JPS61160090A - Moving type monitor 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] [Field of Application of the Invention] The present invention provides an apparatus for moving along a traveling rail installed in a space,
Regarding mobile monitoring equipment that monitors equipment near running rails,
In particular, the present invention relates to a mobile monitoring device suitable for use in high-temperature, high-humidity locations such as inside a nuclear reactor containment vessel, where normal people can enter.

[Background of the invention]

As a method of moving the monitoring vehicle of a conventional mobile monitoring device, for example, the K
A trolley conveyor system is known in which running rails are arranged in a loop in the space inside the reactor containment vessel, and a monitoring vehicle is moved along the rails by driving a disposed seat chain.

This method is ideal for wide-range monitoring such as t-1 rotations inside the reactor containment vessel, but it requires a dedicated running rail, a chain drive mechanism, a chain tension adjustment device t-1 loop inside the reactor containment vessel, etc. Because it was necessary to install supports to support the running rails from the steel frame inside the reactor containment vessel, installation required a large amount of space and construction costs.

[Purpose of the invention]

An object of the present invention is to provide a moving mechanism for a monitoring vehicle that moves along running rails installed in a space inside a reactor containment vessel and monitors various equipment placed near the running rails, which has permanent magnet wheels. Since it is self-propelled with an electric trolley, and the running rail is an I-shaped steel already installed inside the reactor containment vessel, there is no need to install a dedicated running rail or drive device as a movement mechanism, and it can be moved on a gentle slope. Therefore, it is an object of the present invention to provide a mobile monitoring device that has a stable self-propelled running function without slipping, is easy to introduce into a nuclear reactor containment vessel, and has improved running ability.

[Summary of the invention]

The present invention moves a surveillance vehicle equipped with a television camera, etc. along a running track installed in the space inside the reactor containment vessel,
Mobile surveillance that changes the viewing direction of the television camera by moving the surveillance vehicle and directly rotating the television camera mounted on the surveillance vehicle to monitor various parts of the equipment inside the reactor containment vessel located near the running tracks. The present invention relates to a mobile monitoring device characterized in that the traveling rail is made of machined steel and the movement mechanism of the monitoring vehicle is self-propelled using an electric trolley.

In addition, the wheels of the electric trolley are made of permanent magnets, making it possible to run stably even on gently sloping surfaces, and making it possible to use the existing rails for transporting equipment into and out of the reactor containment vessel. The present invention relates to a mobile monitoring device characterized by the following features.

Furthermore, this mobile monitoring device is characterized by using a gas cooling system consisting of a near compressor, an ultra-low temperature air generator, and an air hose as a cooling method for the television camera etc. mounted on the surveillance vehicle.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 1 to 4.

This embodiment is an example in which the present invention is applied to monitoring a main steam isolation valve, which is one of the main equipment arranged in a reactor containment vessel.

In Figure 1, along the main steam isolation valve loading/unloading molar rail that is already installed above the main steam isolation valve in the reactor containment vessel,
The configuration of a monitoring vehicle 1 that moves and carries a television camera etc. and monitors a main steam isolation valve is shown.

Since the monitoring vehicle 1 travels back and forth along the main steam isolation valve loading and unloading mole rail, it is suspended from an electric trolley 4, which has wheels 3 made of permanent magnets so that it can travel even on gentle slopes. , an electric pan head 6 that rotates the television camera cooling case 5 up and down, left and right, a television camera 7 and an electric zoom lens s suspended from the electric pan head 6;
It consists of a T-mounted television camera cooling case 5.

FIG. 2 shows a side view seen from the direction t-A in FIG.
The television camera cooling case 5 can be equipped with an illumination light 9 for illuminating equipment to be monitored inside the reactor containment vessel, and an ultra-low temperature air generator 10 for cooling the built-in television camera 7 and electric zoom lens 8. be.

In addition, the electric trolley 4 is equipped with a limit switch pushing metal fitting 13 for pushing a limit switch (11° 12) i installed on the main steam isolation valve loading/unloading mole rail 2 at the forward end and backward traveling end positions. It is installation. By hitting this limit switch (11, lz),
The electric trolley 4 automatically stops at the front and rear ends of its travel.

