JPS59149862A - Space movable type inspection work device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an apparatus for inspecting and performing work in areas with high radiation levels, such as nuclear reactor containment vessels (hereinafter referred to as PCv) in nuclear power plants.

[Technical background of the invention]

When inspecting, monitoring, or working inside a place with high radiation levels, such as a PCv, it is not desirable for workers to enter the PCv, and it is not possible to perform sufficient inspections or work due to the radiation. For this reason,
Recently, rails have been installed in the inspection space, and an inspection work vehicle, which includes a truck, electrical components, W, etc., is movably mounted on the rails for inspections, etc.

(2) [Problems with Background Art] The rail of the conventional inspection work device described above has a structure as shown in FIG. 1 or 2. That is, in the structure shown in FIG. 1, retaining parts 4 into which the inspection vehicle 20 and rollers 3 enter are formed on both sides of the rail 10, and a chain guide 5 is provided on the side ζ of the rail 1 separately from the rail 1. and a leakage cable 6 are arranged.

In such a structure, the space 7 in the center of the rail 1 is wasted, and especially when it is introduced into a PCV with little surplus space, it becomes difficult in terms of space, and furthermore, it becomes difficult to set the route. Furthermore, since the trolley wire 8 is disposed on the lower surface of the rail 1, there is a risk of electric shock to the worker.

Furthermore, in the rail shown in Fig. 2, the chain guide 5 is provided in the center of the rail 1, but the cables 9 and 10 must be placed outside the space occupied by the rail 1. , and a cable handling device is required. Therefore, there is a space problem similar to that described above, and the structure is unfavorable in terms of reliability and structure.

Furthermore, as described above, the inspection work vehicle 2 has a truck part and equipment integrated into one body. Here, the bogie part can be used satisfactorily for the life of the plant, which is approximately 40 years, but the equipment cannot be used for a long period of 40 years without the need for any repairs or replacements. . For this reason, when replacing equipment for inspection and work, it is necessary to replace the entire truck section, which poses a problem in that the replacement and repair work becomes extremely large-scale.

[Purpose of the invention]

The present invention has been made in view of the above-mentioned conventional circumstances, and its purpose is to be able to be easily introduced into places with little surplus space such as PcV, and to be able to transport electrical items, W, etc. from trolleys. To provide a spatially mobile inspection work device in which equipment can be easily removed and installed, allowing easy replacement and repair, and improved workability.

[Summary of the invention]

In order to achieve the above object, the space-mobile inspection work device according to the present invention is arranged in an inspection work space and has a part that accommodates cables, chains, trolley wires, leaky coaxial cables, etc., In addition, by containerizing equipment for inspection or work, it is possible to attach and detach the equipment to and from the trolley that moves along the rails.
Furthermore, the outline of the system is that the containerized equipment is branched from the trolley using a lifting device and a loading/unloading device, and is also loaded into and taken out of the inspection work space.

[Embodiments of the invention]

Embodiments of the present invention will be described below based on the accompanying drawings.

FIG. 3 shows an example of the organization of a truck constituting a part of the inspection work device of the present invention.A truck 12 is movable via rollers on rails 11 arranged inside the PC'v. installed. These carts 12 are connected to each other, and each cart 12 has containers 13 , 14 , 1
5 is installed. The front container 13 is provided with a TM01, the intermediate container 14 is provided with a radioactivity detector 17, and the rear container 15 is provided with a manipulator 18 for operation.

(5) As shown in FIG. 4, the rail 11 is provided with a chain guide 19 at the center thereof, and retaining portions 21 into which the rollers of the truck 120 are inserted are formed on the left and right sides. The trolley wire and the leakage coaxial cable are respectively accommodated in the accommodating section 22 formed between the retaining section 21 and the chain guide I9, and the accommodating section n and the rail 1
1. A cable 5 is arranged in the space between the top surface and the top surface as necessary.

