JPH1072117A - Remote control transport device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable control driving of transport devices by remote control without laying a cable all the way, and simultaneously operate plural transport devices by controlling a movement of a transport means by power supply control to a corresponding area of a power supply bus bar. SOLUTION: A bus bar 30 as a power supply bus bar is arranged along a line in a moving passage 20, and a current collecting device 13D of a driving mechanism 13 of casks 10 contacts with this bus bar 30, and electric power is supplied to the driving mechanism 13 thereby. A main power supply wire 31 and a sub-power supply wire 32 are respectively divided into sections S (S1, S2...Sn) having a prescribed length, and electric power is independently supplied to these divided respective sections S, and its power supply is controlled by a control device 50 of transport devices. The plural casks 10 are operated in a moving passage 20 by power supply control to the respective transport sections S by the control device 50, and a movement can be respectively and independently controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transportation apparatus for remotely transporting maintenance equipment and parts between a maintenance port and a maintenance work facility in a radiation handling facility such as a nuclear facility.

[0002]

2. Description of the Related Art In radiation handling facilities such as nuclear power plants, work is performed by remote control in order to prevent exposure of workers.

[0003] Inspection and maintenance of large-scale equipment such as a nuclear reactor is performed when a dedicated maintenance device is transported to a maintenance site and performed on the spot by the maintenance device. In the case of such maintenance, a maintenance port is provided on the equipment side such as a nuclear reactor and the maintenance port is connected to the maintenance work facility in order to transport the maintenance equipment and transport the removed parts. A configuration has been considered in which a maintenance device and a maintenance target component are transported by a transport device that is connected by a transport route and moves on the transport route by remote control.

[0004]

However, in the above-described maintenance configuration, there is a problem of how to transmit a drive control signal for supplying power to a drive motor of the transport device or for remote control to the transport device. That is, if a configuration is adopted in which transmission is performed to a transport device via a power cable or a signal cable, the transport device undesirably moves while routing these cables. In particular, in an apparatus having a large number of maintenance ports, efficient maintenance work can be performed by operating a plurality of transport devices at the same time, but there is a risk that cables may become entangled, and it is not possible to operate a plurality of transport devices simultaneously. It was difficult.

Another problem is how to supply power to maintenance equipment transported to the maintenance port by the transport device and transmit drive control signals for remote operation.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is possible to control and drive a transportation device by remote control without routing a control signal or a cable for supplying power. It is an object of the present invention to provide a remote control transport device capable of operating the transport device of the present invention.

[0007]

According to the present invention, there is provided a remote-controlled transport apparatus according to the present invention for remotely controlling maintenance equipment and parts between a maintenance port and a maintenance work facility in a radiation handling facility such as a nuclear facility. A transport device for transporting between vehicles, comprising a transport device having an electric driving device, and a transport device provided along a moving path for supplying power to the transport device, and divided into sections each having a predetermined length in the extending direction. And a power supply bus to which power is supplied independently of each other, detection means for detecting the presence or absence of the transportation means in each section of the power supply bus, and power supply based on detection information of the transportation means by the detection means. A control device for controlling power supply to the corresponding area of the bus, and controlling the power supply to the corresponding area of the power supply bus based on detection information from the detection means by the control device. Characterized in that it is configured to control the movement of the.

Further, the maintenance port is provided with a fixed terminal, and the transportation means has an input terminal which is connected to the fixed terminal when located at the maintenance port, and the input terminal is connected to the housed working equipment. When the transportation means is located at the maintenance port, the input terminal is joined to the fixed terminal, the fixed terminal and the work equipment are connected, and energy supply and information transmission are configured. It is characterized by having.

[0009]

Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a conceptual plan view of a transport route when the remote control transport device according to the present invention is applied to maintenance of a tokamak fusion reactor, and FIG. 2 is a conceptual diagram of the transport device.

The illustrated remote control transport device is used as a transport means between a building (tokamak building 1) of a tokamak fusion reactor 4 as a nuclear facility connected by a trench 2 and a hot cell building 3 as a maintenance work facility. The cask 10 (not shown in FIG. 1) transports maintenance equipment and removed furnace internals.

The tokamak building 1 is provided so that a maintenance cell 5 surrounds a cryostat of a tokamak-type fusion reactor 4 having a toroidal magnetic field coil arranged in an annular shape and exhibiting a planar circular shape. . In the maintenance cell 5, a plurality of maintenance ports 4A connected to the fusion reactor 4 are arranged radially around the fusion reactor 4.

As shown in a conceptual sectional view of FIG. 3, the cask 10 is a substantially rectangular parallelepiped container having a predetermined volume, and has a door 11 provided at one end thereof, which can be opened and closed in an airtight manner. Is provided with a traveling wheel 12 composed of a driving wheel 12A and a driven wheel 12B. The driving wheel 12A is connected to a driving mechanism 13 as an electric driving means. The traveling wheel 12A fits on a line composed of a pair of rails, and the cask 10 is connected to the line by the driving of the driving wheel 12A by the driving mechanism 13. It is designed to move along.

