulsion device 21 to irradiate a visible light pulse laser beam to perform a surface modification operation. Then, the control rod driving device housing 13 divided by the neutron instrumentation piping row 139 shown in FIG.
Of stub tube 1 with stub tube 138
After finishing the surface modification work of the welded portion between the lower mirror 18 and the lower mirror 18, the swimming work robot 14 is stored again in the robot handling device 5, and the robot handling device 5 is moved to another position where the control rod guide tube 29 is pulled out. Again, and repeat the above work.

As described above, according to the in-furnace inspection / repair device of the present embodiment, the inspection / repair unit 15 is detachably attached to the swimming robot 20, so that the robot for transporting tools is a standard product. As a result, production costs can be reduced and product reliability can be improved. Also,
Since the quality of the tool used for performing the preventive maintenance can be improved and the manufacturing cost can be reduced independently of the transportation means, an appropriate operation can be performed using the best tool.

First Modification Next, a first modification of the first embodiment will be described with reference to FIG. FIG. 11 is a side view showing a schematic configuration of a swimming robot 61 of the in-furnace inspection / repair device according to the present modification, and a drive shaft of a balancer 64 attached to a robot body 62 of the swimming robot 61 as shown in FIG. An auxiliary propulsion device 63 is provided therein.

As described above, the auxiliary propulsion device 63 is attached to the balancer 64.
Is provided, when the surface of the welding line in the horizontal direction is modified, it can be moved to a predetermined position only by driving the auxiliary propulsion device 63. As described above, the operation can be easily performed by being slidable in the horizontal direction, and the time for setting the swimming work robot 14 at a predetermined position can be reduced.

Second Modification Next, a second modification of the first embodiment will be described with reference to FIG. FIG. 12 is a side view showing a schematic configuration of a swimming work robot 67 of the in-furnace inspection and repair device according to the present modification. The swimming work robot 67 performs inspection and repair on the swimming robot 61 of the first modification. The unit 15 is configured. As shown in FIG. 12, in this modification, an auxiliary propulsion device 66 is provided below the mounting structure 28 of the inspection and repair unit 15.

By providing the auxiliary propulsion device 66 at the lower portion of the mounting structure 28 in this manner, two mechanisms for horizontally sliding the auxiliary propulsion device 63 and the auxiliary propulsion device 66 are provided. The operation control is facilitated because the operation can be easily prevented. Therefore, when the surface of the welding line in the horizontal direction is modified, it is possible to quickly move to a predetermined position simply by driving the auxiliary propulsion devices 63 and 66, and the set time can be reduced.

Third Modification Next, a third modification of the first embodiment will be described with reference to FIG. FIG. 13 is a side view showing a schematic configuration of a swimming robot 72 of the in-furnace inspection and repair device according to the present modification. As shown in FIG. 13, the swimming robot 72 includes a second balancer 68 that performs a relative movement with respect to the balancers 23 on both sides of the robot body 76. And the second
By rotating the balancer 68 in the opposite direction to the balancer 23 to balance the surface, the surface modification can be performed from the horizontal plane to the vertical plane, and the vertical surface modification work can be performed up to the height of the swimming robot 72. Therefore, the workable range is expanded, such as the surface modification of the wall surface near the ceiling, and the workability is improved.

Fourth Modification Next, a fourth modification of the first embodiment will be described with reference to FIG. FIG. 14 is a side view showing a schematic configuration of a swimming work robot 73 of the in-furnace inspection and repair device according to the present modification. As shown in FIG. 14, a second balancer 71 that performs relative movement with respect to the balancers 64 on both sides of the robot body 76 of the swimming robot 72 is provided, and further, inside the drive shaft of the second balancer 71. Auxiliary propulsion machine 63
Is provided.

When the surface of the welding line in the horizontal direction is to be modified, the auxiliary propulsion device 63 is operated to slide and move in the horizontal direction. As described above, since the slide movement can be performed in the horizontal plane by the auxiliary propulsion device 63, the operation of moving to the work target surface is easy, and the work efficiency can be improved.

Fifth Modification Next, a fifth modification of the first embodiment will be described with reference to FIG. FIG. 15 is a plan view showing a schematic configuration of a swimming work robot 79 of the in-furnace inspection and repair device according to the present modification. As shown in FIG. 15, two sets of balancers 64 and 74 are provided on both sides of the swimming robot 72.
An auxiliary propulsion device 63 (see FIG. 14) is provided inside the drive shaft. The balancer 64 is provided with a mounting structure 81, and the mounting structure 81 is provided with the oscillating mechanism 26 and the uniaxial slide mechanism (drive mechanism) 75. Further, the laser applied surface reforming apparatus 77 is
And a uniaxial slide mechanism 75, which is attached to the mounting structure 81 so as to be rotatable in a vertical plane and slidable in one axial direction. An ultrasonic motor is used for the uniaxial slide mechanism 75.

Then, by operating the one-axis direction slide mechanism 75, the laser-applied surface reforming apparatus 77 can be moved in the X and Y axis directions in a range larger than the projected area of the swimming robot 72.

The swimming work robot 79 of the in-furnace inspection and repair device according to the present modification includes a balancer slide mechanism 80 for sliding the balancer 74 in the axial direction. Then, the laser applied surface reforming apparatus 77 is slid by the uniaxial slide mechanism 75 and the balancer 74 is simultaneously moved.
Can be balanced by sliding in the axial direction.

As described above, according to the in-furnace inspection / repair device according to the present modification, the surface modification work in a range larger than the projected area of the swimming robot 72 can be performed, and the surface modification work is so narrow that the swimming robot 72 cannot enter. Even in a place, if there is a gap large enough to allow the laser-applied surface modification device 77 and the uniaxial slide mechanism 75 to enter, the surface modification work can be performed, so that the work applicable range can be widened and the work efficiency can be increased. Can be improved.

Further, by displacing the balancer 74 in the axial direction, the imbalance when the uniaxial slide mechanism 75 is operated can be eliminated, and the operation controllability can be improved.

Sixth Modification Next, a sixth modification of the first embodiment will be described with reference to FIGS. FIG. 16 is a cross-sectional view (a cross-sectional view taken along line 16-16 in FIG. 17) of the laser applied surface reforming device 83 of the in-furnace inspection / repair device according to this modification, and FIG. FIG. 18 is a cross-sectional view (a cross-sectional view taken along the line 17-17 in FIG. 16) of the quality device 83, and FIG. 18 is a side view (a view taken along the arrow 18-18 in FIG. 16) of the laser-applied surface reforming device 83. It is.

As shown in FIGS. 16 to 18, the laser irradiation nozzle 44 of the laser applied surface reforming device 83 can be moved in the X and Y axis directions by the X axis direction sweeping mechanism 45 and the Y axis direction sweeping mechanism 46. And the driving device 82
The swing motion can be performed by the swing mechanism 84 having An ultrasonic motor can be used as a drive source of the X-axis direction sweeping mechanism 45, the Y-axis direction sweeping mechanism 46, and the swing mechanism 84. In FIG. 16, reference numeral 47 denotes an optical fiber connection structure, reference numeral 48 denotes a reflection optical system, and FIG.
In FIG. 7, reference numeral 85 denotes a laser irradiation window.

