JPS59170794A - Follow control mechanism for positioning crd automatic exchange device - Google Patents
Follow control mechanism for positioning crd automatic exchange deviceInfo
- Publication number
- JPS59170794A JPS59170794A JP58044097A JP4409783A JPS59170794A JP S59170794 A JPS59170794 A JP S59170794A JP 58044097 A JP58044097 A JP 58044097A JP 4409783 A JP4409783 A JP 4409783A JP S59170794 A JPS59170794 A JP S59170794A
- Authority
- JP
- Japan
- Prior art keywords
- crd
- positioning
- automatic exchange
- exchange device
- control mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Body Structure For Vehicles (AREA)
- Control Of Position Or Direction (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は、原子力発電所の定期検査時に行なう、ＣＲＤ
交侠作業に用いる、ＣＲＤ自動交換装置に係り、特にＣ
ＲＤ自動交換装置の完全自動位置決めに好適な、位置決
め追従制御に関する。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to CRD, which is carried out during periodic inspections of nuclear power plants.
Related to CRD automatic exchange equipment used for exchange work, especially C
The present invention relates to positioning follow-up control suitable for fully automatic positioning of an RD automatic exchange device.
従来のＣＲＤ自動交換装置の位置決めは、定値制御（予
め設尾しである、対象ＣＲＤの位置にＣＲＤ自動交換装
置を合わせる）の為、対象であるＣｆ％Ｄの位置に誤差
が生じると、対応不可能となる。又、従来の位置決めレ
ベルは、前記ＣＲＤ自動某俣装誼のブラットホーム・レ
ベル（前西己着脱ヘッド金足行・昇降させる機構と同一
レベル）にるる為、それよｐ上方で行なうＣＲＤＣ取付
け・柩外しにおいて、その位置がプラットホームレベル
で位置決めをした位置と同一でない可能性があった（着
脱ヘッド他ＣＲＤ自動交換装置の誤差の為）。The positioning of conventional CRD automatic exchange equipment is based on fixed value control (aligning the CRD automatic exchange equipment with the position of the target CRD, which is set in advance), so if an error occurs in the position of the target Cf%D, it is necessary to take corrective action. It becomes impossible. In addition, since the conventional positioning level is at the platform level of the above-mentioned CRD automatic certain mata installation (same level as the mechanism for moving and raising and lowering the attachment/detachment head), CRDC installation/ When removing the coffin, there was a possibility that the position was not the same as the position determined at the platform level (due to errors in the CRD automatic exchange device such as the detachable head).
本発明の目的は、ＣＲＤ自動自動交誼装置象であるＣＲ
Ｄに対しての位置決めを、先生自動化する為の位置決め
追従制御機構全提供−３″ることにある。The object of the present invention is to provide a CR
The purpose of this invention is to provide a complete positioning follow-up control mechanism for automating positioning with respect to D.
従来の定値制御で位置決めを行なっているＣＩ％Ｄ自動
交換装置では、対象である（、ＲＤの位置の誤差に対し
て、対応不可能であった。そこで、対象のＣＲりの位置
全検出し、追従制御することによシ、ＣＲＤ目動交換装
置の位置決めの光全自動化を図るものでめろ。Conventional CI%D automatic exchange equipment, which performs positioning using fixed value control, cannot deal with errors in the position of the target (RD). By using follow-up control, it is possible to fully automate the positioning of the CRD movement changing device.
〔殆少」の実ＩＭ１クリ〕
以下、本発明の夫〃犯列を第１．２．３図しこより説明
する。[Almost no real IM1] The criminal sequence of the present invention will be explained below with reference to Figure 1.2.3.
本冗明は、第１図のＣＲＤ自励交換装置にＬ労相される
ものでめる。このＣＲり自動交換装置は、腐脱ヘッド（
着脱装置２と取扱装置３とプラットホーム４より構成さ
れるもので、ＣＲ，Ｄ １ ）交ｍ作釆ンこ防用嘆れる
。本発明は、上記２，３．４のうち、符に着脱ヘッド（
着脱装置）２に関するものでるる。This clarification applies to the CRD self-exchanger shown in FIG. This CR automatic replacement device is equipped with a rotting head (
It is composed of an attachment/detachment device 2, a handling device 3, and a platform 4, and is used to prevent CR, D1) exchange operations. Of the above 2.3.4, the present invention has a detachable head (
This is related to the attachment/detachment device) 2.
この着脱ヘッド（着脱装置）２は、ＣＲＤＩをＣＲＤハ
ウジング５にとめているマウンティング・ボルト６を、
絢める（ゆるめる）為のトルク・レンチ７金持ち、ＣＲ
，Ｄｉの取扱を行なう。、４−発明は、取扱対酸である
ＣＲＤＩの下部７ランジ而に、取つけたターゲット１３
の画像を、着脱ヘッド（着脱装＆）２に取付けた、ファ
イバ・スコープ１０によって、取り入れる。この画１１
！は、Ｉ・１１？・Ｖｌｌによって磁気信号に変換され
、ケーブル１２を通υ、パターン認識機構へ送られる。This attachment/detachment head (detachment/detachment device) 2 attaches the mounting bolt 6 that fastens the CRDI to the CRD housing 5.
Torque wrench for tightening (loosening) 7 rich people, CR
, Di. , 4-The invention provides a target 13 attached to the lower 7 lunges of the CRDI, which is a handling acid.
The image is captured by a fiber scope 10 attached to the detachable head (attachment & detachment) 2. This picture 11
! H-I-11?・It is converted into a magnetic signal by Vll and sent through cable 12 to the pattern recognition mechanism.