The driving mechanism 13 includes a main motor 13A and a sub motor 13B, which are driven by operating wheels 13A through an operating gear 13C.
And the motors 13
A and 13B are each supplied with electric power from the outside via a current collector 13D, and are configured such that the drive wheels 12A can be driven to rotate independently by any of the motors 13A and 13B.

A moving path 2 as a moving path of the cask 10
Reference numeral 0 denotes a connection path 21 in the trench 2 from the hot cell 3 to the tokamak building 1 (maintenance cell 5), and a circular circulation path 2 around the fusion reactor 4 in the maintenance cell 5.
2 and a draw-in path 23 from the circulation path 21 to the maintenance port 4A. The track is laid with a single track. The cask 10 circulates the moving path 20 counterclockwise from the hot cell 3 through the outward path 21A of the connecting path 21 as shown by an arrow in the drawing, and the circulation path 22 of the maintenance cell 5 counterclockwise. After reciprocating with the maintenance port 4A, it returns to the circulation path 22 and circulates counterclockwise and moves in one direction so as to return to the hot cell 3 via the return path 21B of the connection path 21.

Turntables 24 each having a line are provided at the bent portion of the connection path 21, the connection between the connection path 21 and the circulation path 22 and the connection between the circulation path 22 and the lead-in path 23, respectively. Cask 10 on turntable 24
Is rotated while the cask 10 is mounted.
You can change the direction of movement.
In addition, the circulation path 22 is constructed so that the track is laid so as to linearly connect the turntable 24 and has a circular shape as a whole.

As shown in FIG. 2, a bus bar 30 serving as a power supply bus is provided along the track on the moving path 20, and the bus bar 30 is provided with a current collector 13D of the drive mechanism 13 of the cask 10. Contact, thereby supplying power to the drive mechanism 13.

The bus bar 30 is composed of a main power supply line 31 and a sub power supply line 32. The main power supply line 31 is in contact with the current collector 13D of the main motor 13A of the drive mechanism 13, and the sub power supply line 32 is in contact with the drive mechanism. The current collectors 13D of the thirteen sub motors 13B come into contact with each other, so that power can be independently supplied to the main and sub motors 13A and 13B. Note that the auxiliary power supply line 32 is a spare power supply, and the cask 10 is normally driven by the main motor 13A powered by the main power supply line 31, and some trouble occurs in the main power supply line 31 or the main motor 13A. In this case, the cask 10 can be driven by the sub motor 13B by supplying power through the sub power supply line 3.

The main power supply line 31 and the sub power supply line 32 are each divided into sections S (S1, S2... Sn) of a predetermined length, and power is supplied to each of the divided sections S independently. The power supply is controlled by the control device 50 of the transportation device.

That is, the moving path 20 is divided into a plurality of transport areas in series for each section S, and each of the transport areas is independently controlled by a control device for power supply. By supplying power to a predetermined section S (transport area), the cask 10 located in the transport area can be moved and driven.

Each of the transport areas is provided with a cask sensor 40 for detecting a cask located in the transport area.
To be entered.

Although not shown, each of the turntables 24 is also controlled as a single section by the control device 50 and is provided with a cask sensor to constitute one transport area, and its rotation is controlled by the control device 5.
0 is controlled.

The control device 50 controls the power supply to the bus bar 30 for each transport area (section S) based on the cask detection information from the cask sensors 40 provided in each transport area of the moving path 20, and Control movement. That is, the cask sensor 40 in the predetermined transport area
Supplies power to the section S of the transport area in a state where the cask 10 is detected (the cask 10 is located in the transport area), and the cask 10 located in the transport area is transported in front of the section S. It can be moved toward the area.

In the above-described configuration, the cask 10 can be independently moved and driven to the forward transport area independently of each transport area by the power supply control to each transport area (section S) by the control device 50. A plurality of casks 10 can be operated in the moving path 20 and the movement can be independently controlled. That is, the plurality of casks 10 located on the moving path 20 are individually moved for each transport area, and the specific cask 10 is moved by the turntable 24 (transport area) corresponding to an intended maintenance port 4A and the circulation path 22. From the service port 4A to the service port 4A, and during the work, the turntable 24 is returned to the side to which the circulation path 22 is connected. I can pass it.

That is, when the movement of the cask is controlled by turning on / off the power supply to the power supply line as a configuration for supplying power to the cask from the power supply line that is not sectioned, all the casks in the moving path move or stop at the same time. As a result, the movement of each cask cannot be controlled independently, and the drive system of each cask is turned ON / OFF.
If it is turned off to control the movement, it is difficult to route the cable for transmitting the control signal, but in this configuration, the remote control device 50 controls the power supply to each transport area (section S) to control the movement. A plurality of casks 10 can be operated in the road 20, and the movement of each cask 10 can be controlled independently without routing a signal cable.

As shown in FIG. 3, the cask 10 accommodates maintenance equipment for the fusion reactor 4 and transport equipment (work equipment 60) for transporting the removed parts. These working devices 60 are provided with a drive mechanism (not shown), and after the cask 10 abuts on the maintenance port 4A, the cask 10 travels from the cask 10 to the maintenance port 4A and moves to a target position to perform work. It is necessary to supply power and transmit control signals for the traveling drive of the work equipment 60 and the work drive, and to supply other necessary energy. But,
Therefore, if a dedicated cable or the like is routed, the movement of the cask 10 becomes a hindrance as in the case of the cask drive power supply and the control signal described above.