In this laser-applied surface reforming apparatus, when the Y-axis direction sweeping mechanism 46 comes to both ends in the X-axis direction, the driving device 82 changes the direction of the oscillating mechanism 84, It is possible to irradiate outside the axial sweep range.

Seventh Modification Next, a seventh modification of the first embodiment will be described with reference to FIGS. As shown in FIGS. 19 to 21, in the in-furnace inspection / repair device according to the present modification, the optical system part of the laser applied surface reforming device 88 is underwater, and the laser irradiation nozzle 86 is connected to the water supply hose 100. Water supply pipe 87 is attached. The water supply hose 100 is wound around a hose winding device 91 of a force balance type (using a spring force) via a pulley 96, and further, a water supply pump disposed inside the robot handling device 5 (see FIG. 1). It is connected to a device (not shown).

The laser irradiation nozzle 86 can sweep in the Y-axis direction by driving the assembled gear 97 of the Y-axis direction sweeping mechanism 89 by a driving device 94 having an ultrasonic motor. During the sweep in the Y-axis direction, the guide rail 112 functions as a guide. Further, by driving the assembled gear 98 of the X-axis direction sweeping mechanism 90 by a driving device 95 having an ultrasonic motor, the Y-axis direction sweeping mechanism 8 is driven.
9 can be moved integrally with the laser irradiation nozzle 86 in the X-axis direction. During the sweep in the X-axis direction, the guide bar 101 functions as a guide. An optical fiber connection structure 92 for connecting the optical fiber 56, a hose winding device 91 for winding the water supply hose 100, and the swing mechanism 26 (see FIG. 21) are attached to the X-axis direction sweeping mechanism 90. I have.

19 and FIG.
Denotes a reflection optical system for guiding laser light to the laser irradiation nozzle 86, and the reflection optical system 93 includes a first reflection mirror 102. As shown in FIG. 20, the first reflecting mirror 102
A second reflecting mirror 103 is disposed above the laser beam. The laser beam reflected by the second reflecting mirror 103 is converged by a lens 104 and is emitted to the structure 99 from a nozzle port 110.

Next, the operation of the in-furnace inspection and repair device according to this modification will be described. The visible light pulse laser transmitted through the optical fiber 56 is converted into a parallel light beam 105 by an assembled lens (not shown) in the optical fiber connection structure 92, and changes its direction by the first reflecting mirror 102 and the second reflecting mirror 103. Lens 1
After being converged at 04 to become a converged laser beam, the structure 99
The surface is irradiated. When performing the laser irradiation, the water supply pump device in the robot handling device 5 is operated to supply high-pressure water to the hose winding device 91 via the cable winding device 41 and the composite cable 24 (see FIG. 2). After being guided into the laser irradiation nozzle 86 via the water supply hose 100 and the water supply pipe 87 to cool the lens 104, it is blown out from the nozzle 110 together with the converged laser beam 111 toward the structure 99.

When changing the laser irradiation position in the Y-axis direction, the driving device 94 operates the combination gear 97 to sweep the laser irradiation nozzle 86 in the Y-axis direction. At this time, the water supply hose 100 is pulled out from the hose winding device 91. Further, when the laser irradiation position is changed in the X-axis direction, the driving gear 95 operates the combination gear 98 to sweep the laser irradiation nozzle 86 in the X-axis direction integrally with the Y-axis direction sweeping mechanism 89. At this time, if the water supply hose 100 becomes slack, the water supply hose 100 is wound by the force balance mechanism of the hose winding device 91. By moving the laser irradiation nozzle 86 in the X and Y axis directions, the distance from the emission end of the optical fiber 56 of the optical fiber connection structure 92 to the irradiation point on the surface of the structure 99 changes. This is performed by a lens system (not shown) in the optical fiber connection structure 92. In addition, the convergence point distance of the lens 104 is adjusted with respect to the irregularities on the surface of the structure 99.

As described above, according to the in-furnace inspection / repair device according to the present modification, the laser irradiation nozzle 86 is moved by the Y-axis direction sweeping mechanism 89 and the X-axis direction sweeping mechanism 90, thereby improving the surface modification by laser. Laser irradiation can be performed over a wide range without moving the entire device 88. Also, when performing laser irradiation,
High-pressure water is injected into the structure 99 together with the convergent laser beam 111 from zero.
Therefore, the gas generated when the surface of the structure 99 is irradiated with the laser beam is eliminated from the laser beam path, so that the scattering of the laser beam can be prevented and the energy efficiency can be improved.

Eighth Modification Next, an eighth modification of the first embodiment will be described with reference to FIGS. FIG. 22 is a longitudinal sectional view of a laser applied surface reforming apparatus J115 of the in-furnace inspection / repair apparatus according to the present modification, and FIG. 23 is a plan view of the laser applied surface reforming apparatus 115 (a view taken along arrows 23-23 in FIG. 22). ).

As shown in FIGS. 22 and 23, the laser-applied surface reforming device 115 has an optical system portion in water, and moves the laser irradiation nozzle 114 in the X-axis direction.
An X-axis direction sweeping mechanism 116 is provided.
16 is a drive unit 11 having an ultrasonic motor (not shown)
8 is provided. In addition, the laser-applied surface modification device 115
Includes an oscillating reflecting mirror 113 and an oscillating mechanism 117 for oscillating the oscillating reflecting mirror 113. The oscillating mechanism 117 includes a driving device 119 having an ultrasonic motor (not shown). Have. Inside the optical fiber connection structure 92 for connecting the optical fiber 56, an assembled lens 120 for converting the laser beam into the parallel light beam 105 is provided.

In the in-furnace inspection / repair device according to the present modification, the visible light pulse laser transmitted through the optical fiber 56 is converted into a parallel beam 105 by the lens assembly 120, and the parallel beam 105 is converged by the lens 104. . The visible light pulse laser converged by the lens 104 is reflected by the oscillating reflecting mirror 113 and is applied to the surface of the structure 99. Then, when irradiating the laser, the driving device 118 having an ultrasonic motor is operated to set the laser irradiation nozzle 114 to X
Sweep in the axial direction. Further, the driving device 119 of the swing mechanism 117 having an ultrasonic motor is operated, and the swing reflecting mirror 113 is driven.
A small circle is swept by the converged laser light reflected by.

As described above, according to the in-furnace inspection / repair device of the present modification, the laser irradiation nozzle 114 can be swept in the X-axis direction by the X-axis direction sweeping mechanism 116, so that there is no problem even in a narrow portion. Work can be performed, the workable range is expanded, and work efficiency is improved. In addition, since the small circle is swept by the converging laser beam using the oscillating reflecting mirror 113, the structure 99 can be effectively irradiated with the laser.

Ninth Modification Next, a ninth modification of the first embodiment will be described with reference to FIG. The in-furnace inspection / repair device according to the present modification is obtained by adding a part of the configuration to the laser applied surface reforming device according to the eighth modification, and therefore the same members as those in the eighth modification described above have the same components. The description is given with reference numerals.