Further, as shown in FIGS. 5 to 8, the trolley 12 has a substantially flat plate shape, and has a pair of support brackets 26 on each side.
The support bracket 26 is equipped with the roller support, and side rollers 27 with built-in springs are provided to prevent lateral displacement and rattling. In addition, cutouts 29 are formed on both sides of the trolley 12,
A contact (Toro IJ-') 30 is provided in the notch,
It is designed to supply power and send and receive signals. Furthermore, keys 31 are provided at the front and rear ends of the cart 12 in the width direction.
, 31, and a connecting mechanism as shown in FIGS. 7 and 8 (6) is provided at the center of the front end and the rear end. That is, a flange portion 32 is provided protrudingly at the front end and rear end, and a connecting rod 34 is connected to this flange portion 32 via a joint 33.
This allows the truck 12 to be connected to another truck 12 or to a chain in a chain guide 19 provided on the rail 11. The inside of the connecting rod is hollow, and the cable is inserted into this hollow part to the extent that it does not impair the degree of freedom of the connecting mechanism, and the cable is electrically connected.

FIG. 9 is an overall view of the container 13, and FIG. 10 is an overall view of the container 14. The front and rear upper ends of the main body 36 of the container 130 have key grooves that fit in the keys 31 of the cart 12 in the width direction. 37, and a TV 16 is attached to the front part of the main body 36 via a support bracket 38.
A light 39 is fixed to the bottom surface of the . And the main body 36
The interior is an electrical room. Further, holes 40, 40 are formed in the upper portions of the left and right side surfaces of the main body 36 for fixing the container 13 during branching or when going up and down. Furthermore, main body 3
Slot antennas 41, 41 and connector detachers 42, 42 are provided symmetrically on the left and right sides of the top surface of the device 6, so that they can be used from either the left or right direction. Note that the slot antenna 41 is not necessary when using the cable 35 to use an antenna from another container. Similarly, the container 14 has holes 40 and 4 in the main body 36.
0, a keyway 37, a slot antenna 41, and a connector detacher 42 are provided.

The connector receiver of the cart 12 is connected to the port 43, and the connector for transmitting and receiving signals with other containers and supplying power from the contact 30 is connected to the main body of the cover 45 by a hinge 44, as shown in FIG. rotatably mounted on the
The cover 45 is biased in the closing direction by a spring, a connector 46 is disposed inside the cover 45, a cable 47 is connected to the connector 46, and the cover 45 is attached or detached by operating a rod 48.

Next, the lifting device used for branching the container is installed in the first
This will be explained based on FIGS. 2 to 17. FIG. 12 is an overall view of the lifting device 49, and FIGS. 13 to 16 are exploded views. The elevating device 49 consists of a fixed rail link and an elevating body 51 that moves up and down along the fixed rail link, and the fixed rail marks are two rails 52, as shown in FIG.
A pair of supports 53, 53 are fixedly installed on the upper part of the cable winder 52, and a cable winder 54 is rotatably attached to the supports 53. A composite cable 55 consisting of an i-pair cable and a load-bearing cable is wound around the winder 54, and is tied to a movable rail 56 at the lower end of the composite cable 55.

This 0T moving rail 56 has grooves 5 on the top and bottom of the rail 52 on both sides.
A roller 58 is provided which contacts the roller 7 from the inside, and a ball roller 60 having a ball 59 is provided in the center of both rollers, so that the elevator moves up and down on the same principle as an elevator.

Further, a lift 61 is fixed to the movable rail 56 via a connecting portion 62. This lift 61 has a pair of slide rails 63 , 63 protruding forward, and a slide rail 65 of a slide portion 64 is engaged with the slide rail 63 so that the slide portion 64 can freely slide with respect to the lift 61 . I have to. A cylinder 6 is provided in the slide portion 64.
6 is provided, and the pawl 68 is rotated by the operation of the rod 67 of this cylinder 66. Therefore, this nail 68
As shown in FIG. 17, due to the rotation, the slide portion 6
4 into the hole 40 of the container body 36 placed on the container body 36, and fix the container to the slide portion 64.

Next, the operation of the lifting device 49 will be explained based on FIGS. 17 and 18.

First, in order to branch the container 13 (hereinafter the container will be referred to as 13), the lift 61 is lowered a little in the direction d, and then the slide section bar is moved in the direction a to face the container 13. Then, the slide portion 64 is slightly moved in the C direction to the position indicated by the imaginary line, and the cylinder 66 rotates the claw 68 to engage the hole 40 and fix the container 13. Next, the rod 48 is operated by the actuation of the cylinder 66, the connector detacher 42 is detached, and the cover 45 is closed. Thereafter, the slide portion 64 is moved in the b direction to be in the state shown by the solid line.

In addition, in order to introduce the container 13 onto the route, the container 13 is fixed to the slide section 64, and then the slide section 64 is opened.
the container 1 to the key 31 of the trolley 12.
Align the key grooves 37 of No. 3 and push the container 13 into the trolley 12. Then, by operating the rod 48 as described above,
The connector detacher 42 is connected to the connector socket 43 of the carriage 12. Next, the cylinder 66 is driven to move the pawl 68 into the hole 40.
After the lift 61 is released from the slider 61, the lift 61 is lowered a little, the slider 64 is moved in the direction b, and when it returns completely, it is moved in the direction C to enter the standby state shown by the solid line.

In this way, if you want to move the container to another route,
After moving up and down in the C direction or the d direction to the height of the desired route, the above branching operation is performed. Note that the driving means for the lifting device is not limited to a cylinder type, but may also be a chain type ring type.

Next, a drawer device for carrying the container 13 out of the PCV or into the PCV will be described.

FIG. 19 is a schematic plan view of the drawer device 70, and shows the PcV
The wall 71 is provided with an airlock 74 extending between the inside 72 and outside 73 of the PCV. This air lock 74 has an airtight box shape, and an open lower door 5.76 is formed on the inside and outside sides.
．． It opens and closes at 78. Also Aerotsuku 74
A horizontal branching device 79 is provided inside. Furthermore, a rail 80 is provided near the opening to the outside, and this rail 80
A container conveying device as shown in Figures 1 and 21 is installed in the container.

This conveyance device has a truck 8 having a structure similar to the truck 12 described above.
A box body 82 for accommodating the container 13 is attached to the container 1. As shown in FIG. 21, this box body 82 is provided with a door 83 that can be opened and closed on its side, and has a motor 84 fixed to the front end surface of the box body, a pulley 85° wire 86, and a link 8.
It can be opened and closed via 7.

Further, Figures n and 2 show a horizontal branching device 79 forming a part of the drawer device 70, and a fixed rail 9 is attached to a support 88 provided in the airlock 74 with a bolt 89.
A shaft 92 with a worm gear 91 in the middle is rotatably mounted between the supports 88 and a motor 94 is fixed to the fixed rail 90, and the rotation of the motor 94 is controlled by a gear. said shaft 92 via 95
The signal is transmitted to the gear 96 inserted therein. Thus, by driving the motor 94, the worm gear 91 rotates. Then, the worm gear 91 meshes with a connecting portion 97 slidably attached to the fixed rail 90, and the worm gear 9
The connecting portion 97 is made to move along the fixed rail 90 with one rotation.

Also, at the connection part 97, a drive device 9 consisting of a motor and a speed reducer is provided.
A pinion 99 of this drive device 98 meshes with a rack 1 of a movable rail 100 slidably disposed between the connecting portion 97 and the fixed rail 90. Thus, the movable rail 100 is moved in the direction a or b in the figure by the drive of the drive device 98. This movable rail 100 has a hinge 1
02, the frame 103 is pivoted so as to swing in the direction C or d in the figure. Furthermore, this frame 1
A slide portion 104 similar to the slide portion 64 provided in the elevating device 49 is attached to 03 so that it can slide in the direction e or f in the figure.

This horizontal branching device 79 allows the container 13 to be attached to and removed from the truck 12 or 81. Note that although the horizontal branching device 79 shown in the figure is capable of attaching and detaching two containers at the same time, it is not necessarily limited to two containers, and is designed to attach and detach one or three or more containers. It's okay.

Next, the operation of the drawer device 70 will be explained based on FIGS. 19 to 22.

First, in order to carry the container 13 into the PCV, the cart 81 to which the box 82 containing the container 13 is attached is moved along the rail 80 to point A. Then, the opening/closing device opens the door 83 of the box body 82, moves further to point B, and stops. The operations during this time may be performed simultaneously or separately.

Next, close the door 77 of the airlock 74, and with the door 78 open, slide out the horizontal branching device 79 from the opening arrow, and slide the horizontal branching device 79 from inside the box 82.
Received container 13 on 04. In other words, the container 13 is moved in the direction from 1 to j. After this horizontal branching device 79
Return it to the aero ivy 74 and close the door 78.

Next, the door 77 is opened, the horizontal branching device 79 is moved in the direction from e to f to point D, and the container 13 is transferred to the trolley 12 waiting at point E in the direction from h to g. Thereafter, the horizontal branching device 79 is returned to the airlock 74 and the door 77 is closed, completing the loading of the container.

Moreover, when carrying out the container 13 from the PCv, the operation opposite to the above may be performed. Incidentally, the container may be stored in the box 82 inside the airlock 74 instead of outside the PCV 73.

Further, Fig. 1 is a system configuration diagram of the spatially mobile inspection/working device of the present invention, in which → indicates a power supply system and → indicates a signal system.

A power source 105 or an emergency alarm source 106 is supplied from a switching device 107 to the trolley via a penetration 108, and from this trolley blade to the container 13.

Also, from the penetration 108, the elevating device 49 is connected to the IM.
, a branching device 79, a loading/unloading device, a chain drive device, etc.

On the other hand, in the external 73 of the PCV 71, the memory 109
, computer 110, printer 111, CRT 112
, the controller 113, and the information processing device 114.

The signal system also connects the container 13 and the position signal 116 through the multiplexer 115 via the penetration 108.
and each device 49, 79, etc., and can communicate with the information processing device 114. In addition, the computer 110, the memory 109, the printer 11
1. It is designed to be able to exchange signals with the CRT 112, controller 113, and information processing device.

As described above, the inspection/work device according to the present invention carries a container into a PCV by operating from the outside, transfers the carried container to a predetermined route, inspects the inside of the PCV, or performs work inside the PCV. In addition, containers in the PCV are transferred to other routes, and containers that require repair or replacement are carried out of the PCV. The above is an example of the implementation of the present invention; for example, if a device for adjusting the angle of the lift is added to the connection part with the movable rail, the curved frame can be moved up and down on the track.

〔Effect of the invention〕

As described above, first of all, regarding the rail, various members are incorporated within the space occupied by the rail itself, which is advantageous in terms of space and simplifies route design and installation. In addition, the noise of the trolley to other machines is reduced, the leaky coaxial cable is less susceptible to the noise, and the risk of electric shock caused by a worker touching the trolley is reduced. Furthermore, damage to the cable or chain guide due to work etc. is reduced, and the structure of the support can be simplified.

In addition, since equipment for inspection and work is containerized, it is easier to replace and repair it, and the equipment can be brought into the PCV later, allowing containers contaminated with radiation to be placed in boxes and safely transported to designated locations. It is possible to transport the equipment, it is possible to organize the equipment in a wide variety of ways, for example, if a new type of container is developed, the whole container can be replaced, and even if the container is damaged during LOCA, it can be replaced with a new one. Can be exchanged. In addition, containers can be designed to fit the space of the plant, and containerization allows you to use what you need for the amount of time you need.
It is also possible to install two systems in a distributed manner so that the trolleys on the route form one system.

