JPH11352292A - Self-shifting cutting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform the work of cutting, disassembling or dissolving by remotely controlling, while running on the walls of metal pool, a large tank, etc. SOLUTION: This cutting device consists of a cutting device body 1 and a controller 2. The cutting device body consists of a shifting mechanism 3, an elevating mechanism 4 and a cutting mechanism 5, and the controller 2 consists of a shifting controller 6 connecting to the shifting mechanism 3, an elevation controller 7 connecting to the elevation mechanism 4, a cutting controller 8 connecting to the cutting mechanism 5 and an operation input part connecting to these controllers 6, 7 and 8.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a lining material for a pool installed in a nuclear power plant or the like, and a self-contained material used for cutting and dismantling a tank installed in a wide range of applications in other industrial fields. The present invention relates to a traveling cutting device.

[0002]

2. Description of the Related Art For example, in a nuclear power plant,
Decommissioning work or replacement of equipment that has reached the end of its life will be performed. In those cases, unnecessary equipment and devices will be cut and dismantled for removal. As a target device for the cutting and dismantling removal work, a lining material or the like lined in a device pool or the like can be cited.

[0003] Conventionally, when cutting a lining material such as an equipment pool, the work is performed at a high place. Therefore, a worker approaches the lining material on the pool wall to be cut with a scaffold at the cutting location, and the worker holds the lining material. The cutting work is carried out using a cutting tool.

[0004]

However, when performing the work of cutting the lining material on the inner wall of the pool in a nuclear power plant, an operator approaches the pool wall to be cut using a cutting tool on hand. Since this is a direct operation to be performed, there is a problem that the worker is exposed to radiation. In addition, since cutting is performed at a high place, scaffolding must be assembled, and there is a problem that labor saving for repeating the scaffolding and removing work required for each cutting position is desired.

The present invention has been made to solve the above problems, and is a self-propelled type capable of performing cutting, disassembling or disassembling work while traveling on a wall surface of, for example, a metal pool or a large tank by remote control. It is to provide a cutting device.

[0006]

The invention according to claim 1 comprises a cutting device main body and a control device, wherein the cutting device main body moves and travels on a track monorail, and a guide pole for mounting the traveling mechanism portion. A lifting mechanism that moves up and down on the guide pole, and a cutting mechanism attached to the lifting mechanism, wherein the control device controls the traveling mechanism, the lifting mechanism, and the cutting mechanism, respectively. And an operation input unit for operating the control unit.

According to the first aspect of the present invention, the traveling mechanism and the elevating mechanism are moved to, for example, a predetermined position of a wall cut portion of the fuel pool, and the cutting is performed while the cutting mechanism is appropriately moved. There is an operational effect that the side wall can be cut as shown by a cutting line A or B, for example.

The invention according to claim 2 is characterized in that the cutting device main body is provided with a cut piece handling device for removing and collecting the cut pieces cut by the cutting mechanism. According to the invention of claim 2, for example, a cut piece obtained by cutting the lining plate stretched in the fuel pool by the cutting device body is removed, and the cut piece is hooked and held by a lug. According to the present embodiment, there is an operational effect that a cut piece such as a lining plate can be removed and collected by the cut piece handling device at the same time as cutting.

[0009] The invention of claim 3 is characterized in that, for example, a decontamination device is provided in the cutting device main body. Claim 3
According to the invention, there is an effect that the wall surface of the equipment pool can be decontaminated or cleaned before and after cutting. The decontamination device has the effect of being able to attach a washing hose, a decontamination material, or a shot peening decontamination device in addition to the brush.

According to a fourth aspect of the present invention, the cutting device main body includes a speed control means corresponding to a cutting speed of the cutting mechanism, a self-position and a cutting start position of the cutting mechanism, a position of the suction disk, and the cutting. A self-position detecting means for detecting all or a part of the position of the piece handling apparatus and the position of the decontamination apparatus; and a signal processing unit connected to the self-position detecting means in the control device. .

