JPS62278495A - Manipulator device for maintaining inside of nuclear reactor - 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]

3. Detailed description of the invention

[Technical field to which the invention pertains]

The present invention relates to a manipulator device for inspecting and repairing the inside of a gas-cooled nuclear reactor, for example, and in particular to a wiring structure for a cable connecting the manipulator body to an operation panel located outside the reactor. .

[Prior art and its problems]

A known manipulator device for the above-mentioned nuclear reactor is shown in FIG. 3. In FIG. Reference numeral 4 designates a stand pipe that penetrates the shield 3 and is connected to the furnace vessel 1, and 5 designates an articulated manipulator device to which the present invention is applied. Such a manipulator device 5 includes the stand pipe 4
a guide cylinder 51 installed in the J8 guide 'rrI51, a manipulator main body 52 having an articulated link structure and supported by the J8 guide 'rrI51;
An ITV camera attached to the tip of the main body 52. A work unit 53 such as repair equipment, a drive device 54 for lifting and turning the manipulator body 52 within the guide tube 51, and a remote control of the manipulator body, T
Consists of an operation panel 55 that performs processing such as monitoring and recording of the V camera, and includes an operation panel 55 and a manipulator body 52.
The power supply to the link mechanism is between. They are interconnected by a cable 6 that integrates control wiring, TV camera cable, etc. Here, FIG. 3 shows the state of the furnace by moving the manipulator loaded inside the furnace to monitor the situation inside the furnace.Actual operation is performed by remote control using commands from the control panel 55, and is taught in advance. Each link mechanism of the multi-joint manipulator main body 52 is rotated once so as to move the work unit 53 along the trajectory. On the other hand, in order to control the operation of the manipulator device, it is necessary that the cable 6 connecting between the manipulator body 52 and the operation panel 55 can be freely extended by following the up/down and turning movements of the manipulator body 52 (D). Conventional devices have dealt with this problem by adopting a reel type cable winding device.However, the cable 6 used in this type of manivier device is a multi-core cable containing a large number of core wires, and Measures are taken to prevent breakage of the core wire and to take measures against noise, so the cable's outer diameter and bendability are large.For this reason, the winding device that unwinds the cable tends to have a complicated structure and become larger. This is a major bottleneck in wiring the cable 6. In other words, in the reel-type cable winding device described above, if the reel diameter is selected to be small relative to the winding length of the cable 6, the manipulator body As the reel moves up and down, the number of rotations of the reel that feeds out the cable increases, and the slip ring type electrical contacts installed on the reel also cause poor contact, making it difficult to obtain sufficient reliability.
If an attempt is made to suppress the number of rotations within the rotational range and to configure the structure without a slip ring, the reel diameter will become extremely large and the winding device will become extremely large, making it difficult to put it to practical use in terms of installation space.

[Purpose of the invention] This invention was developed in consideration of the above points, and eliminates the cable winding device, slip ring, etc. that were used in conventional devices, and makes it possible to sufficiently follow the movement of the manipulator body while occupying a small space. The object of the present invention is to provide a highly reliable manivierator device, especially its cable wiring structure. [Key points of the invention]

In order to achieve the above object, the present invention provides a cable that is attached to a cable that connects a manipulator body loaded in a nuclear reactor and an operation panel provided outside the reactor, so that the cable is attached to a cable that follows the movement of the manipulator body. The feeding displacement part is made of a spiral cable wound into a coil shape, and the conventional W
It is possible to follow the movement of the Mayubinilator main body by expanding and contracting the spiral cable without using a cable winding device as in 'l.

[Embodiments of the invention]

1 and 2 show the structure of an embodiment of the present invention, and the same members corresponding to FIG. 3 are given the same reference numerals. That is, the manipulator main body 52 has an upper end support link 56 housed in a guide cylinder 52 via a guide roller 57 so as to be able to move up and down, and the upper end support link 56 of the manipulator main body 52 and an operation panel 55 disposed outside the furnace. The cables 6 are interconnected by a cable 6 that passes through the guide tube 51. Here, as shown in the figure, the cable 6 is attached to a spiral cable 61 in which the cable is pre-wound in a coil shape, especially in the wiring area inside the guide tube 51 which is fed out and displaced in accordance with the movement of the manipulator body. in,
This spiral cable 61 is housed in the top space of the guide tube 51 in a free state. With such a configuration, first, as shown in FIG. 1, when the manipulator main body 52 is loaded into the furnace and is housed in the guide tube 51, the spiral cable 61 is compressed and moved into the guide tube 51.
It is contained within. When the manipulator main body 52 is pulled out from the guide tube 51 from this state and moved within the furnace, the spiral cable 61 of the cable is expanded and deformed as shown in FIG. 2 following the movement of the manipulator main body. Moreover, in this case, when the state changes between FIG. 1 and FIG. There is no risk of excessive stress being applied to the cable 6, and there is no need for reels, slip rings, etc. as in conventional cable winding devices, and the spiral cable 61 is compactly gathered here using the space at the top of the guide tube 51. It is possible to accommodate the

【Effect of the invention】

As described above, according to the present invention, the cable that connects the manipulator main body and the operation panel disposed outside the furnace is wound with a coiled portion of the cable that is moved by the movement of the manipulator main body. By connecting and wiring as a twisted spiral cable, there is no need for cable winding devices or slip rings, which are complicated and take up a large installation space, as in conventional devices, and the cable can be easily connected and wired in a small amount of space. It is possible to provide a manipulator device, in particular a cable wiring structure thereof, in which a cable can be displaced following the movement of a manipulator main body.

[Brief explanation of drawings]

FIGS. 1 and 2 are block diagrams of an embodiment of the present invention showing the in-core loading and operation state of the manipulator main body, respectively, and FIG. 3 is a schematic block diagram of the entire manipulator device for maintenance inside a nuclear reactor. In each figure, 1: reactor vessel, 2:
Reactor core, 4 Nistand pipes, 5: Manipulator device,
51: Guide tube, 52: Manipulator body, 53: Work unit, 55: Operation panel, 6: Cable, 61: Spiral goo 111 Figure 2 Figure 113

Claims (1)

[Claims] 1) A cable connects the manipulator body loaded inside the nuclear reactor through a stand pipe and an operation control panel placed outside the reactor, and the manipulator body can be controlled remotely by commands from the operation panel. A manipulator device that is operated to inspect and repair the inside of a reactor, characterized in that the feeding displacement portion of the cable that follows the movement of the manipulator body is a spiral cable wound in a coil shape. Manipulator device for. 2) A manipulator device for maintenance inside a nuclear reactor, characterized in that the spiral cable is accommodated in the top space of the guide tube of the manipulator as claimed in claim 1.