FIG. 24 is a longitudinal sectional view of a laser applied surface reforming device 124 of the in-furnace inspection and repair device according to this modification.
As shown in FIG. 24, the laser applied surface modification device 124
The water supply hose 122 is attached to the laser irradiation nozzle 123, and this water supply hose 122 is wound around a hose winding device 125 of a force balance type (using spring force).
The water supply hose 122 is connected to the robot handling device 5 (FIG. 1).
(See FIG. 1) is connected to a water supply pump (not shown) arranged inside. The laser irradiation nozzle 123 having the nozzle port 126 can be swept in the X-axis direction by operating the driving device 118 having an ultrasonic motor. Further, a cylindrical lens 121 is attached to the laser irradiation nozzle 123, and the oscillating reflecting mirror 11 is
The sweep of the small circle of the converged laser light reflected by 3 can be oscillated linearly.

In the in-furnace inspection / repair device according to the present modification, the laser reflected by the oscillating reflecting mirror 113 is converted into a linear beam diameter by the cylindrical lens 121, and is converted into a point on the surface of the structure 99. Irradiated. In this laser irradiation, a water supply pump device (not shown) in the robot handling device 5 is operated to supply high-pressure water to the hose winding device 125 via the cable winding device 41 and the composite cable 24 (see FIG. 2). Supply. Further, the hose winding device 125
Is fed into the laser irradiation nozzle 123 via the water supply hose 122 to cool the cylindrical lens 121, and then the convergent laser light 11
1 is blown out toward the structure 99. The laser irradiation nozzle 123 is moved by the X-axis direction
At this time, the water supply hose 122 is pulled out or taken up by a force balance mechanism incorporated in the hose take-up device 125.

As described above, according to the in-furnace inspection and repair apparatus of the present modification, the nozzle opening 12
6 and high-pressure water together with the convergent laser beam 111
Therefore, gas generated when the surface of the structure 99 is irradiated with laser light is eliminated from the laser light optical path, laser light scattering can be prevented, and energy efficiency can be improved. In addition, the swing reflecting mirror 113
Since the laser beam reflected by the laser beam is converted into a linear beam diameter by the cylindrical lens 121 and then irradiated to the structure 99 from the nozzle opening 126, the laser irradiation to the structure 99 can be performed effectively.

Tenth Modification Next, a tenth modification of the first embodiment will be described with reference to FIG. The in-furnace inspection and repair apparatus according to the present modification is obtained by adding a part of the configuration to the laser applied surface reforming apparatus according to the ninth modification.
The same members as those of the modification will be described with the same reference numerals.

As shown in FIG. 25, in the in-furnace inspection / repair device according to the present modification, an arm structure 127 is provided between the laser applied surface reforming device 124 and the oscillating mechanism 26. The arm structure 127 is a joint structure 12 having a built-in ultrasonic motor.
8 and the mounting structure 1 of the laser applied surface modification device 124
30. The arm structure 127 has a hollow structure and has a buoyancy function.

In the in-furnace inspection / repair device according to the present modification, the joint structure 128 is rotated in a horizontal plane.
By making the arm structure 127 and the laser-applied surface modification device 124 linear, the swimming robot 20
Even in a narrow portion where the laser-applied surface reforming device 124 cannot be inserted (see FIG. 3), the surface modification work can be performed by inserting the laser applied surface reforming device 124 deep into the narrow portion, so that the workable range can be expanded. , The working effect can be improved.

Eleventh Modification Next, an eleventh modification of the first embodiment will be described with reference to FIGS. The in-furnace inspection / repair device according to this modification is partially modified from the laser applied surface reforming device according to the seventh modification shown in FIGS. Therefore, the same members as those of the above-described seventh modification will be denoted by the same reference numerals and described.

FIG. 26 is a front view showing a laser applied decontamination apparatus 131 of the in-furnace inspection and repair apparatus according to this modification, FIG. 27 is a sectional view taken along the line 27-27 of FIG. 26, and FIG. FIG. The optical system part of the laser applied decontamination apparatus 131 is underwater.

As shown in FIGS. 26 to 28, a water supply pipe 87 connected to a water supply hose 100 is attached to the laser irradiation nozzle 86, and the water supply hose 100 is connected to a pulley 96.
Is wound around a hose winding device 133 of a force balance type (using spring force). The laser irradiation nozzle 8
6, a suction nozzle mechanism 132 is provided at the tip.
A suction hose 134 is attached to the suction nozzle mechanism 132. The suction hose 134 is connected to the hose winding device 1 of a force balance type (using spring force) via a pulley 96.
33. At the tip of the suction nozzle mechanism 132, an elastic skirt structure 1 as shown in FIG.
The skirt structure 135 is configured such that the water flow spouted from the nozzle 110 of the laser irradiation nozzle 86 is swirled in the suction nozzle mechanism 132.

FIG. 29 is a longitudinal sectional view showing a state in which the robot handling device 5 containing the swimming type working robot 106 of the in-furnace inspection / repair device according to the present modification is mounted on the upper lattice plate 6. The swimming type working robot 106 is equipped with the laser applied decontamination apparatus 131 shown in FIGS. The swimming work robot 106 and the cable winding device 41 are connected by a composite cable 24. The composite cable 24 includes a water hose and power, signal, and control cables. Further, inside the robot handling device 5, a suction pump device 108 having a filtering device (not shown) and a water supply pump device 109 are arranged. These suction pump device 108 and the water supply pump device 109 are hoses. (Not shown) connected to the cable winding device 41.

Next, the operation of the in-furnace inspection and repair device according to this modification will be described. The water supply pump device 109 (see FIG. 29) in the robot handling device 5 is operated to supply high-pressure water to the hose winding device 133 of the laser applied decontamination device 131 via the cable winding device 41 and the composite cable 24. Further, the high-pressure water supplied to the hose winding device 133 is guided into the laser irradiation nozzle 86 via the water supply hose 100 and the water supply pipe 87, and after the lens 104 is cooled. It blows out toward the structure 99 together.

The hard clad on the surface of the structure 99, for example, the surface of the control rod drive housing 13, the stub tube 138, the stub tube 138, the lower mirror 18, etc. is evaporated by the visible light pulse laser applied to the surface of the structure 99. Then, the evaporated hard clad is flowed into the suction nozzle mechanism 132 in a swirling state by the water flow spouted from the nozzle 110. Then, the water containing the evaporated hard clad is sucked by the suction pump device 108 in the robot handling device 5 via the suction hose 134 by the suction port of the suction nozzle mechanism 132 opened at the center of the swirling flow. Then, the hard clad is removed by the filtering device in the suction pump device 108, and the filtered water is discharged into the furnace.