According to the fourth aspect of the present invention, the signal processing unit connected to the self-position detecting means detects the position of the self-propelled cutting device, so that the cutting device can move along a predetermined cutting plan line. There is an operational effect that it is possible to move by performing speed control corresponding to the cutting speed of the cutting device along a predetermined cutting plan line.

The invention according to claim 5 is characterized in that the cutting mechanism is provided with a visual sensor and a protective window is provided on the front surface of the visual sensor. According to the fifth aspect of the present invention, there is an operational effect that the cutting start position of the cutting apparatus can be reliably detected and the cutting state can be easily monitored.

According to a sixth aspect of the present invention, the control device includes a planning means for planning a cutting procedure, an adsorption procedure, a cut piece handling procedure and a decontamination procedure on a two-dimensional or three-dimensional map, Display before and after cutting, before and after handling, and before and after decontamination,
A storage unit and a storage unit for storing are provided.

According to the present invention, a cutting procedure is planned on a two-dimensional or three-dimensional map, and a result of detecting a self-position and
The cutting start position result and whether or not cutting has been performed or not have been performed on the display unit, and all or a part of it can be displayed and stored, so that operability, reliability, and work status can be easily grasped. There is a working effect.

According to a seventh aspect of the present invention, the track monorail is a refueling machine traveling rail laid on an operation floor in a nuclear power plant building, and a portal type bogie having a monorail at a lower portion of the refueling machine traveling rail is run. The traveling mechanism is suspended freely on the monorail of the portal trolley.

According to the seventh aspect of the present invention, there is an operational effect that the portal cart is installed by using the existing refueling machine traveling rail, and the wall surface and the vertical surface parallel to the traveling rail can be cut. .

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of a self-propelled cutting device according to the present invention will be described with reference to FIGS. 1 is a block diagram of the present embodiment, FIG. 2 is a perspective view showing a state in which the self-propelled cutting device of FIG. 1 is installed in an equipment pool or a fuel pool, FIG. 3 is a front view of FIG. 1, and FIG. 1
5 is a top view showing the traveling mechanism in FIG. 5, and FIG. 5 is a top view showing the lifting mechanism in FIG.

This embodiment is a self-propelled cutting device mainly composed of a cutting device body 1 and a control device 2 as shown in FIG.
The cutting device main body 1 is composed of a traveling mechanism 3, an elevating mechanism 4, and a cutting mechanism 5. The control device 2 includes a traveling control unit 6, a lifting control unit 7, a cutting control unit 8, and an operation input unit 9.
Consists of

The traveling mechanism 3 and the elevating mechanism 4 are composed of, for example, an electric motor and a cylinder, a limit switch, a rotary encoder, etc., an actuator, and a sensor, as described later. The control device 2 includes a travel control unit 6 connected to the travel mechanism unit 3, an elevation control unit 7 connected to the elevation mechanism unit 4, a cutting control unit 8 connected to the cutting mechanism unit 5, and an operation input unit 9. The cutting mechanism 5 includes a cutting start / stop circuit corresponding to the cutting apparatus.

An operation example of the present embodiment will be described. The actuators of the traveling mechanism 3 and the elevating mechanism 4 are automatically or manually operated from the operation input unit 9 of the control device 2.
The self-propelled cutting device is moved to a predetermined cutting start position by the drive control by the elevation control unit 7, and the cutting control unit 8 drives and controls the cutting mechanism unit 5 at the cutting start position. Then, the cutting operation can be easily stopped at a predetermined cutting completion position.

Reference numeral 10 in FIGS. 2 and 3 partially shows an equipment pool. This equipment pool 10 is installed in, for example, a plant building of a boiling water nuclear power plant, and has a lining steel plate stretched on its surface. Have been. FIG. 2 shows an example in which the lining steel sheet is cut by the self-propelled cutting device according to the present embodiment along cutting lines A and B indicated by broken lines in the figure. The equipment pool 10 can be replaced with a fuel pool, a large tank, or the like.

