JPS58638B2 - nuclear reactor refueling machine - Google Patents

Description

[Detailed description of the invention] The present invention relates to a refueling machine for a nuclear reactor.

For example, in a boiling water nuclear power plant as shown in schematic diagrams in FIGS.
A fuel exchange machine (Fig. 1) installed on the floor 43 was used, and an operator operated the fuel exchange machine from a control panel installed above the exchange machine.

However, there is a distance of several tens of meters from the operator's position to the tip of the core where fuel is loaded, and there is a gate 41 between the reactor pool 37 and the spent fuel pool 35.
Because of this, operations were complicated and required constant checking and monitoring.

Furthermore, in boiling water nuclear power plants, approximately 1/4 of the fuel in the reactor core (548 in the 840 mW class) is replaced with new fuel in a single replacement operation, and most of the other fuel is also rearranged. The amount of work required was enormous and placed a heavy burden on the operators.

In order to improve these problems, recently a control computer has been introduced and a system has been adopted to automate the fuel exchange work.

However, in an automated system, the fuel exchanger automatically operates according to predetermined operation details, so if a malfunction occurs due to an abnormality in the control signal, the fuel grasper, hoist, or fuel can be removed from the spent fuel pool or core pool. There is a possibility of accidents such as colliding with the inner wall of the building or other structures, or dropping the fuel.

Furthermore, if the operation panel used for automatic operation is installed at a location other than on the fuel exchange machine, there is a drawback that the operator cannot directly check whether the fuel exchange machine is operating normally.

SUMMARY OF THE INVENTION In order to solve the problems of the prior art described above, an object of the present invention is to automatically monitor the operating status of a refueling machine and the moving status of objects at all times, thereby making it possible to perform a safe and reliable refueling operation. Our purpose is to provide a furnace refueling machine.

The present invention provides a signal for detecting the state of the fuel exchange machine when operating the fuel exchange machine manually or automatically by a control computer, that is, a position signal for detecting the current position of each device, and a position signal for detecting the current position of each device. The predetermined driving cycle is broken down into monitoring indicators using the signals of limit switches operating in It updates the status automatically.

As shown in FIGS. 3 and 4, the content of the fuel exchange work at a nuclear power plant is mainly to transport the spent fuel 42 in the reactor core 39 to the spent fuel pool 35, and to remove the fuel in the reactor core 39. , and inserting the new fuel that was inserted into the fuel rank 36 into the reactor core 39 .

This operation must be performed so as not to hit the gate 41.

Therefore, the main operations targeted by the present invention are the following eight types of operations.

1. Retrieving fuel from the spent fuel pool 35 (hereinafter referred to as the SF pool) to the core pool 37 (hereinafter referred to as the C pool); 2. Transferring the fuel in the SF pool 35 to the C pool 37; 3. 4. Retrieving fuel from C pool 37 to SF pool 35; 5. Moving fuel in C pool 37 to another location in C pool 37. Work; 6. Retrieving the fuel in the C pool 37 from another location in the C pool 37; 7. Moving the fuel in the SF pool 35 to another location in the SF pool 35; 8. SF pool The fuel exchange machine used for these operations includes a traveling truck 1, a traversing truck 2, a hoist 3, and a gripping device 4, as shown in FIG. It is structured more roughly.

The traveling trolley 1 runs on rails 5 installed on the 5th floor of the reactor building.
move in the horizontal X direction (hereinafter referred to as traveling).

The traversing truck 2 moves in the horizontal Y direction on rails 13 installed on the traveling truck 1 (hereinafter referred to as traversing).

In addition, the hoist 3 winds up the hanging rope 11 with the reel 10,
It lowers and moves up and down in the Z direction.
It can also be rotated to accommodate different insertion angles of fuel into the core 39 or fuel rack 36.

The gripping device 4 is in communication with the hoist 3 and has a fuel handle 40
It is equipped with a hook for grasping (Fig. 4).

The hook is operated by air pressure, etc., and the traveling and traversing of the truck and the raising, lowering, and rotation of the hoist are performed by motors 6 to 9, respectively.

This fuel exchanger is operated by a control device schematically shown in FIG.

When operating manually from the machine, use the manual operation panel 12,
When automatic operation is performed using a computer, the operation is performed from the automatic operation panel 31.

However, the installation location of the automatic operation panel 31 is arbitrary.

The traveling truck drive motor 6, the traversing truck drive motor 7, the hoist up/down drive motor 8, and the hoist rotation drive motor 9 are each controlled in speed by speed control panels 25, 26, 27, and 28, and their respective positions are determined.

Signals from the detectors 33 that detect the position, movement, etc. of the fuel exchanger 30 are supplied to the manual operation panel 12 and the automatic operation panel 31, and respective displays are output.