When the laser irradiation nozzle 86 is swept in the Y-axis direction, the laser irradiation nozzle 86 is swept in the Y-axis direction by the Y-axis direction sweeping mechanism 89. At this time, the water supply hose 100 and the suction hose 134 are pulled out from the hose winding device 133. Further, the laser irradiation nozzle 86
Is swept in the X-axis direction by the X-axis direction sweeping mechanism 90 together with the Y-axis direction sweeping mechanism 89. At this time, the water supply hose 100
When the suction hose 134 becomes loose, the water supply hose 100 is moved by the force balance mechanism of the hose winding device 133.
Then, the suction hose 134 is wound up.

As described above, according to the in-furnace inspection and repair system of the present modification, the hard clad can be removed from the surface of the structure 99, so that the radiation exposure of the workers who perform the periodic inspection can be reduced. Efficiency can be improved.

Twelfth Modification Next, a twelfth modification of the first embodiment will be described with reference to FIG. The in-furnace inspection / repair device according to this modification is different from the laser-applied surface modification device according to the ninth modification shown in FIG. 24 in that the suction nozzle mechanism according to the eleventh modification shown in FIGS. Since the laser applied decontamination apparatus is obtained by adding 132 parts, the same members as those in the ninth modification and the eleventh modification are denoted by the same reference numerals.

FIG. 30 is a longitudinal sectional view showing a laser applied decontamination device 136 of the in-furnace inspection and repair device according to this modification.
The suction nozzle mechanism 13 is provided at the tip of the laser irradiation nozzle 123.
2 are installed. A suction hose 134 is attached to the suction nozzle mechanism 132.
4 is a force winding type (using spring force) hose winding device 1
33. The laser irradiation nozzle 123 and the suction nozzle mechanism 132 can be swept in the X-axis direction by the X-axis direction sweeping mechanism 90.

As described above, according to the in-furnace inspection / repair device according to this modification, the laser irradiation nozzle 123 and the suction nozzle mechanism 132 can be swept in the X-axis direction by the X-axis direction sweeping mechanism 116, so that the space is narrow. The decontamination work can be performed without any trouble in the section, and the workable range is expanded, and the work efficiency is improved.

Second Embodiment Hereinafter, a second embodiment of the in-furnace inspection and repair device according to the present invention will be described with reference to FIGS. 31 and 32. The same members as those shown in FIG. 1 used in the description of the first embodiment are denoted by the same reference numerals and described.

FIG. 31 is a longitudinal sectional view showing a state in which the in-reactor inspection and repair device according to the present embodiment is disposed inside the reactor pressure vessel 1 of the boiling water reactor. In FIG. 31, reference numeral 143 denotes a robot handling device. The robot handling device 143 includes an upper structure section 140, a telescopic mechanism section 141, and a lower structure section 142.

As shown in FIG. 32, the upper structure 140 has a mounting structure 149, and the upper structure 140 is mounted on the upper lattice plate 6 by the mounting structure 149. Further, the fixed arm structure 150 is rotatably mounted on the mounting structure 14.
9, the fixed arm structure 150 is provided with a set gear 147, and the driving device 146 is provided with the mounting structure 14.
9 and the driving device 146 and the assembled gear 147 are engaged with each other. A wire take-up device 145 and a drive device (not shown) are provided on the assembled gear 147, and are connected to an arm 151 at the lower end of the expansion / contraction mechanism 141 by a wire 148. A joint between the lower end arm 151 and the lower structure portion 142,
A drive device (not shown) is attached to the joint between the upper arm 152 and the fixed arm structure 150. A floating structure 144 is provided inside the lower arm 151. A bottom cover 42 made of a shape memory alloy is provided at a lower end of the lower structure portion 142. The bottom cover 42 is an opening / closing mechanism (see FIG. (Not shown). The swimming work robot 14 is housed in the lower structure 142.

Next, a method for performing an inspection and repair operation using the in-furnace inspection and repair device according to the present embodiment will be described. First, the control rod guide tube 29 at the position A3 shown in FIG. 10 is pulled out, and the robot handling device 14 is placed on the upper lattice plate 6 at the same position.
3 and the lower structural part 142 is attached to the core support plate 7.
At the A3 position. Next, the shape memory alloy of the opening / closing mechanism of the bottom cover 42 of the lower structure portion 142 is heated by energizing the bottom cover 4.
2 is opened, and the swimming work robot 14 housed in the lower structure portion 142 is introduced into the pressure vessel lower chamber 12. Then, the swimming work robot 14 performs the work of modifying the surface of the welding line by the procedure described in the first embodiment.

When the work on the predetermined part is completed, the swimming work robot 14 is stored again in the lower structure 142. Next, the driving device of the joint between the fixed arm structure 150 and the upper end arm 152 is operated to lift the telescopic mechanism 141 and at the same time to operate the wire winding device 145 to operate the wire 148.
And retracting the expansion / contraction mechanism 141 to lower the lower structure 1
42 is extracted from the core support plate 7. Next, the lower structure 1
Reference numeral 42 denotes A1 (A2, A4, A5, A6) of the core support plate 7.
(See FIG. 10). At this time, if necessary, the driving device 146 is driven to rotate the assembled gear 147, and the lower structure 142 is turned integrally with the upper structure 140.

When the lower structure portion 142 reaches a predetermined position, the driving device for the joint between the fixed arm structure 150 and the upper arm 152 is operated to lower the expansion / contraction mechanism portion 141, and
41 is extended, and the lower structure portion 142 is inserted into the opening 17 b of the core support plate 7. And, A1 (A
The swimming work robot 14 is introduced into the lower chamber 12 of the pressure vessel from the lower structure portion 142 inserted into the opening 17b at the position of 2, A4, A5, A6), and the inspection and repair work is performed again.

As described above, according to this embodiment, not only the same effects as in the first embodiment can be obtained, but also
Since the lower structure 142 containing the swimming type work robot 14 can be moved inside the shroud inner chamber 195, it is not necessary to pull out the robot handling device 143 above the upper lattice plate 6, thereby shortening the work period. Can be.

Third Embodiment Hereinafter, a third embodiment of the in-furnace inspection and repair device according to the present invention will be described with reference to FIG. FIG. 33 shows a state in which the in-furnace inspection and repair apparatus according to the present embodiment is installed in the reactor pressure vessel 1 (see FIG. 1). The robot handling device 156 of this in-furnace inspection and repair apparatus has an upper structure 153. ,
A multi-stage joint mechanism 154 and a lower structure 155 are provided.

The upper structure 153 is mounted on the upper lattice plate 6 by the mounting structure 164.
Is provided with a driving device 157, which meshes with a set gear 158 rotatably mounted on the mounting structure 164. A fixing mechanism 159 is mounted on the set gear 158, and connects the fixed arm structure 160 to the set gear 158. The fixed arm structure 160 is used for the operation floor 3 (see FIG. 1).
Is suspended by a wire 161 by an inspection / repair device hanging crane (not shown) attached to a work vehicle (fuel handling device) (not shown) that travels. Also, the first arm 16
6 and the joint of the fixed arm structure 160, the first arm 166 and the second arm
Of the arm 168, the third arm 165 and the lower structure 15
A drive device (not shown) is attached to each of the five joints. In addition, a floating structure 1 is provided inside the articulated arm.
62 are attached.