The upper surface of the equipment pool 10 is an operation floor 11. On the operation floor 11, a monorail type track rail 12 on which a refueling machine or the like runs is laid. The track rail 12 includes a traveling device 13 of the traveling mechanism 3.
Is mounted so that it can run freely. The traveling device 13 is mounted on the guide pole 14 so as to be vertically scannable. The guide pole 14 is extendable and contractable, and when extended, the lower end of the guide pole 14 is fixed to the floor 10 a of the fuel pool 10 by the fixing stand 15.

The traveling device 13 is provided with a traveling motor 16 so as to sandwich the monorail 12 from both sides as shown in FIGS. 3 and 4, and a pinion gear attached to the traveling motor 16.
17 comprises a rack 18 attached to the lower surface of the pinion gear 17 and below the monorail 12.

As shown in FIG. 5, the lifting mechanism 4 includes a gear 19 that moves up and down along the guide pole 14, a pinion gear 20 that meshes with and rotates the gear 19, and a pinion gear 20 that rotates.
And a lifting and lowering motor 21 to which is attached. The cutting mechanism 5 includes a cutter 22 and a cutter loading / unloading device 23 for inserting and removing the cutter 22.

According to the present embodiment, the traveling mechanism 3 and the elevating mechanism 4 are moved to a predetermined position of the wall surface cut portion of the fuel pool 10, and the cutting mechanism 5 is appropriately moved to perform the cutting process. By doing so, the side wall of the fuel pool 10 can be cut, for example, as shown by the cutting line A or B.

That is, as shown in FIGS. 3 to 5, the main components of the traveling mechanism 3 are the track rail 12, the rack 18,
The traveling motor 16 and the pinion gear 17 are shown. Rack 18
Are formed with teeth, and the pinion gear 17 of the traveling motor 16 meshes with the rack 18. The main components of the lifting mechanism 4 are a guide pole 14, a gear 19, a lifting / lowering motor 21, and a pinion gear 20. The side surface of the guide pole 14 is cut with teeth, and meshes with a gear 19 that meshes with a pinion gear 20 of a motor 21 for moving up and down.

The self-propelled cutting device is driven by the traveling motor 16 by the above mechanism units 3 to 5 so that the track rail is driven.
The guide pole 14 can be moved up and down by driving the motor 21 for moving up and down. The cutting mechanism 5 can use at least one of a gas cutter, a laser cutter, a plasma cutter, and a mechanical cutter instead of the cutter 22.

Next, referring to FIGS.
A second embodiment of a self-propelled cutting device corresponding to the first embodiment will be described. In the present embodiment, as shown in FIG. 6 (a), a cutting piece handling device 25 capable of removing and collecting a cutting piece 24 cut by the cutting mechanism unit 5 in the cutting device main body 1 so as to be movable up and down on the guide pole 14. It has been provided. The cut piece handling device 25 has a lug 26 for hooking the cut piece 24.

That is, in the present embodiment, the fuel pool 10
The cutting piece 24 after cutting the lining plate stretched on the main body is removed by the cutting device main body, and the cutting piece 24 is hooked and held by the lug 26. According to the present embodiment, the cut pieces such as the lining plate are cut by the cut piece handling device 25 simultaneously with the cutting.
Can be removed and collected.

FIG. 6A is a side view showing only a main part of the present embodiment, and FIG. 6B is a cut piece handling apparatus in FIG.
FIG. 6C is a rear view of FIG. 6B.
As is clear from FIG. 6 (b), a suction piece 27 is attached to the cut piece handling device 25, and the suction piece 27
24 may be locally attracted and held with lug 26 or removed.

Next, a third embodiment of the self-propelled cutting device according to claim 3 will be described with reference to FIG. FIG. 7 shows FIG.
This embodiment is shown corresponding to FIG. 1, and other parts are the same as those in FIG. 1 to FIG.