Therefore, in this configuration, each maintenance port 4A
A collective connector 4B provided with a power supply and other necessary transmission terminals is provided in advance on the shore surface of the cask, and power is supplied to the collective connector 4B. An input connector 14 to be joined to the collective connector 4B is provided.

The input connector 14 and the working equipment 60 in the cask 10 are connected by a connection cable 16 via a built-in cable reel 15 and the cable reel 1
5 is configured to draw out or wind up the connection cable 16 as the work equipment 60 moves.

With the above configuration, when the cask 10 comes in contact with the maintenance port 4A, the input connector 14 is joined to the collective connector 4B of the maintenance port 4A, and the cask 10 (ie, the hot shell 5 side) is connected from the maintenance port 4A side (the hot shell 5 side). Power is supplied to the work equipment 60), control signals are transmitted, and other necessary energy is supplied.

The draw-in path 23 to the maintenance port 4A is provided with two limit switches 23A and 23B for detecting casks before and after the approach direction, and these detection signals are inputted to the control device 50. When the cask 10 berths to the maintenance port 4A, the cask 10 is decelerated by the cask detection signal from the limit switch 23A on the front side, and the movement of the cask 10 is stopped by the cask detection signal from the limit switch 23B. , The cask 10 contacts the predetermined position of the maintenance port 4A, and its input connector 14 is joined to the collective connector 4B of the maintenance port 4A.

[0030]

As described above, according to the remote-controlled transportation device according to the present invention, the power supply bus arranged along the movement route to supply power to the transportation means is divided into sections of a predetermined length. And the power supply is controlled by the control device in each of the power supply bus sections. Therefore, the control means controls the power supply to the power supply bus sections, so that the transportation means is independently and sequentially moved for each power supply bus section. The vehicle can be driven, so that a plurality of transportation means can be operated in the movement path without moving the power supply cable or the control signal cable, and the movement can be independently controlled. In addition, the maintenance port is provided with a fixed terminal, and the transportation means includes an input terminal that joins with the fixed terminal when the transportation means is located at the maintenance port, and the input terminal and the housed work equipment are connected by a connection cable. With this configuration, when the transportation means is located at the maintenance port, the input terminal is joined to the fixed terminal, and energy can be supplied and information can be transmitted from the fixed terminal to the work equipment. There is no need to route cables for energy transmission, and the cables do not hinder the operation of the vehicle.

[Brief description of the drawings]

FIG. 1 is a conceptual plan view of a transport path when a remote control transport device according to the present invention is applied to maintenance of a kamak fusion reactor.

FIG. 2 is a conceptual configuration diagram of a transportation device.

FIG. 3 is a conceptual cross-sectional view of a state in which a cask has berthed a maintenance port.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Tokamak building (nuclear facility) 2 Hot cell (maintenance work facility) 4A Maintenance port 4B Collective connector (fixed terminal) 10 Cask (transportation means) 13 Drive mechanism (electric drive means) 14 Input connector (input terminal) 16 Connection cable 20 Move Road (moving route) 30 Bus bar (power supply bus) 40 Cask sensor (detection means) 50 Controller 60 Work equipment S Section (area)

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Akira Ito 801-1 Mukaiyama, Nakamachi, Naka-gun, Ibaraki Pref. Inside the Nippon Nuclear Research Institute Naka Institute (72) Eisuke Tada 801- Mukaiyama, Nakamachi, Naka-gun, Ibaraki Prefecture 1 Japan Atomic Energy Research Institute Naka Research Institute (72) Inventor Masaki Sato 1 Shinnakahara-cho, Isogo-ku, Yokohama-shi, Kanagawa Ishikawashima-Harima Heavy Industries, Ltd. Yokohama Engineering Center

Claims (2)

[Claims] 1. A transportation device for remotely transporting maintenance equipment and parts between a maintenance port and a maintenance work facility in a radiation handling facility such as a nuclear facility, wherein the transportation means includes an electric drive means. A power supply bus that is arranged along the movement route to supply power to the transportation means, is divided into sections of a predetermined length in the extension direction, and is supplied with power independently, and Detecting means for detecting the presence or absence of the transportation means in each area; and a control device for controlling power supply to the corresponding area of the power supply bus based on detection information of the transportation means by the detection means, the control Remote control characterized by controlling movement of the transportation means by controlling power supply to a corresponding area of the power supply bus based on detection information from the detection means by a device. Feeding apparatus. 2. The maintenance port is provided with a fixed terminal, and the transportation means includes an input terminal that is connected to the fixed terminal when located at the maintenance port, and the input terminal is connected to the housed working equipment. When the transportation means is located at the maintenance port, the input terminal is joined to the fixed terminal to connect the fixed terminal and the work equipment, and energy supply and information transmission are configured. The remote controlled transport device according to claim 1, wherein: