JPS61178122A - Pipe cutter - Google Patents

Abstract

PURPOSE:To safely further efficiently cut a process pipe or the like in the inside of a slab by a remote control, by feeding a multi-joint arm, having an electric discharge cutting head in the point end, into an opening part while watching the arm through a TV camera. CONSTITUTION:A main unit 100 is fixed to the internal wall surface of a barrel 3 by expanding a fixing pad 102 in a radial direction. The main unit 100 provides in its turning part 106 a multi-joint arm 120 having an electric discharge cutting head 130 in the point end. A cutter feeds the multi-joint arm 120 into a connection pipe 4 by a feed mechanism 109 consisting of two feed rollers 108 or the like rotated by a motor 107, and the cutter observes a feed condition of said arm by a TV camera 110 set in an upper part of the main unit 100 while detects a feed distance of said arm by a sensor 111.

Description

Detailed Description of the Invention [Technical Field of the Invention] The present invention is directed to a vertical pipe installed near the slab side of a melting tank in a reprocessing plant for spent fuel discharged from a nuclear power plant, for example. This invention relates to a pipe cutting device that remotely cuts a pipe through a communicating pipe connecting the two from inside a hole (hereinafter referred to as a barrel).

(Technical background of the invention and its problems) ゛As shown in Fig. 9, the melting tank of a spent fuel reprocessing plant consists of a slab 2 installed below a floor 1, and a slab 2 installed on the side of this slab 2. It is constructed by connecting the provided barrel 3 with a communication pipe 4. When dismantling such a melting tank, the inside of the barrel 3 is Insert a high pressure cleaning nozzle etc. into the communication pipe 4,
It is necessary to clean and decontaminate the inside of slab 2. However, since a plurality of process pipes 5 are located inside the slab 3 immediately before the outlet of the communication pipe 5, cleaning is obstructed, and the process pipes 5 must be cut.

A cutting machine such as a cutter may be used to cut the process tube 5, but the process tube 5 must be brought into the slab 2 from inside the barrel 3 through the communication tube 4, which makes the cutting work difficult. It is also dangerous for workers to approach the site due to high radiation levels.

[Purpose of the invention]

The present invention was made in view of the above circumstances, and its purpose is to provide a pipe cutting device that can safely and efficiently cut process pipes and the like inside a slab by remote control.

[Summary of the invention]

In order to achieve the above object, the present invention is characterized by having the following configuration. That is, the pipe cutting device according to the present invention includes a main body having a fixing pad that is suspended inside a vertical hole and fixed at a predetermined position in the vertical hole, and a turning mechanism that pivots a portion of the main body above the fixing pad. , a multi-joint arm attached to the rotating portion of the main body and having a discharge cutting head at the tip; a feeding mechanism for feeding the multi-joint arm into an opening formed in an inner wall surface of the vertical hole; and a multi-joint arm. a TV camera that monitors the feeding operation of the vertical hole, a relay machine that is installed at the upper end opening of the vertical hole and has a lifting device that raises and lowers the main body, and a monitoring control device that is connected to the relay machine via a cable. This is what happens.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described with reference to FIGS. 1 to 8.

FIG. 1 is an overall configuration diagram of a pipe cutting device according to an embodiment of the present invention. A repeater 140 installed in
It is comprised of a monitoring control device 150 connected to this repeater 140 via a cable 151.

The main body 100 has a fixing pad 102 for fixing the main body 100 at a predetermined position inside the barrel 3, as shown in FIG.
3 and a rotating mechanism 105 consisting of gears 104 and the like. The fixing pad 102 is attached to the outer periphery of the main body 100 and is configured to expand in the radial direction due to air pressure or the like to fix the main body 100 to the inner wall surface of the barrel 3. Further, a multi-jointed arm 120 having a discharge cutting head 130 at its tip is provided in a portion above the fixed pad 102 of the main body 100, that is, in a rotating portion 106.

As shown in FIGS. 4 to 6, this multi-jointed arm 120 has a plurality of joints 12 having convex portions 121 and concave portions 122 at both ends.
3 are rotatably connected by a shaft 124, and each joint 123 is rotatable around the shaft 124, but with respect to the direction in which the convex portion 121 and the concave portion 122 engage (clockwise in FIG. 3). It cannot be rotated. That is, the multi-jointed arm 120 is configured so that it can freely bend in one plane in one direction when the arm is extended in a straight line, but cannot bend in the opposite direction.

As shown in FIG. 2, the multi-joint arm 120 configured in this manner includes a motor 107 provided on the main body 100 and two feed rollers 108 rotated by the motor 107 and placed on both sides of the multi-joint arm 120. It is fed into the connecting pipe 4 by a feeding mechanism 109 consisting of a
0, and the feed amount is detected by a sensor 111. Furthermore, when the main body 100 is raised and lowered inside the barrel 3, the multi-jointed arm 120 normally holds only the discharging cutting head 130 at the tip in a horizontal state so as not to obstruct the raising and lowering of the main body 100 inside the barrel 3.
The multi-jointed arm 120 is housed in the main body 100 with its rear end suspended by the wire loaf 112 with some of its joints bent. In addition, multi-jointed arm 1
Two through holes 125 and 126 are formed in each node 123 of 20, and a motor drive cable 137 and an electrode cable 138 of the discharge cutting head 130 are inserted into these through holes 125 and 126, respectively.

The discharge cutting head 130 has electrodes 131. as shown in FIGS. 7 and 8. Feed screw 132. Servo motor 13
It is made up of 3rd grade. The electrode 131 is attached to the tip of the discharge cutting head 130, and the feed screw 132
By rotation of , it is possible to move back and forth along two guide rods 134.134. The feed screw 132 is connected to a servo motor 133 via gears 135 and 136, and is rotated by the servo motor 133.

The relay 111140 is connected to the lifting device 1 as shown in FIG.
41, and this elevating device 141 is used to raise and lower the main body 100 and to wind up and unwind the transmission cable. Further, the monitoring control device 150 is a TV
A monitor part 152 that displays the image of the camera 110, and!
It is equipped with a data display section 153 that displays lJa data, a control panel 154 that performs various controls, etc., and controls the entire pipe cutting device. In addition, 113 in the figure
is a transmission cable for driving the motors 103 and 107.

Next, the operation of this device will be explained.

First, with the main body 100 pulled up, the relay device 140 is installed above the upper end opening of the barrel 3. Once the installation work of the repeater 140 is completed, the next step is to lift and lower the repeater 140 @141
is driven to suspend the main body 100 into the barrel 3 via the wire loaf 101, and when the main body 100 reaches the intended position of the communication pipe 4, the lifting device 140 is stopped.

Next, in this state, the tip of the multi-jointed arm 120 is aligned with the entrance of the communication tube 4. However, if the main body 100 is suspended by the wire lobe 101, accurate positioning is not possible due to vibrations, etc., so the fixing pad 102 is The main body 100 is fixed to the inner wall surface of the barrel 3 by expanding the main body 100 by, for example, the following steps. If the inlet of the communication pipe 4 is out of alignment with the feeding direction of the multi-jointed arm 120, the motor 103 of the rotation mechanism 105 is driven while checking with the TV camera 110, and the gear 104
The rotating portion 106 of the main body 100 is rotated to perform positioning.

After confirming with the TV camera 110 that the tip of the multi-joint arm 120 is aligned with the entrance of the communication tube 4, next
will be sent. This feeding is performed by two feeding rollers 108 that sandwich the multi-jointed arm 120 from both sides.
108 is rotated by the motor 107.

Here, as described above, the multi-jointed arm 120 can freely bend in one plane in one direction from the state in which the arm is extended in a straight line, but cannot bend in the opposite direction, so the communication tube 4
Even if it passes through and reaches the inner 9 part of the slab 2, it can be fed to the process tube 5, which is an extension of the communication tube 4, while maintaining a straight line.