In this embodiment, as shown in FIG. 7, a decontamination device 29 having a brush 28 at a tip end is attached to a guide pole so as to be movable up and down. According to the present embodiment, there is an operational effect that the wall surface of the equipment pool 10 can be decontaminated or cleaned before and after cutting. In addition to the brush 28, a dewatering hose, a decontamination material, or a shot peening decontamination device can be attached to the decontamination device 29.

Next, a fourth embodiment of a self-propelled cutting device according to a fourth aspect will be described with reference to FIG. 8, the same parts as those in FIG. 1 are denoted by the same reference numerals, and the description of the overlapping parts will be omitted. This embodiment is different from the first embodiment shown in FIG. 1 in that the cutting device main body 1a is provided with a self-position detecting means 30 and the control device 2a is provided with a signal processing unit 31 in the first embodiment. That is, the position detecting means 30 and the signal processing section 31 are connected.

The self-position detecting means 30 detects the relative movement amount of the self-propelled cutting device or the absolute position with respect to the cut surface such as the side surface of the equipment pool 10. An inner field sensor such as a rotary encoder for detecting the traveling amount of the traveling mechanism unit 3 and the moving amount of the elevating mechanism unit 4 is used.

As an example of detecting the absolute position, an external sensor such as a laser distance meter or an ultrasonic sensor is used to determine the distance between the self-propelled cutting device and an external reference position. Next, the signal processing unit 31 inputs the signal of the self-position detecting unit 30 to determine the current position of the self-propelled cutting device, and controls the traveling control unit 6, the elevation control unit 7, and the cutting control unit 8 of the self-propelled cutting device. It can be used as a control feedback signal.

According to the present embodiment, the self-position detecting means
By detecting the position of the self-propelled cutting device by the signal processing unit 31 connected to 30, it is possible to move along a predetermined cutting plan line, and along the predetermined cutting plan line, and Can be moved by performing speed control corresponding to the cutting speed.

That is, in addition to the speed control means corresponding to the cutting speed of the cutting mechanism 5, the cutting device main body 1a has its own position and the cutting start position of the cutting mechanism, and the cutting piece handling device shown in FIG. Position 25, suction cup shown in FIG. 6 (b)
A self-position detecting means 30 for detecting all positions or a part of the position of the decontamination device 29 shown in FIG. 7 and the position of the decontamination device 29 shown in FIG.
It has 31.

Next, referring to FIGS. 9A and 9B, claim 5 will be described.
A fifth embodiment of a self-propelled cutting device corresponding to the fifth embodiment will be described. In this embodiment, as shown in FIGS. 9 (a) and 9 (b), the cutting mechanism 5 is provided with a visual sensor 32, and a protective window 33 is provided in front of the visual sensor 32, as shown in FIG. FIG.
FIG. 9A is a perspective view showing a main part of the present embodiment, and FIG.
9B is a front view of the lifting mechanism 4 and the cutting mechanism 5 of FIG. In FIG. 9A, a solid line on the inner wall surface of the equipment pool 10 is a cut line 34 that has been cut, and a broken line indicates a planned cutting position 35.

A visual sensor 32 is installed through a protective window 33 at a position where the cutting lower end of the self-propelled cutting device moving on the side of the equipment pool 10 is monitored. When starting cutting, it is necessary to reliably position the cutting lower end at the cutting position of the cutting line, so the visual sensor 32 visually detects the cutting lower end and the cutting line, or detects a shift by image processing or the like, and determines the positioning. Do. According to the present embodiment, the cutting start position of the cutting apparatus can be reliably detected, and the cutting state can be easily monitored.

Next, a sixth embodiment of the self-propelled cutting device according to claim 6 will be described with reference to FIG. This embodiment is different from the fourth embodiment shown in FIG. 8 in that a display unit 36 and a storage unit 37 are provided in the control device 2a as shown in FIG. In FIG. 10, the same portions as those in FIG. 8 are denoted by the same reference numerals, and the description of the overlapping portions will be omitted.