Next, a description will be given of a method of performing an inspection / repair operation by the in-furnace inspection / repair device according to the present embodiment. In addition, the working procedure by the in-furnace inspection and repair device of this embodiment is as follows.
The procedure is substantially the same as the work procedure by the in-furnace inspection and repair device of the second embodiment, and the procedure for moving the lower structure portion 155 inside the shroud inner chamber 195 is different. Therefore, in the following description, the second embodiment will be described. The description of the parts common to the above is omitted.

From the state shown in FIG.
When the robot 5 is moved to the opening 167, the robot handling device 156 is lifted by the wire 161 by the inspection / repair device hanging crane (not shown), the fixing of the fixing mechanism 159 is released, and the lower structure 155 is moved to the core. The support plate 7 is pulled out from the opening 17b. Next, the first arm 166
The first arm 166 and the second arm 168 drive the joint device between the second arm 168 and the second arm 168 and the joint device between the second arm 168 and the third arm 165. Activate the joint drive until it is aligned and the second arm 168 and the third arm 165 are at right angles. When the bending operation of these joints is completed, lifting of the robot handling device 156 is stopped.

Next, the fixed arm structure 160 is fixed by the fixing mechanism 159 so that the lower structure portion 155 is located at the position of the opening 167, and the drive gear 157 operates the set gear 158 to rotate the fixed arm structure 160. The lower structure 155 is adjusted so as to be located at the center of the opening 167. When the position adjustment is completed, the fixed state of the fixed arm structure 160 by the fixing mechanism 159 is released, the inspection / repair device hanging crane is operated, the robot handling device 156 suspended by the wire 161 is lowered, and the lower structure portion 155 is moved. It is inserted into the opening 167 to a predetermined position (the position where the third arm 165 contacts the core support plate 7). When the insertion is completed, the fixing arm structure 160 is fixed by the fixing mechanism 159.

As described above, according to the in-furnace inspection / repair device of the present embodiment, since the robot handling device 156 has an articulated structure, the lower structural portion 155 in which the swimming work robot 14 is housed is replaced with the shroud inner chamber 195. The robot handling device 156 does not need to be pulled out above the upper lattice plate 6, and the work period can be shortened.

Fourth Embodiment Hereinafter, a fourth embodiment of the in-furnace inspection and repair device according to the present invention will be described with reference to FIGS. 34 and 35. The in-furnace inspection and repair device according to the present embodiment is a modification of the swimming work robot in the first embodiment described above, and hereinafter, the same components as those in the first embodiment are denoted by the same reference numerals. explain.

FIG. 34 is a side view showing a swimming work robot 40 of the furnace inspection / repair device according to the present embodiment. As shown in FIG. 34, the inspection and repair unit 15 of the swimming type working robot 40 includes a cleaning device 36. The cleaning device 36 includes a suction hose 172 made of a shape memory alloy. At the tip, a cleaning brush 37
Is attached. The suction hose 172 includes a first hose unit 176, a second hose unit 177, and a third hose unit 178. Further, an attachment structure 173 of the cleaning device 36 is connected to the swing mechanism 26 attached to the lower surface of the balancer 64 of the swimming robot 61, and a suction pump device 174 and a filtration device 175 are housed inside the attachment structure 173. Have been. One end of the suction hose 172 is connected to the suction pump device 174, the outlet of the suction pump device 174 is connected to the filtering device 175, and the outlet of the filtering device 175 is connected to the opening of the mounting structure 173.

Next, a method of performing an inspection and repair operation using the in-furnace inspection and repair device according to the present embodiment will be described. The description of the parts common to the operation procedure by the in-furnace inspection and repair device of the first embodiment will be omitted.

The pressure vessel lower chamber 12 (see FIG. 1) from the lower end of the cylindrical main body 5a of the robot handling device 5 (see FIG. 1).
Introduces the swimming work robot 40 inside the propulsion unit 2
1, 22 and 63 to operate the control rod drive housing 1
3 and is moved to the position of the lower mirror 18 to be cleaned, and the propulsion devices 21, 22, 63 are operated until the cleaning brush 37 of the cleaning device 36 hits the inner surface of the lower mirror 18.

Next, the first hose unit 176 and the second
Hose unit 177 or first hose unit 17
The suction hose 172 is deformed by energizing and heating the shape alloy of the sixth and third hose units 178. FIG. 35 shows a state where the first hose unit 177 and the third hose unit 178 are deformed by energizing and heating. In this way, the suction nozzle 38 with the cleaning brush 37 is moved to the swimming robot 6.
The propulsion unit 22 is operated toward the front of the
Then, the suction nozzle 38 with the cleaning brush 37 is pressed against the inner surface of the lower mirror 18.

Next, the suction pump device 174 is driven to suck the soft clad in the range pressed by the suction nozzle 38. At this time, cleaning is performed while oscillating the suction nozzle 38 by operating the swing mechanism 26. Further, the washing is performed while the propulsion units 21, 22, and 63 of the swimming robot 61 are operated to move backward and swing the suction nozzle 38. When the cleaning from the shroud support 8 to the lower mirror 18 is completed, the swimming robot 61 is raised, the power supply is stopped, the suction hose 172 is straightened, and the swing mechanism 26 is rotated by 180 degrees. Then, the first hose unit 176 and the second hose unit 177 or the first
Hose unit A 176 and second hose unit 178
Is heated and deformed by applying electric current, and the above-mentioned cleaning is repeated. When these operations are completed, the swimming work robot 40 is stored again in the robot handling device 5 (see FIG. 1), and the robot handling device 5 is installed again at another position where the control rod guide tube 29 has been pulled out. Rework the work.

As described above, according to the in-furnace inspection / repair device of the present embodiment, the unit-type cleaning device 36 is detachably attached to the swimming robot 61, so that the robot for transporting tools is a standard product. The manufacturing cost can be reduced and the reliability of the product can be improved. Also,
Since the quality of the cleaning device 36 for performing cleaning can be improved and the manufacturing cost can be reduced independently of the transporting means, an appropriate cleaning operation can be performed using the best cleaning device 36. . Further, by appropriately deforming the suction hose 172, the washing operation can be performed without trouble even in a narrow portion where the swimming robot 61 cannot enter.

Fifth Embodiment Hereinafter, a fifth embodiment of the in-furnace inspection and repair device according to the present invention will be described with reference to FIG. The swimming work robot of each of the above-described embodiments can be used as the swimming work robot of the in-furnace inspection and repair device according to the present embodiment.

FIG. 36 shows a state in which inspection and repair work such as surface modification, decontamination or cleaning of a structure is performed inside the reactor pressure vessel 1 using the in-furnace inspection and repair apparatus according to the present embodiment. ing. In the in-furnace inspection and repair apparatus according to the present embodiment, the suction pump (not shown) provided on the operation floor 3 supplies the water for suction of the clad during the decontamination work or the removal of the evaporant from the laser beam path. ) And a water supply pump (not shown) are supplied to the swimming work robot 14 by a hose 182 via a hose winding device 181 floating on the surface of the reactor water. The specific gravity of the hose 182 is configured to be substantially the same as the specific gravity of water.