Furthermore, the elevating device has both branching and elevating functions, making it easy to change the route, and also allowing elevating and descending on a trajectory along the PCV frame ζ.

As for the inspection and work equipment as a whole, safety and reliability are improved as the space occupied by the rails is reduced, and containerization of the equipment makes it possible to introduce it into plants where it could not be introduced in the past.

This eliminates the need for workers to enter the PCV, reducing radiation exposure, and allows for inspection and monitoring even while the plant is in operation, leading to improvements in reliability, availability, and safety, and the ability to detect problems early. Furthermore, it has many advantages, such as eliminating the risk of contaminating the route when transporting equipment contaminated with radioactivity out of the PCV.

[Brief explanation of the drawing]

1 and 2 are cross-sectional views of conventional rails, FIG. 3 is a side view of a part of the inspection/work device according to the present invention, and FIG. 4 is a cross-sectional view of the rail of the inspection/work device of the present invention. , Fig. 5 is a perspective view of the cart, Fig. 6 is a perspective view of the rollers of the cart, Fig. 7 is a perspective view of the coupling mechanism, Fig. 8 is an exploded view of the coupling mechanism, and Figs. 9 and 10 are the containers. , FIG. 11 is a sectional view of the connector detacher, FIG. 12 is a perspective view of the elevating device, FIGS. 13 to 16 are partially exploded perspective views of the elevating device, and FIGS. 17 and 18 are the elevating device. Side view explaining the operation of the device, No. 19
The figure is a schematic plan view of the drawer device, the fourth figure is a side view of the cart equipped with a box body, the figure 21 is a perspective view of the box body, the nth figure is a perspective view of the horizontal branching device, and the nth figure is a horizontal view. Figure xx of branching device
The cross-sectional view taken along the line nr-xxm, Figure 1, is a system configuration diagram of the inspection/working device of the present invention. 1, 11, 80...Rail, 2, 12.81 ・
... Trolley, 5.19 ... Chain guide, 8.23.
...Trolley wire, 9, 10, 2! :I... Cable, 13, 14, 15... Container, 16, 17.
18...Equipment, Sae...Leaky coaxial cable, 49...
・Elevating device, Seki... fixed rail, 51... elevating body,
61...Lift, 64...Slide part, 70...
Drawer device, 71... Reactor containment vessel, 74...
Aerotsuku, 79...Horizontal branch loading, 82...Box body. Applicant's agent Kiyoshi Inomata Figure 7 Figure 9 Figure 10 Figure 23 Hand, continuation of the amendment March 1, 1980 Commissioner of the Patent Office Kazuo Wakasugi 1, Indication of the case 1988 Patent Application No. 12267 2, Name of the invention Spatial mobile inspection work device 3, Relationship with the case of the person making the amendment Patent applicant (307) Tokyo Shibaura Electric Co., Ltd. (and 1 other person) 7. Drawings subject to amendment 8 , The contents of the amendment shall be inscribed as shown in the attached sheet (no changes to the contents). (1)

Claims (1)

[Claims] 1. A rail forming a storage section for cables, chains, trolley wires, leaky coaxial cables, etc., a trolley that moves along the rail, and a container that is separate from the trolley. It consists of inspection or work equipment, a lifting device for attaching and removing the containerized equipment to and from the trolley, and a loading/unloading device for carrying the equipment into and out of the inspection/work space. A spatially mobile inspection work device characterized by: 2. The rail has a chain guide for storing the chain in the center, engaging parts on both sides of the guide for storing the rollers attached to the trolley, and a trolley wire between the chain guide and the retaining part. The mobile inspection work device according to claim 1, further comprising a housing section for housing a cable. 3. Claim 1, characterized in that the truck is provided with a connecting device for connecting it to another truck.
Spatial movement type % formula % described in paragraph or paragraph 2