Figure 3 shows the equipment installed inside the reactor containment vessel, with a monitoring vehicle 1 and a mole rail 2 for carrying in and out the main steam isolation valve.
This is an example of a t-installation.

The monitoring vehicle 1 is self-propelled by an electric trolley 4 between limit switches Bt and 12) installed on the mole rail 2 for carrying in and out of the main steam isolation valve. Main steam isolation valve loading/unloading mole rail 2
A stopper 14 is used as a mechanical stopper for the surveillance vehicle 1 when the limit switches (11, 12) do not work.
It is installed at both ends of the t'' rail.

Power supply and signal transmission to operate the surveillance vehicle 11 are wired.
Connect cable 1 to connector box 15 at the rear of electric trolley 4.
6 is connected.

Further, an ultra-low temperature air generator 10 attached to the television camera cooling case 5 for cooling the television camera 7 and electric zoom lens 8 built into the television camera cooling case 5 is connected to an air hose 17.

These cables 16 and air hoses 17 are bundled in a spiral shape, and each turn is suspended from a cable crusher 18 to form a curtain shape. At the other end of the cable 16,
The main steam isolation valve is further drawn out of the reactor containment vessel via a relay terminal box 19 suspended from the monorail 2 for carrying in and out. Further, the air hose 17 is connected to an air pipe 20 at the other end, and the air pipe 20 is further led out of the reactor containment vessel.

The cable casher 18 is towed by the electric trolley +74 of the monitoring vehicle 1, and has wheels 21 for following the movement of the monitoring console 10, and a hanger for hanging the cable 16 and air hose 17.

The cable 16 and air hose 17 are expanded and contracted by a cable crusher 18 as the surveillance vehicle travels.

FIG. 4 shows the system configuration of this mobile monitoring device.

Main steam isolation valve 2 located inside the reactor containment vessel 23
In order to monitor 4ft, a monitoring car 1, a cable crusher 18, a cable 16, an air hose 17,
The relay terminal box 19, air piping 20, stopper 14, and limit switches (11, 12) are installed. The cable 16 and the air pipe 20 are drawn into the reactor building 26 through a through hole 251&: of the reactor containment vessel 23, and the air pipe 20 is connected to the near compressor 27. The near compressor 27Fi is connected to the control panel 28, and the power is turned on and off by the control panel.

The control panel 28 includes an operation panel 30 located within the central control room 29.
It is connected to the.

An example of how this mobile monitoring device is used is described below.

Since the inside of the reactor containment vessel 23 is always in a high temperature atmosphere,
It is necessary to constantly cool the television camera 7 and electric zoom lens 8 built into the television camera cooling case 5 of the surveillance vehicle 1. Therefore, a temperature detector is installed in advance on the monitoring vehicle 1, and when the atmosphere inside the reactor containment vessel 23 rises above a certain temperature, the near compressor 2
7 is operated to blow air to the air pipe 20 and air hose 17, and the ultra-low temperature air cooler 10f is operated to send cold air into the television camera cooling case 5 to maintain a constant temperature.

By pressing the forward/backward button on the operation panel 30, the monitoring vehicle 1 uses the electric trolley 174 to move the upper parts of the four main steam isolation valves 24 along the main steam isolation valve loading/unloading mole rail 2, and move the limit switches (11, 12) At any point, press the pan head rotation button (up/down, left/right) on the operation panel 30 to rotate the pan head 6 and monitor the TV camera cooling case 5t - main steam isolation valve 24. Movement of each part of the four main steam isolation valves 24 is monitored by directing it to the target location.

The illumination light 9 mounted on the outside of the surveillance vehicle 1 has sufficient light intensity for the television camera 7 to photograph the main steam isolation valve 24, and when the device is not in operation, the lamp's lifespan is It shall be clarified by taking into consideration the following.

The image captured by the television camera 7 of the surveillance vehicle 1 is displayed on the control panel 28.
The image is displayed on a monitor television 31 on the operation panel 30 via the screen.

Based on the image displayed on the monitor television 31, an operator operates the monitoring vehicle 1 to monitor each part of the four main steam isolation valves 24.

According to the embodiment of the present invention described above, since the moving mechanism is self-propelled using an electric trolley, there is no need for a separate drive from the monitoring vehicle, and therefore there is less equipment to be installed on the running track. This has the effect of simplifying the installation process and reducing work time.