ここで、ターゲット１の画像の位置全算出する。算出湯
′ｎたターゲット１の画像の位置は、駆動部（至）部へ
送られ、ここで、ターゲット１のｌ［！ｌｌ像の位置と
、本来あるべき画像の位置（位置決めが合った時の位置
）とを比威し、着脱ヘッド（着脱装ｆ）２の移動量全算
出し、駆動信号全駆動部へ送９、駆動部を動かすことに
より、位置決め全終了する。Here, the entire position of the image of target 1 is calculated. The calculated position of the image of the target 1 is sent to the drive section, where the position of the image of the target 1 is sent to the drive section. By comparing the position of the ll image and the original position of the image (the position when the positioning is correct), the total amount of movement of the detachable head (detachable head f) 2 is calculated, and the drive signal is sent to all drive parts 9 By moving the drive unit, the positioning is completely completed.
本実施例によれば、対象であるＣＲ，Ｄｌが、取付位置
より誤走が生じても、その位ｉｔ金憤出し、その誤差が
生じた位置のＣＲＤＩに対して、追従し位置決めを行な
う為、ＣＲＤ自動交換装置の位置決めを、完全自動化で
きる。According to this embodiment, even if the target CR or Dl erroneously runs from the mounting position, it will be compensated for and the positioning will be performed by following the CRDI at the position where the error occurred. , positioning of the CRD automatic exchange device can be completely automated.
本発明によれば、取付設定位置より熱応力などの理由に
より、ずれた位置にあるＣＦＬＤに対しても、ＣＲＤ自
動交換装置の位置決めが対応可能となυ、ＣＲＤ交換装
置の完全自動位置決めが、図れる。これに伴ない、ＣＲ
Ｄ′９：換作業時間の短縮、作業員の省力化、被曝低減
の効果がある。According to the present invention, the positioning of the CRD automatic exchange device can be performed even for a CFLD that is displaced from the mounting position due to thermal stress or other reasons, and the fully automatic positioning of the CRD exchange device is I can figure it out. Along with this, CR
D'9: Effective in shortening changeover work time, saving labor for workers, and reducing exposure to radiation.
第１図は本発明の一実施例のＣＲり自動交換装置全坏図
、第２図は同じくファイバ・スコープを取り付けた着脱
ヘッドの全体図、第３図は同じく本兄明の全不構成図で
ある。
１・・・ＣＲＤ、２・・・着脱ヘッド、３・・・取扱装
置、４・・・プラットホーム、５・・・ＣＲＩ）ハウジ
ング、６・・・マウンティング・ボルト、７・・・トル
ク・レンチ、８・・・対物レンズ、９・・・ホールダー
、１ｏ・・・ファイバ・スコープ、１１・・・工・Ｔ−
Ｖ、１２・・・ケー プル、１３・・・ターゲット。
第 １ 閉
第２０
（ｃＬ）（ｂ）Fig. 1 is a complete assembly diagram of a CR automatic exchange device according to an embodiment of the present invention, Fig. 2 is an overall diagram of a detachable head with a fiber scope attached thereto, and Fig. 3 is a complete unconstructed diagram of the same invention. It is. DESCRIPTION OF SYMBOLS 1...CRD, 2...Detachable head, 3...Handling device, 4...Platform, 5...CRI) housing, 6...Mounting bolt, 7...Torque wrench, 8... Objective lens, 9... Holder, 1o... Fiber scope, 11... Engineering/T-
V, 12... Caple, 13... Target. 1st closed 20th (cL) (b)
Claims (1)
，Ｄ自動交換装置において、対象のＣＲＤの位置を検出
するファイバ・スコープ、前記位置全算出するパターン
此識慎構及び上記算出位置までの駆動命令を出す駆動制
御部を設けたことを特徴とするＣＲＤ自動父侠装置の位
置決め追従制■愼構。1.CRDC control @Mourning drive mechanism) CR used for cross-arrow work
, D automatic exchange device, characterized in that it is provided with a fiber scope that detects the position of the target CRD, a pattern detection system that calculates the entire position, and a drive control unit that issues a drive command to the calculated position. Positioning follow-up system ■Construction of CRD automatic control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58044097A JPS59170794A (en) | 1983-03-18 | 1983-03-18 | Follow control mechanism for positioning crd automatic exchange device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58044097A JPS59170794A (en) | 1983-03-18 | 1983-03-18 | Follow control mechanism for positioning crd automatic exchange device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59170794A true JPS59170794A (en) | 1984-09-27 |
Family
ID=12682108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58044097A Pending JPS59170794A (en) | 1983-03-18 | 1983-03-18 | Follow control mechanism for positioning crd automatic exchange device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59170794A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62187292A (en) * | 1986-02-13 | 1987-08-15 | 株式会社日立製作所 | Control-rod drive mechanism exchanger |
| US4973443A (en) * | 1988-10-26 | 1990-11-27 | Westinghouse Electric Corp. | System for removing and installing a control rod drive |
| US5019325A (en) * | 1988-10-26 | 1991-05-28 | Westinghouse Electric Corp. | Method for removing and installing a control rod drive |
-
1983
- 1983-03-18 JP JP58044097A patent/JPS59170794A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62187292A (en) * | 1986-02-13 | 1987-08-15 | 株式会社日立製作所 | Control-rod drive mechanism exchanger |
| US4973443A (en) * | 1988-10-26 | 1990-11-27 | Westinghouse Electric Corp. | System for removing and installing a control rod drive |
| US5019325A (en) * | 1988-10-26 | 1991-05-28 | Westinghouse Electric Corp. | Method for removing and installing a control rod drive |
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