Furthermore, each of the above-mentioned signals is inputted to a computer 23 via a linkage board 21 and a process input/output device 22.

One of the operating commands from the computer 23 and the manual operation panel 12 is selected by the common relay panel 24 and transmitted to the speed control panel.

When performing fuel exchange work using the above-mentioned fuel exchange machine and control device, as shown in FIGS. 3 and 4, the moving coordinate of the traveling bogie 1 is X, and the moving coordinate of the traversing bogie 2 is Y.
, the ascent/descend coordinate of the hoist 3 is Z, and the rotation coordinate of the hoist 3 is θ.

The X and Y coordinates and the fuel insertion angle θ are set in advance for the fuel rack 36 and the core 39 into which fuel is inserted.

However, the X and Y coordinates are measured at the center position of the gripping device 4 to position the traveling truck 1 and the traversing truck 2.

When operating manually, the operator raises the hoist 3 to its upper limit position H (Fig. 4), and then operates the traveling truck 1 and the traversing truck 2 to find the target position for carrying out (or loading) the fuel. position and stop.

Thereafter, the hoist 3 is rotated to match the angle at which the fuel is inserted (or the angle at which the fuel is inserted).

Then, when the hoist 3 descends to the seating position S1 or S2 in FIG. 4 and reaches a state where the fuel handle 40 can be grasped (or when fuel is stored), the hoist 3 is stopped and the hook of the grasping device 4 is closed ( or open the hook).

In the case of automatic operation, the trolley uses hoist position signals and hook opening/closing signals to directly control the above process by the control computer 23.

Figures 5 and 6 specifically show the content of these tasks.
In this figure, the work content is broken down into eight steps, and the following monitoring flag Fi is assigned to each step.

Fl...Moving for hanging F2...Before lifting F3...Hoisting F4...After lifting F5...Moving to hang F6...Before lifting F7...Hoisting F8 ...The work contents of the above 8 steps after hanging are F as shown by the solid line arrow in Fig. 5.
Fuel loading cycles from 4 to F7 and F8.
This is carried out through two operating cycles, including fuel removal cycles F1 to F3.

Furthermore, the following signals are input to the computer in order to identify which stage the work currently being carried out is in and to carry out the control and monitoring of the hoist according to the present invention.

a, Traveling trolley 1 or traversing trolley 2 is moving, Hoist 3 is rising c, Hoist 3 is descending d, Hoist 3 is loaded e, Hoist 3 is in seating position f, Hoist 3 is in upper limit position g, Grasping When the hook of the device 4 is closed and the coordinate positions of the traveling truck 1 and the traversing truck 2 are set as described above, the relationship between each monitoring flag and the input signal is as shown in FIG.

The computer 23 scans each of the input signals mentioned above according to a periodic program, performs logical operations as shown in the flowcharts in FIGS. 7A to 7C, determines a monitoring flag according to the work stage, and displays this on the flag display 38. It displays and also performs the function of a mobile monitor.

The form in which the flag is displayed on the flag display 38 is arbitrary, and the flag Fi determined as described above may be displayed as is.

Alternatively, as shown in FIG. 5, it is also possible to graphically display the movement state of the hook corresponding to each flag.

The operating procedure of the control and monitoring system according to the present invention and the execution contents of the movement monitor program are shown below.

The fuel removal cycle refers to the core 39 in the core pool 37.
Alternatively, this is a cycle in which the fuel inserted in the fuel rack 36 in the spent fuel pool 35 is taken out.

In FIG. 5, it is assumed that the process starts from a state in which fuel has just been inserted into a designated location (flag F7).

First, the hoist 3 starts to rise in order to take out the target fuel.

This large hour flag F7 is reset, and the after entry/exit flag F8
Set.

In this state F8, the carts 1 and 2 are stopped, the hook of the gripping device 4 is open, and the load on the hoist 3 is zero.

The lifting of the hoist 3 is stopped at the upper limit position H.

After stopping at the upper limit position, the traveling truck 1 and the traversing truck 2 are moved.

At this time, the after-in/out flag F8 is reset, and the hanging flag F1 is set.

Continue driving each trolley, position it at the coordinates of the target location, and stop it.

After the cart is stopped, the hoist 3 is rotated to match the angle of the fuel to be taken out, and then the hoist is lowered.

At this time, the hanging flag F1 is reset and the before lifting flag F2 is set.

When the hoist 3 descends to the seating position S1, it is stopped at that position, the pre-hanging flag F2 is reset, and the lifting flag F3 is set.

This completes the fuel removal cycle.

The fuel loading cycle is an operation cycle in which fuel is inserted into the reactor core 39 or the fuel rack 36.

After the removal cycle is completed, the hook 3 of the gripping device 4 is closed to grip the fuel removal 40, and the hoist 3 starts to rise under load.