In addition, the existing monorail (I-type steel) inside the reactor containment vessel
By using an electric trolley that can be reused, if there is an existing mole rail that is conveniently installed near the monitored object, it can be used as a running rail, eliminating the need to install a new running rail, and reducing the work involved in installing a running rail. It has the effect of indulging.

Furthermore, if the existing mole rail can be used, installation can be accomplished by simply placing a surveillance vehicle on the mole rail, which has the effect of reducing work time.

In addition, by using permanent magnets for the wheels of the electric trolley,
The attraction force of the magnet increases the gripping force, which has the effect of allowing stable running without slipping, even on rails with a gentle slope.

Furthermore, if the vehicle does not slip, the accuracy of position detection increases when the traveling position is detected using a rotary encoder or the like.

Furthermore, by using permanent magnets for the wheels, there is no need to use binions for the wheels and make the travel rails into racks in order to climb up slopes.

In addition, as a cooling method for the television camera and electric zoom lens, we have adopted a gas cooling method that uses a near compressor and an ultra-low temperature air generator to blow cold air directly onto the television camera and electric zoom lens. It has the effect of providing better cooling performance than the electronic cooling method that applies this effect.

As a result of the above effects, it becomes possible to monitor the four main steam isolation valves located in the reactor containment vessel, which is inaccessible to humans, using a mobile monitoring device consisting of relatively simple components.

〔Effect of the invention〕

According to the present invention, since the moving mechanism is self-propelled using an electric Toro+J, there is no need for a drive device in addition to the monitoring vehicle, so there is less equipment to be installed on the running rail, and the installation work is simple. This has the effect of shortening the working time.

In addition, the existing mole rail (I-type steel) inside the reactor containment vessel
By using an electric trolley that can be used as an electric trolley, if there is an existing mole rail that can be used near the object to be monitored, it can be used as a running rail, eliminating the need to install a new running rail and reducing the work required to install a running rail. It has the effect of indulging.

Furthermore, if the existing mole rail can be used, installation can be accomplished by simply placing a surveillance vehicle on the mole rail, which has the effect of reducing work time.

In addition, by using permanent magnets for the wheels of the electric trolley,
The attraction force of the magnet increases the gripping power, which has the effect of allowing stable running without slipping even on rails with a gentle slope.

Furthermore, if there is no one slip, there is an effect that the position detection accuracy increases when the traveling position is detected using a rotary encoder or the like.

Also, by using permanent magnets for the wheels, there is no need to use binions for the wheels and make the travel rails into racks in order to climb up slopes.

In addition, as a cooling method for the television camera and electric zoom lens, we have adopted a gas cooling method that uses a near compressor and an ultra-low temperature air generator to blow cold air directly onto the television camera and electric zoom lens. It has the effect of providing better cooling performance than the electronic cooling method that applies this effect.

As a result of the above effects, it becomes possible to monitor various equipment located inside the reactor containment vessel, which is inaccessible to humans, by means of a mobile monitoring device consisting of relatively simple components.

[Brief explanation of drawings]

FIG. 1 is a front view of a monitoring vehicle of a mobile monitoring device according to an embodiment of the present invention, FIG. 2 is a side view of a monitoring vehicle of the same mobile monitoring device, and FIG. 3 is a moving mechanism of the same mobile monitoring device. FIG. 4 is a system configuration diagram of the mobile monitoring device. 1... Monitoring car, 4... Electric trolley, 6... Pan head,
7...TV camera, 8...Electric zoom lens, 2
9... Central control room, 30... Operation panel, 31... Monitor TV.

Claims (1)

[Claims] 1. A surveillance vehicle equipped with a television camera, etc. is moved along a running track installed in the space inside the reactor containment vessel, and the television camera is moved by moving the surveillance vehicle and directly rotating the Tervi camera mounted on the surveillance vehicle. In a mobile monitoring device that changes the viewing direction of the camera and monitors various parts of the reactor containment vessel arranged near the running rail, the running rail is made of I-beam steel, and the moving mechanism of the monitoring vehicle includes: A mobile monitoring device characterized by being self-propelled using an electric trolley.