That is, in this embodiment, a planning means for planning a cutting procedure, an adsorption procedure, a cut piece handling procedure, and a decontamination procedure on a two-dimensional or three-dimensional map, The cut, adsorbed and unadsorbed, before and after handling of the cut pieces and before and after decontamination are displayed on the display unit 36 and stored in the storage unit 37.

According to the present embodiment, a cutting procedure is planned on a two-dimensional or three-dimensional map, and a self-position detection result, a cutting start position result, and whether cutting has been performed or not have been displayed on the display unit. Since all or a part of the operation can be displayed and stored, the operability, the reliability can be improved, and the work status can be easily grasped.

Next, a seventh embodiment of the self-propelled cutting device according to claim 7 will be described with reference to FIG. In the present embodiment, the traveling mechanism 3 of the self-propelled cutting device according to the first embodiment shown in FIGS. 1 to 5 is suspended so as to be able to travel on a monorail 39 of a portal carriage 38. Supports 40 are attached to both sides of the gate-shaped carriage 38, and wheels 41 are attached to lower ends of the supports 40. The wheels 41 travel along a refueling machine traveling rail. Rail for refueling machine travel
Reference numeral 42 denotes existing equipment laid on the operation floor 11 in the building of the nuclear power plant.

According to the present embodiment, it is possible to install the portal bogie 38 by using the existing refueling machine traveling rail 42 and cut the wall surface and the vertical plane parallel to the traveling rail 42. .

FIG. 11B shows a vertical rail in the equipment pool 10.
43, and a gate-shaped cart 38 is attached along the vertical rail 43, and shows a modification in FIG. 11 (a).
In this example, the cutter 22 of the cutting mechanism 5 is turned upward with a gate-shaped cart.
It is possible to cut the plate 44 by attaching it to the plate 38 and cutting the plate 44 to be cut upward as well as cutting both sides vertically. It should be noted that a large tank can be cut or dismantled instead of the equipment pool 10.

FIGS. 12 (a) and 12 (b) are for explaining an application example of the first embodiment, and are laid on the operation floor 11 instead of the track rail 12 shown in FIGS. An example is shown in which the running mechanism 3 is directly mounted on the running rail 42 using the running rail 42 for the refueling machine.

A guide 45 facing the inner surface of the equipment pool 10 is provided on the lower surface of the traveling mechanism 3.
As shown in (b), a guide roller 46 that is in contact with the inner wall surface of the equipment pool 10 is attached. In this application example, cutting, disassembly, or disassembly can be performed by effectively using existing facilities without installing the track rails 12 shown in FIGS.

[0048]

According to the present invention, the cutting, disassembling or dismantling work of a metal plate such as a metal pool or a large tank can be safely performed by remote control. In general, a scaffold is installed in the case of work at a high place. However, in the present invention, this is not necessary. Therefore, since the work of installing and removing the scaffold is not performed, the work of cutting, disassembling or dismantling the metal plate can be shortened. Can be done in time. Further, the cutting, disassembling or disassembling operation in the radiation field can be performed in a short time, so that the radiation exposure dose can be reduced.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment of a self-propelled cutting device according to the present invention.

FIG. 2 is a perspective view partially showing a block diagram of the self-propelled cutting device installed in the equipment pool in FIG.

FIG. 3 is a front view showing the cutting device main body in FIG. 2;

FIG. 4 is a top view showing a traveling mechanism in FIG. 1;

FIG. 5 is a top view showing the lifting mechanism in FIG. 1;

FIG. 6 (a) is a front view partially showing a main part of a self-propelled cutting device according to a second embodiment of the present invention in a cross section, and FIG. 6 (b) shows the cut piece handling device in FIG. The perspective view, (c) is the back view of (b).

FIG. 7 is a perspective view showing a main part of a third embodiment of the self-propelled cutting device according to the present invention.

FIG. 8 is a block diagram showing a main part of a fourth embodiment of the self-propelled cutting device according to the present invention.

9A is a perspective view showing a fifth embodiment of the self-propelled cutting device according to the present invention, and FIG. 9B is a front view showing a main part in FIG.

FIG. 10 is a block diagram showing a sixth embodiment of the self-propelled cutting device according to the present invention.

FIG. 11 (a) shows a seventh example of the self-propelled cutting device according to the present invention.
Front view showing the embodiment of the present invention in a partial cross section, FIG.
The front view which shows the modification in 1 in a partial cross section.

FIG. 12A is a perspective view showing an application example in the first embodiment, and FIG. 12B is a front view showing part of FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Cutting apparatus main body, 2 ... Control device, 3 ... Traveling mechanism part, 4
... Elevating mechanism section, 5 ... Cutting mechanism section, 6 ... Running control section, 7 ...
Elevating control unit, 8: Cutting control unit, 9: Operation input unit, 10: Equipment pool, 11: Operation floor, 12: Track rail, 13: Traveling device, 14: Guide pole, 15: Fixed base, 16
… Running motor, 17… pinion gear, 18… rack, 19…
Gears, 20 ... Pinion gear, 21 ... Motor for lifting and lowering, 22 ...
Cutter, 23… Cutter loading / unloading device, 24… Cut piece, 25… Cut piece handling device, 26… Lug, 27… Suction cup, 28… Brush, 29
... Decontamination device, 30 ... Self-position detecting means, 31 ... Signal processing unit,
32… Visual sensor, 33… Protective window, 34… Cutting line, 35
... Cutting planned position, 36 ... Display unit, 37 ... Storage unit, 38 ... Gate-type trolley, 39 ... Mono rail, 40 ... Post, 41 ... Wheel, 42 ... Rail for refueling machine, 43 ... Vertical rail, 44 ... Plate to be cut, 45 ... guide, 46 ... guide roller.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Susumu Ishikawa 66-2 Horikawa-cho, Saiwai-ku, Kawasaki-shi, Kanagawa Toshiba Engineering Corporation

Claims (7)

[Claims] 1. A cutting device main body and a control device, wherein the cutting device main body moves and travels on a track monorail, a guide pole for mounting the traveling mechanism portion, and an elevating device that moves up and down on the guide pole. A control unit for controlling the traveling mechanism unit, the lifting / lowering mechanism unit, and the cutting mechanism unit; and operating the control unit. A self-propelled cutting device comprising an operation input unit. 2. The self-propelled cutting device according to claim 1, wherein the cutting device main body is provided with a cut piece handling device for removing and collecting the cut pieces cut by the cutting mechanism. 3. The self-propelled cutting device according to claim 1, wherein a decontamination device is provided in the cutting device main body. 4. The cutting device main body includes a speed control unit corresponding to a cutting speed of the cutting mechanism, a self-position of the cutting mechanism, a cutting start position, a position of the suction disk, and a position of the cut piece handling device. 2. The self-position detecting means for detecting all or a part of the position of the decontamination apparatus, and a signal processing unit connected to the self-position detecting means in the control device is provided. Self-propelled cutting device. 5. The self-propelled cutting device according to claim 1, wherein a visual sensor is provided in the cutting mechanism, and a protective window is provided in front of the visual sensor. 6. The control device comprises: planning means for planning a cutting procedure, an adsorption procedure, a cut piece handling procedure, and a decontamination procedure on a two-dimensional or three-dimensional map; 5. The self-propelled cutting device according to claim 4, further comprising a display unit and a storage unit for displaying and storing the state of adsorbed and not adsorbed, before and after handling of the cut pieces and before and after decontamination. 7. The track monorail is a refueling machine traveling rail laid on an operation floor in a building of a nuclear power plant, and a portal type bogie having a monorail at a lower portion is mounted on the refueling machine traveling rail so as to be able to travel freely. The self-propelled cutting device according to claim 1, wherein the traveling mechanism is hung freely on the monorail of the portal trolley.