When the inspection and repair work is performed using the in-furnace inspection and repair apparatus according to the present embodiment, first, the swimming work robot 14 is operated by the work vehicle (fuel handling) that runs on the operation floor 3 in the reactor building. The inspection / repair device attached to the device (not shown) is suspended in the reactor pressure vessel 1 by a lifting crane (not shown). Then, a shroud inner chamber 195 below the upper lattice plate 6, a pressure vessel lower chamber 12 below the core support plate 7, an annulus chamber 196 between the reactor pressure vessel 1 and the core shroud 16, a partition lower part below the partition 180. The swimming type work robot 14 is introduced into the room 179 by swimming, cleaning the inside of the lower wall 18 and the inside of the lower mirror 18, inspecting and maintaining the control rod drive unit housing 13, inspecting and maintaining the neutron instrumentation piping housing, and core shroud. 1
6 Inspection and maintenance of inside and outside, inspection and shroud support 8
Maintenance, inspection and maintenance of the jet pump 78, etc. are performed.

As described above, according to the in-furnace inspection and repair system of the present embodiment, not only the same effects as in the first embodiment can be obtained, but also the annulus between the reactor pressure vessel 1 and the core shroud 16 can be obtained. Various inspection and repair work can also be performed in the room 196 and the like.

Sixth Embodiment Hereinafter, a sixth embodiment of the in-furnace inspection and repair device according to the present invention will be described with reference to FIGS. 37 and 38. The in-furnace inspection and repair apparatus according to the present embodiment is obtained by adding a part of the configuration to the in-furnace inspection and repair apparatus according to the first to fourth embodiments described above. Are described with the same reference numerals.

FIG. 37 shows a state in which a swimming type working robot and a swimming type relay robot of the in-furnace inspection and repair device according to the present embodiment are connected, and FIG.
81 is shown. As shown in FIG. 37, the swimming work robot 73 and a plurality of swimming relay robots 181 are connected via a composite cable 184. A built-in cable winding device (not shown) for winding the composite cable 184 is provided inside each of the swimming relay robots 181. The built-in cable winding device has a force balance mechanism. . In addition, the swimming relay robot 18
1 is provided with a gripping mechanism 185 made of a shape memory alloy, and the gripping state of the projection 137 can be released by electrically heating the shape memory alloy of the gripping structure 185. By adopting a method in which the shape memory alloy is energized and heated to release the gripping state, the structure is simplified and the controllability is improved.

FIG. 37 shows a swimming type working robot 73 (see FIG. 14) in which the laser applied surface reforming device 25 is mounted on the swimming robot 72. In this embodiment, the swimming type working robot 73 is shown. Instead of the work robot 73, any of the swim-type work robots in the above embodiments can be applied.

When the inspection and repair work is performed using the in-furnace inspection and repair apparatus according to the present embodiment, the swimming work robot 73 and the plurality of swimming relay robots 181 shown in FIG. The robot handling apparatus 5, 143, or 156 shown in FIG. 29, 32, or 33 is introduced into the pressure vessel lower chamber 12 (see FIG. 1) from the lower end. Then, the swimming type working robot 73 and the plurality of swimming type relay robots 18
When the swimming robot 1 reaches a predetermined position, the inner surface of the lower mirror 18 is cleaned, the control rod drive unit housing 13 is inspected and maintained, and the neutron instrumentation piping housing is inspected.・ Maintenance, core shroud 1
6 Inspection and maintenance of inside and outside, inspection and shroud support 8
Conduct inspection and repair work such as maintenance.

Here, in the case where the distance between the swimming type working robot 73 and the swimming type relay robot 181 becomes long and the corner turns on the way, the swimming type relay robot 181 is moved to the position where the corner is turned. The gripping state of the gripping structure 185 is released so that the composite cable 184 with the second swimming relay robot 181 can be extended in accordance with the movement. If it is necessary to turn a corner during the movement of the swimming work robot 73, the swimming relay robot 181 is set in advance.
Alternatively, a control method of moving with the swimming type work robot 73 may be adopted.

As described above, according to the in-furnace inspection / repair device of the present embodiment, not only the same effects as those of the above-described embodiments can be obtained, but also the movement of the swimming work robot 73 so as to bend a corner. When it is necessary to perform the operation, it is possible to perform the repair work of the entire area without obstructing the drawing of the composite cable 184 and changing the installation positions of the robot handling devices 5, 143, and 156, and the operation control is easy. ,
Moreover, work efficiency is improved.

Modification As a modification of the present embodiment, the swimming work robot 73 and the plurality of swimming relay robots 181 shown in FIG.
Can be introduced into the reactor pressure vessel 1 by using a hose winding device 181 and a hose 182 instead of the robot handling device as in the fifth embodiment shown in FIG.

By doing so, the annulus chamber 196 between the reactor pressure vessel 1 and the core shroud 16 (FIG. 3)
6), inspection and maintenance of the jet pump 78 can be performed.

Seventh Embodiment Hereinafter, a seventh embodiment of the in-furnace inspection and repair device according to the present invention will be described with reference to FIG. The in-furnace inspection and repair apparatus according to the present embodiment uses a video unit as an inspection and repair unit of the in-furnace inspection and repair apparatus of each of the above-described embodiments. The description will be made with reference to FIG.

FIG. 39 is a side view showing the swimming type working robot 14 of the in-furnace inspection and repair device according to the present embodiment in a partial cross section. As shown in FIG. 39, a unit-type video unit 186 is detachably connected to the swimming robot 72 via a mounting structure 190, and the video unit 186 includes a transparent shell 191 formed of a transparent member. ing. Inside the transparent shell 191, a CCD camera 187 to which a cable 192 is connected is housed. The CCD camera 187 is a CCD camera 187.
188 for rotating the shaft in the elevation direction, and C
The CD camera 187 is fixed to the mounting structure 190 via a driving device 189 for turning the CD camera 187 in a horizontal plane. C
A shield 19 for shielding radiation is provided around the CD camera 187.
3 is provided, and the shield 193 is provided with the driving device 18.
9 allows the camera to be rotated together with the CCD camera 187. FIG. 39 shows the third embodiment of the first embodiment.
Although a swimming robot 72 of a modified example (see FIG. 13) is shown, in the present embodiment, any of the swimming robots in the above-described embodiments can be applied instead of the swimming robot 72.

In the in-reactor inspection / repair device of the present embodiment having the above-described configuration, the swimming type working robot 14 is introduced into the reactor pressure vessel 1 (see FIGS. 1 and 36) to swim, and the image unit 186 is provided. The inside of the reactor pressure vessel 1 is inspected by an image using the CCD camera 187. At this time, the CCD cameras 1 are driven by the driving devices 188 and 189.
By moving the 87, the image inspection can be performed in all directions.

As described above, according to the in-furnace inspection / repair device of the present embodiment, since the unit type video unit is detachably mounted on the swimming robot 72, the robot for transporting tools can be a standard product. As a result, production costs can be reduced and product reliability can be improved. In addition, since the quality of the video unit 186 can be improved and the manufacturing cost can be reduced independently of the transporting means, an appropriate operation can be performed using the best tool.

[0136]

As described above, according to the in-furnace inspection and repair apparatus of the present invention, the inspection and repair unit is detachably mounted on the swimming robot, so that the robot for transporting tools can be a standard product. Reduction of manufacturing cost and improvement of product reliability can be realized. In addition, since the quality of the tool used for performing the preventive maintenance can be improved and the manufacturing cost can be reduced independently of the transporting means, an appropriate operation can be performed using the best tool.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view showing a state in which a reactor inspection / repair device according to a first embodiment of the present invention is disposed inside a reactor pressure vessel 1 of a boiling water reactor.

FIG. 2 is a longitudinal sectional view showing a robot handling device incorporating a swimming work robot of the in-furnace inspection and repair device according to the first embodiment of the present invention.

FIG. 3 is a side view showing a schematic configuration of a swimming robot constituting the swimming work robot shown in FIG. 2;

FIG. 4 is a side view showing a schematic configuration of a swimming work robot configured by attaching an inspection and repair unit to the swimming robot shown in FIG. 3;

FIG. 5 is a view taken in the direction of arrows 5-5 in FIG. 4;

FIG. 6 is a sectional view of the in-furnace inspection / repair device according to the first embodiment of the present invention as viewed from the front of the laser-applied surface reforming device.

FIG. 7 is a sectional view taken along line 7-7 of FIG. 6;

FIG. 8 is a view taken in the direction of arrow 8-8 in FIG. 6;

FIG. 9 is a cross-sectional view of the reactor pressure vessel showing an installation position of the robot handling device.

FIG. 10 is a cross-sectional view of the reactor pressure vessel showing an installation position of the robot handling device.

FIG. 11 is a side view showing a schematic configuration of a swimming robot of the in-furnace inspection and repair device according to a first modification of the first embodiment of the present invention.

FIG. 12 is a side view showing a schematic configuration of a swimming type work robot of the in-furnace inspection and repair device according to a second modification of the first embodiment of the present invention.

FIG. 13 is a side view showing a schematic configuration of a swimming robot of an in-furnace inspection / repair device according to a third modification of the first embodiment of the present invention.

FIG. 14 is a side view showing a schematic configuration of a swimming work robot of an in-furnace inspection and repair device according to a fourth modification of the first embodiment of the present invention.

FIG. 15 is a plan view showing a schematic configuration of a swimming work robot of an in-furnace inspection and repair device according to a fifth modification of the first embodiment of the present invention.

FIG. 16 is a sectional view of the in-furnace inspection / repair device according to the sixth modification of the first embodiment of the present invention as viewed from the front of the laser-applied surface reforming device.

FIG. 17 is a sectional view taken along line 17-17 of FIG. 16;

FIG. 18 is a view taken in the direction of arrows 18-18 in FIG. 16;

FIG. 19 is a front view of a laser surface reforming device of the in-furnace inspection and repair device according to a seventh modification of the first embodiment of the present invention.

FIG. 20 is a sectional view taken along the line 20-20 in FIG. 19;

21 is a view taken in the direction of the arrow 21-21 in FIG. 19;

FIG. 22 is a longitudinal sectional view of a laser-applied surface reforming apparatus of an in-furnace inspection and repair apparatus according to an eighth modification of the first embodiment of the present invention.

FIG. 23 is a view taken in the direction of arrows 23-23 in FIG. 22;

FIG. 24 is a vertical cross-sectional view of a laser applied surface reforming device of the in-furnace inspection and repair device according to a ninth modification of the first embodiment of the present invention.

FIG. 25 is a longitudinal sectional view of a laser applied surface reforming apparatus of the in-furnace inspection and repair apparatus according to a tenth modification of the first embodiment of the present invention.

FIG. 26 is a front view showing a laser applied decontamination apparatus of an in-furnace inspection and repair apparatus according to an eleventh modification of the first embodiment of the present invention.

FIG. 27 is a sectional view taken along line 27-27 of FIG. 26;

FIG. 28 is a view taken in the direction of arrows 28-28 in FIG. 26;

FIG. 29 is a longitudinal sectional view showing a state where the in-furnace inspection / repair device according to the eleventh modification of the first embodiment of the present invention is attached to an upper lattice plate.

FIG. 30 is a longitudinal sectional view showing a laser applied decontamination device of the in-furnace inspection and repair device according to a twelfth modification of the first embodiment of the present invention.

FIG. 31 is a longitudinal sectional view showing a state in which the in-furnace inspection and repair device according to the second embodiment of the present invention is disposed inside a reactor pressure vessel.

FIG. 32 is an enlarged view of the robot handling device shown in FIG. 31.

FIG. 33 is a view showing a state in which the in-furnace inspection and repair device according to the third embodiment of the present invention is installed on an upper lattice plate.

FIG. 34 is a side view showing a swimming type working robot of a furnace inspection / repair device according to a fourth embodiment of the present invention.

35 is a side view showing a state in which the suction hose of the swimming work robot shown in FIG. 34 is deformed.

FIG. 36 shows a surface modification of a structure inside a reactor pressure vessel using an in-furnace inspection and repair device according to a fifth embodiment of the present invention;
FIG. 4 is a longitudinal sectional view showing a state where inspection and repair work such as decontamination or cleaning is being performed.

FIG. 37 is a side view showing a state in which a swimming type working robot and a swimming type relay robot of an in-furnace inspection and repair device according to a sixth embodiment of the present invention are connected.

FIG. 38 is a side view showing the swimming relay robot shown in FIG. 37;

FIG. 39 is a side view showing a swimming work robot of the furnace inspection / repair device according to the seventh embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Reactor pressure vessel 5, 143, 156 Robot handling device 5a Cylindrical main body 5b Fixing flange 6 Upper lattice plate 7 Core support plate 14, 40, 65, 67, 73, 106 Swimming work robot 15 Inspection and repair unit 17a , 17b, 167 Opening 20, 61, 72 Swimming robot 21, 22, 183 Propulsion device 23, 64, 68, 71, 74 Balancer 24, 107, 184 Composite cable 25, 77, 88, 115, 124 Laser application surface modification Quality device 26, 84 Swing mechanism 36 Cleaning device 42 Bottom cover 43, 62, 76 Robot body 44, 86, 114, 123 Laser irradiation nozzle 45, 90, 116 X-axis sweep mechanism 46, 89 Y-axis sweep mechanism 48 , 93 Reflective optical system 63, 66 Auxiliary propulsion device 75 One axis direction slide mechanism (drive mechanism) 80 Lancer slide mechanism 87 Water supply pipe 99 Structure 100, 122 Water supply hose 108, 174 Suction pump device 109 Water supply pump device 113 Swing reflector 117 Swing mechanism 121 Cylindrical lens 127 Arm structure 128 Joint structure 131, 136 Laser application decontamination Device 132 Suction nozzle mechanism 134, 172 Suction hose 140, 153 Upper structure 141 Expansion / contraction mechanism 142, 155 Lower structure 150, 160 Fixed arm structure 151 Lower arm 152 Upper arm 154 Multi-stage joint mechanism 159 Fixing mechanism 165 Third arm 166 First arm 168 Second arm 175 Filtration device 181 Swimming relay robot 185 Grasping structure 186 Image unit 187 CCD camera 191 Transparent shell 193 Shield

