JPS61100696A - Remote controller in nuclear power plant, etc. - 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 "Field of Industrial Application" The present invention relates to a remote control device in a nuclear power plant or the like.

U. Prior Art and Problems Various types of work in hot cells in nuclear power plants and the like are often performed using, for example, work robots because it is difficult for workers to enter. In this case, it is necessary to bring in and install a work robot suitable for the task inside the hot cell, but if there are obstacles on the floor or walls in the target area, it will be difficult to bring in the work robot, making the adoption of a work robot extremely difficult. The problem arises that it is subject to restrictions.

``Objects of the Invention and Means for Achieving the Same'' The present invention facilitates the installation of a working robot into a hot cell that has obstacles, which has been difficult in the past, and also makes it possible to expand the working range of the robot. In order to achieve this purpose, a work stand is provided so as to be movable along the outside of the shielding wall of the hot cell, and the work stand is provided with a tip that extends through the shielding wall. A small working hole drilled in the hot cell is provided with a girder for inserting the robot mounting part of the part into the inside of the hot cell, and a positioning mechanism for moving the girder in the longitudinal direction and vertical direction. , Beyond Garda! After adjusting the height and lateral position of the M section, the working robot is brought out and sent to the required position within the hot cell.

"Example" Hereinafter, an implementation project of a remote control device for a nuclear power plant or the like according to the present invention will be described based on the drawings.

In FIG. 1, reference numeral 1 indicates a remote control device, and reference numeral 2 indicates a hot cell. This remote control device! A work stand 5 movably provided on a rail 4 laid along the shielding wall 3 of the hot cell 2, a girder 6 supported by the work stand 5 so as to be extendable, and a position adjustment for moving the girder 6. This is a basic configuration including a mechanism 7.

The work platform 5 has a plurality of stages of work floors 8 installed horizontally therein, is surrounded by a transparent plastic plate 9 to be sealed from the outside air, and has a crane 11 that moves along the uppermost frame member IO. It is said that the structure is equipped with

The girder 6 is supported by each work floor 8 so as to be freely extended in its length direction, and is provided with a robot mounting part 12 at its tip, as shown in FIG.
A working robot (such as a manipulator) 13, a television camera 14 for monitoring the working status of the working robot 13, and its lighting equipment 15 are attached to the working robot 2, and a traveling motor 16, a rack 17, and a pinion 18 are attached to the working robot 13, as shown by the arrow. It has a structure that allows its position to be adjusted.

Further, as shown in FIGS. 2 and 3, the position adjustment mechanism 7 includes a horizontal position adjustment section 19 for feeding out the girder 6 in the length direction and positioning it, and a horizontal position adjustment section 19 for determining the height of the girder 6. The horizontal position adjustment section 19 includes a feeding motor, a drive roller, and a girder 6.
Support rollers etc. are arranged, and the upper and lower positions FJ! The part 20 includes a pair of guide frame members 21 that are integral with a part of the work floor 8, and a moving member 2 that is supported by the guide frame members 21 so as to be vertically movable.
2. An actuator 23 etc. for changing the height of the moving member 22 is provided, so that the vertical position can be adjusted as shown by the arrow in FIG.

In FIGS. 1 to 3, reference numeral 24 is a stopper for regulating the movement range of the girder 6, and reference numeral 25 is an auxiliary roller for supporting part of the load of the girder 6.

Furthermore, as shown in FIG. 4, an operation unit 26 for operating the work robot 13 and the like is placed on the work floor 8. This operation unit 26 includes a stereoscopic television screen (receiver) 27 and the television camera 14.
Swing operation section 28 for adjusting the direction of the zoom ratio adjustment section 2
9. Operation arm 30 of work robot 13, operation panel 31 of robot mounting section 12. It is equipped with an operation panel 32 for various jigs and tools attached to the work robot 13, and a cathode ray tube 33 for an image fiberscope used when an image fiberscope or the like is installed in the various jigs and tools. Further, reference numeral 34 is a cable.

When carrying the work opening 13 etc. into the hot cell 2 using such a remote control device 1, it is necessary to break down a part of the shielding wall 3 of the hot cell 2, as shown in FIG. A small working hole 35 was made, and the height of the tip of the girder 6 was adjusted to the working hole 35 using the vertical position adjustment section 20 of the horizontal position adjustment section 7, and then the girder 6 was let out and folded using the horizontal position adjustment section 19. After inserting the working robot 13 and the like into the second hot cell, the working hole 35 through which the girder 6, cable 34, etc. pass is closed with a radiation shield 36. Then, the operation unit 26 controls the work robot 13, television camera 14, etc.
Various operations such as assembly, welding, disassembly, cutting, and radiation removal are carried out in the hot cell by operating as shown by the arrows in FIG. 4. When it is necessary to take out the internal equipment, a hole of the required size is opened in the shielding wall, and these can be taken out of the hot cell 2 using the crane 11 or the like.

In addition, to supplement the explanation, when the radiation level inside the remote control device 1 becomes high, by installing the operation unit 26 outside, it is possible to reduce the exposure dose of workers during various tasks, and The above restrictions will be reduced.

Note that even after the working robot 13 is inserted into the hot cell 2, the vertical or horizontal position of the girder 6 can be adjusted within the working hole 36.

・-Effects of the Invention As explained above, according to the present invention, ■ Since the work robot is mounted on the tip of the girder and it is green, it is less affected by obstacles on the way. , the work robot can be easily installed.

■By reducing the size of the work hole in the hot cell, leakage of radiation and radioactive substances can be suppressed.

■It is possible to align the girder vertically and horizontally,
The scope of work and scope of application can be expanded.

It is possible to achieve excellent effects such as:

[Brief explanation of the drawing]

The drawings show one embodiment of the remote control device of the present invention, so
Fig. 1 is a side view for explaining the schematic configuration, Fig. 2 is a plan view taken along the line ■-■ in Fig. 1, and Fig. 3 is a side view taken along the line Figure 4 is an explanatory diagram of the operation of the operation unit and the robot. ■...Remote control device, 2...Hot cell, 3...Shielding wall, 4. Rail, 5...・・・
Work platform, 6... Girder, 7... Position adjustment mechanism, 12... Robot mounting section 9.13.
... Working robot, 19 ... Horizontal position adjustment section, 20 ... Vertical position adjustment section, 26 ...
Operation unit, 30...operation arm.

Claims (1)

[Claims] A work stand is provided movably along the outside of the shielding wall of the hot cell, and the work stand includes a girder that penetrates the shield wall and inserts the robot mounting portion at the tip into the inside of the hot cell, and the girder has a length thereof. 1. A remote control device for a nuclear power plant, etc., characterized in that it is equipped with a position adjustment mechanism that moves the device horizontally and vertically.