When the tip of the multi-joint arm 120 reaches the inside of the slab 2 immediately before the process pipe 5 by the feeding mechanism 109, the feeding of the multi-joint arm 120 is stopped. Next, the servo motor 133 of the discharge cutting head 130 is driven to remove the electrode 13.
The process tube 5 is moved forward by the feed screw 132.
Discharge cutting. Note that it can be confirmed by the sensor 111 whether the tip of the multi-jointed arm 120 has reached just in front of the process tube 5 or not.

After cutting the first grain process pipe 5 in this way,
Subsequently, the two-mouth process tube 5 is cut by the discharge cutting head 130.
Cut by. After the cutting is completed, the multi-jointed arm 120
is pulled back toward the main body 100 side, the fixing pad 102 is contracted to release the fixation between the main body 100 and the inner wall of the barrel 3, and the main body 100 is pulled up from inside the barrel 3 by the lifting device 141 and removed together with the relay machine 140. .

By using this device in this way, after suspending the main body 100 into the barrel 3 by remote control and fixing and positioning the main body 100, the multi-jointed arm 120 is moved into the communication pipe 4 while being monitored by the TV camera 110. Send it to
The process tube 5 in the slab 2 is cut by the discharge cutting head 130.
Since the pipe can be cut, radioactive contaminants, etc. in the dissolution tank will not leak to the outside, and there is no need for workers to approach the site, allowing the pipe cutting work to be carried out safely and efficiently.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, there is provided a main body having a fixing pad that is suspended inside a vertical hole and fixed at a predetermined position in the vertical hole, and a portion of the main body above the fixing pad. a rotating mechanism for rotating; a multi-jointed arm that is attached to the rotating portion of the main body and has a discharge cutting head at its tip; and a feeding mechanism that feeds the multi-jointed arm into an opening formed in an inner wall surface of the vertical hole. , a TV camera that monitors the feeding operation of the multi-jointed arm; a relay machine that is installed at the upper end opening of the vertical hole and has a lifting device that lifts and lowers the main body; and a monitor that is connected to the relay machine via a cable. Since the present invention is equipped with a control device, it is possible to obtain a pipe cutting device that can safely and efficiently cut process pipes and the like inside a slab by remote control.

[Brief explanation of drawings]

1 to 8 are diagrams showing one embodiment of the present invention, in which FIG. 1 is an overall configuration diagram of a pipe cutting device, FIG. 2 is a sectional view showing the configuration of the main body of the device, and FIG. 3 is a diagram showing an embodiment of the present invention. 4 is a side view showing the configuration of the multi-joint arm; FIG. 5 is a plan view taken along line V-V in FIG. 4; and FIG. 7 is a cross-sectional view showing the configuration of the discharge cutting head, FIG. 8 is a side view taken along the line ■-■ in FIG. 7, and FIG. 9 is a configuration diagram of the dissolving layer. be. 1...floor, 2...slab, 3...barrel, 4
...Communication pipe, 5...Process pipe, 100...Main body, 102...Fixing pad, 105...Swivel mechanism,
109... Feeding mechanism, 110... TV camera,
111... Feed amount detection sensor, 120... Multi-jointed arm, 130... Discharge cutting head, 140... Relay machine, 150... Monitoring control device. Applicant's Representative Patent Attorney Takehiko Suzue Figure 1 Figure 2 Figure 3 Figure 7 Figure 8 Figure 9

Claims (1)

[Claims] A main body having a fixing pad suspended inside the vertical hole and fixed at a predetermined position in the vertical hole, a rotating mechanism for rotating a portion of the main body above the fixing pad, and a rotating mechanism attached to the rotating portion of the main body. A multi-jointed arm having a discharge cutting head at its tip, a feeding mechanism for feeding the multi-jointed arm into an opening formed in an inner wall surface of the vertical hole, and a TV camera for monitoring the feeding operation of the multi-jointed arm. , a pipe cutting device comprising: a relay machine installed at the upper end opening of the vertical hole and having a lifting device for raising and lowering the main body; and a monitoring control device connected to the relay machine via a cable. .