Claims (23)

[Claims] An in-reactor inspection and repair apparatus for performing an inspection and repair operation in a reactor by introducing a swimming type work robot into a reactor vessel, wherein the swimming type work robot comprises a robot main body having a propulsion device, and An in-furnace inspection / repair device, comprising: a swimming robot having a balancer pivotally attached to a robot body; and an inspection / repair unit detachably attached to the balancer. 2. The in-furnace inspection and repair device according to claim 1, wherein the balancer is attached to the robot body via a pivot shaft, and an auxiliary propulsion device is provided on the pivot shaft. 3. The in-furnace inspection and repair device according to claim 2, wherein the inspection and repair unit is provided with an additional auxiliary propulsion device for generating a thrust in the same direction as the thrust by the auxiliary propulsion device. . 4. The balancer according to claim 1, wherein said balancer comprises a first balancer on which said inspection and repair unit is mounted, and a second balancer movable relative to said first balancer. The in-furnace inspection and repair device according to any one of claims 1 to 3. 5. A robot according to claim 1, wherein a cable winding device is provided inside said robot body, and said plurality of robot bodies are connected to each other via a cable wound around said cable winding device. The in-furnace inspection and repair device according to claim 4. 6. A gripping mechanism formed of a shape memory alloy and a projection gripped by the gripping mechanism are provided on each of the robot bodies, and when the cable is wound by the cable winding device, one of the robots is wound. The robot main bodies are coupled to each other by gripping the protrusions of the other robot main body by the gripping mechanism of the robot main body, and when releasing the coupled state, the gripping mechanism is heated and deformed. The in-furnace inspection / repair device according to claim 5, wherein the gripped state of the projection is released by this. 7. The in-furnace inspection and repair apparatus according to claim 1, wherein the inspection and repair unit is attached to the balancer via a swing mechanism. 8. A drive mechanism for moving said inspection and repair unit relative to said balancer is provided between said swing mechanism and said inspection and repair unit. Furnace inspection and repair equipment. 9. The in-furnace inspection and repair device according to claim 8, wherein the swimming robot further includes a balancer slide mechanism for sliding the balancer in a direction of a rotation axis thereof. 10. The inspection and repair unit comprises a laser application device having a laser irradiation nozzle for emitting a laser beam, wherein the laser application device converts the laser beam emitted from the laser irradiation nozzle into an inner surface of the reactor vessel. 2. The method according to claim 1, wherein the irradiation is performed on the surface of the furnace internal structure.
An in-furnace inspection and repair apparatus according to any one of claims 9 to 9. 11. The in-furnace inspection and repair apparatus according to claim 10, wherein the laser application device includes a sweep mechanism for sweeping the laser irradiation nozzle. 12. The laser irradiation nozzle according to claim 10, wherein water is jetted together with the laser beam from the laser irradiation nozzle.
Or an in-furnace inspection and repair device according to claim 11. 13. A laser application device according to claim 1, wherein said laser application device includes a lens for converging a laser beam, an oscillating reflector for reflecting the laser beam converged by said lens, and an oscillating mechanism for oscillating said oscillating reflector. 11. The method according to claim 10, further comprising:
An in-furnace inspection and repair device according to any one of claims 1 to 12. 14. The inspection and repair in a furnace according to claim 13, wherein a cylindrical lens is provided in the laser application device, and the laser light reflected by the oscillating mirror is made to enter the cylindrical lens. apparatus. 15. The laser irradiation nozzle is provided with a suction nozzle mechanism.
The furnace inspection and repair device according to any one of claims 4 to 7. 16. The inspection and repair unit comprises a cleaning device having a suction hose formed of a shape memory alloy, and a filtration device for filtering water sucked by the suction hose, wherein the cleaning device includes a furnace. The furnace inspection according to any one of claims 1 to 9, wherein the suction hose is appropriately deformed by conducting and heating the suction hose when performing an internal inspection repair work. Repair equipment. 17. The furnace inspection and repair as claimed in claim 1, wherein the inspection and repair unit comprises an image unit having a CCD camera surrounded by a radiation shield. apparatus. 18. The in-furnace inspection and repair device further includes a robot handling device for introducing the swimming work robot into the reactor vessel, wherein the robot handling device includes the swimming work robot. It has a tubular main body to be housed inside, and the swimming type working robot is introduced into the reactor vessel from the lower end opening of the tubular main body suspended in the reactor vessel. The in-furnace inspection / repair device according to any one of claims 1 to 17, wherein: 19. A swimming type device comprising: a bottom cover provided at a lower end of the cylindrical main body so as to openably open a lower end opening of the cylindrical main body; 19. The apparatus according to claim 18, wherein a work robot is introduced into the reactor vessel. 20. A fixing flange is provided at an upper end of the cylindrical main body, and the cylindrical main body is inserted into an opening of an upper lattice plate and an opening of a core support plate in the reactor vessel. The cylindrical main body is fixed inside the reactor vessel by being suspended inside the reactor vessel and engaging the fixing flange with the upper surface of the upper lattice plate. The in-furnace inspection and repair device according to claim 18 or 19, wherein 21. The in-furnace inspection and repair device further comprises a robot handling device for introducing the swimming work robot into the interior of the reactor vessel, wherein the robot handling device is provided in the reactor vessel. An upper structure part inserted through an opening of an upper lattice plate, a lower structure part inserted through an opening of a core support plate in the reactor vessel and housing the swimming work robot therein, and the upper structure part And a telescopic mechanism that can extend and contract to connect the lower structure part, wherein the swimming type working robot is introduced into the reactor vessel from the lower end opening of the lower structure part. The in-furnace inspection and repair device according to any one of claims 1 to 17. 22. The in-furnace inspection and repair device further includes a robot handling device for introducing the swimming work robot into the inside of the reactor vessel, wherein the robot handling device includes a robot handling device inside the reactor vessel. An upper structure part inserted through an opening of an upper lattice plate, a lower structure part inserted through an opening of a core support plate in the reactor vessel and housing the swimming work robot therein, and the upper structure part And a multi-stage joint mechanism for connecting the lower structure and the lower structure. The swimming work robot is introduced into the reactor vessel through a lower end opening of the lower structure. The in-furnace inspection and repair device according to any one of claims 1 to 17. 23. The in-furnace inspection and repair device further comprises a robot handling device for introducing the swimming work robot into the reactor vessel, wherein the robot handling device floats on the surface of the reactor water. And a hose wound around the hose winding device. The swimming type working robot is connected to an end of the hose, and the swimming type working robot is inserted into the reactor vessel. The in-furnace inspection and repair apparatus according to any one of claims 1 to 17, wherein a work robot is introduced.