At this time, the hanging flag F3 is reset, and the hanging flag F3 is reset.
Set 4.

The lifting of the hoist 3 is stopped at the upper limit position H.

When the traveling bogie 1 and the traversing bogie 2 start moving after the lifting stop, the after-hanging flag F4 is reset and the moving in/out flag F5 is set, and at the same time, the coordinates in the fuel position memory corresponding to the lifted fuel are set. Clear the fuel loading status (e.g. fuel number) of the

Each cart continues to move until it is positioned at the target coordinates and stopped.

After the cart is stopped, the hoist 3 is rotated to adjust the fuel insertion angle to a specified value, and then the hoist 3 starts lowering.

At this time, the assembling movement flag F5 is reset, and the before assembling flag F6 is set.

The lowering of the hoist 3 is stopped at its seating position S2.

At this time, the load on the hoist 3 becomes zero. and gripping device 4
Operate to open the hook and release the fuel it was holding.

At this time, the pre-entry/exit flag F6 is reset, and the employee flag F7 is reset.
At the same time, the fuel number is set at the coordinates in the fuel position memory corresponding to the location where the fuel was inserted, and the fuel loading cycle is completed.

The computer stores the pattern shown in FIG. 6 in advance, and each time it periodically takes in each contact input signal, it checks whether the flag corresponding to the combination of contact input signals is set or not, or the combination of contact input signals. Check whether the corresponding flag is defined.

For example, if a flag corresponding to a combination of contact input signals is not defined, it is determined that there is an abnormality, and the operation panel
Turn on the error indicator lamp 2 or 31.

If normal operation is being performed, the corresponding flag is output and displayed on the flag display 38 as described above.

In the above embodiment, when moving the traveling truck 1 and the traversing truck 2 in both the fuel removal cycle and the fuel loading cycle,
Although the hoist is assumed to be at the upper limit position, hoist 3 is not necessarily the upper limit position, especially when operating manually, so even when operating in this manner, the movement of the fuel exchange machine and fuel can be monitored. Similarly, other hoist position signals can be used instead of the hoist upper limit position signal f.

Furthermore, a new hoist ascent completion flag can be added as a monitoring flag.

This flag is set when the lifting of the hoist is completed (both after hoisting and after hoisting), is held for the time that the cart moves after the hoist stops rising, and is reset after the cart moves.

In FIG. 7, by replacing the determination based on the hoist upper limit position with a flag after the hoist has been raised, the same monitoring as in the embodiment described above becomes possible.

As is clear from the above, according to the nuclear reactor refueling machine, the refueling machine is operated by a combination of signals related to the position of the cart, signals related to the movement and position of the hoist, signals related to the load of the hoist, and signals related to opening and closing of the hook. The status can be identified and identified, and appropriate monitoring flags can be issued and displayed, making it possible to constantly monitor and monitor the operation of the reactor's refueling machine and fuel transfer status, not only during automatic operation but also during manual operation. Safe and reliable fuel movement (loading, movement, removal, exchange, etc.)
Able to complete work.

[Brief explanation of the drawing]

Figure 1 is a front view of a refueling machine for a BWR type nuclear power plant, Figure 2 is a block diagram of the control system for operating the fuel exchanger, Figure 3 is a plan view of the 5th floor of the reactor building, and Figure 4 is a Third
5 is a diagram showing an example of each monitoring flag assigned to each work process of the fuel removal cycle and fuel loading cycle. FIG. 6 is an example of the relationship between the monitoring flag and the state of the input signal. 7A to 7C are flowcharts showing the outline of the program processing contents of the mobile monitor according to the present invention. 1... Traveling trolley, 2... Traversing trolley, 3... Hoist, 4... Hook, 12... Manual operation panel, 22...
・Computer (CPU), 30...Fuel exchange machine, 31...
- Automatic operation panel, 38... Flag display, H... Hoist upper limit position, Sl, S2... Hoist seating position.

Claims (1)

[Claims] 1. A hoist that has a hook for grasping fuel and moves up and down in the vertical direction, a cart that supports the hoist and moves in the horizontal direction, and a device that drives and controls the hoist, and is capable of inserting fuel at a predetermined time. In a nuclear reactor refueling machine that moves and exchanges fuel between locations, a combination of signals related to the position of the trolley, signals related to the movement and position of the hoist, signals indicating the presence or absence of hoist load, and signals indicating the presence or absence of a hook opening/closing. means for determining and switching a monitoring flag for displaying the operating state of the hook; a means for displaying the monitoring flag; and a means for detecting the presence or absence of fuel at each fuel insertion position in accordance with switching of the monitoring flag. 1. A nuclear reactor fuel exchange machine, characterized in that it is equipped with means for updating a signal.