KR102305327B1 - Crane remote telescope servo manipulator system - Google Patents

Abstract

The present invention relates to a crane remote telescope servo manipulator system, wherein the main frame is installed on the upper part of a nuclear reactor so as to be movable in all directions, and it is installed in the moving unit, and the equipment installation part is installed so that the working equipment can be installed at the lower part. A frame which is provided and is formed to be stretchable in the vertical direction; A drive unit and a telescopic drive unit for expanding and contracting the expansion and contraction unit using the driving force provided from the power supply unit so that the working device installed in the device installation unit can be introduced into the nuclear reactor.
The crane remote telescope servo manipulator system according to the present invention has an advantage in that it is possible to move the working equipment up and down or in all directions inside the nuclear reactor, so that radiation exposure to the operator can be blocked and the work inside the reactor can be performed more safely.

Description

Crane remote telescope servo manipulator system

The present invention relates to a crane remote telescope servo manipulator system, and to a crane remote telescope servo manipulator system capable of transporting a working device such as a manipulator inside a nuclear reactor.

Currently, commercial nuclear power plants typically operate for a period of 12 to 18 months or longer to generate electrical power and then shut down during outages for scheduled maintenance, maintenance and/or refueling. During a periodic refueling shutdown, about one-third of the spent fuel assembly in the core of the reactor pressure vessel needs to be replaced with a new fuel assembly, and the remaining fuel assembly is displaced within the core. There is a need.

During other shutdowns, the fuel assembly may remain within the core but must be exposed. The fuel assembly may also contain abundant uranium or other fissile materials.

After the pressure vessel has been inspected or repaired or refueling work has been completed, the pressure vessel must be sealed to allow the plant to resume power generation. Shutdown plans are usually allotted for at least about 10 hours or more, and moving bulky and heavy stud tensioning equipment into the highly radioactive environment surrounding the reactor pressure vessel within the reactor building, and installing stud nuts to securely seal the head of the reactor pressure vessel. It requires 5 or more workers to operate the equipment around the pressure vessel flange to tension, and then remove the tensioning equipment from the reactor building.

At this time, there is a risk that workers working around the pressure vessel are exposed to excessive radiation.

An object of the present invention is to provide a crane remote telescope servo manipulator system capable of transporting a working device for performing an operation inside a nuclear reactor in the reactor, as devised to improve the above problems.

The crane remote telescope servo manipulator system according to the present invention for achieving the above object is installed in the upper part of the nuclear reactor, the main frame movably installed in all directions, and the moving unit, and the working device can be installed in the lower part A device installation unit is provided so as to be so, a telescoping unit formed so as to be stretchable in the vertical direction, a power providing unit providing a driving force for operating the main frame and the telescoping member, and the main frame using the driving force provided by the power providing unit and a frame driving unit for moving the unit, and a telescopic driving unit for expanding and contracting the expansion and contraction unit using the driving force provided from the power supply unit so that the working device installed in the device installation unit can be introduced into the reactor.

The expansion and contraction unit includes a plurality of unit pipes that are sequentially slidably coupled to each other in the vertical direction, and a guide member installed on the unit pipes and preventing the unit pipes from rotating in the left and right directions.

The guide member is installed on any one of the mutually coupled unit pipes, and includes a support rail extending in the vertical direction, and the mutually coupled opposite to the support rail so that the unit pipe can be moved along the support rail. It is installed on the other one of the unit pipes, and includes a support block having a passage hole through which the support rail can pass.

The power supply unit includes a driving motor installed respectively in the frame driving unit or the expansion and contraction driving unit to provide driving force, and a motor shielding unit formed to cover the driving motor in order to prevent the driving motor from being exposed to radiation generated in the nuclear reactor. be prepared

The motor shielding unit is provided with an accommodating space so that the driving motor can be accommodated therein, an inlet is formed so that outside air can be introduced into the accommodating space, and an outlet is formed for discharging the air of the accommodating space to the outside. A motor case formed of a radiopaque material, a radiation blocking filter installed at the inlet to block radiation flowing into the accommodation space through the inlet, and a motor case installed in the motor case to dissipate heat from the driving motor and a blowing unit for forcibly circulating the air in the accommodation space to the outside.

On the other hand, the crane remote telescope servo manipulator system according to the present invention is installed in the expansion unit at a position adjacent to the device installation portion, and a photographing camera for photographing the inside of the nuclear reactor, and the radiation generated in the nuclear reactor. A camera shielding unit formed to cover the photographing camera in order to prevent the photographing camera from being exposed, and a display unit for providing an image photographed from the photographing camera to a worker, wherein the camera shielding unit has the photographing camera installed therein An inner space is provided so as to be able to be, and is formed of a radiopaque material, a receiving case provided with a photographing hole for the photographing camera to photograph the inside of the reactor on one side, and installed in the accommodation case so as to cover the photographing hole and a shielding cover formed of a transparent radiopaque material.

In addition, it is preferable that the crane remote telescope servo manipulator system according to the present invention further includes a plurality of measurement sensors respectively installed in the unit pipes to measure the sliding distance of the unit pipes.

On the other hand, the crane remote telescope servo manipulator system according to the present invention includes an information calculation module for calculating the expansion and contraction length of the expansion unit based on the measurement information provided from the measurement sensors, and the information calculated by the information calculation module. It may further include a modeling module that models a virtual three-dimensional model corresponding to the state of the telescopic unit based on the model and provides it to the operator.

In addition, the crane remote telescope servo manipulator system according to the present invention further comprises a plurality of sensor shielding units formed to respectively cover the measuring sensors in order to prevent the measuring sensors from being exposed to the radiation generated in the nuclear reactor, The sensor shielding unit is installed in the unit tube, and an installation space is provided therein so that the measurement sensor can be accommodated, and at a position opposite to the end of the unit tube coupled to the unit tube, irradiated from the measurement sensor An irradiation hole is formed so that the measuring laser can pass through, a sensor case formed of a radiopaque material, and installed in the sensor case so as to cover the irradiation hole, a transparent radiation light so that the measuring laser can be transmitted A permeable cover formed of a permeable material is provided.

In addition, the unit tube is formed with a through space penetrating in the vertical direction so that the unit tube adjacent to the lower side can be inserted, and at the end, a fastening hole is formed to penetrate in a direction crossing the longitudinal direction of the through space, , the bearing inserted into the fastening hole so as to be in contact with the outer circumferential surface of the unit tube inserted into the through space, and the bearing to press the bearing so as to be in close contact with the outer circumferential surface of the unit tube inserted into the through space. It may further include a pressure bolt screwed to the fastening hole.

On the other hand, the crane remote telescope servo manipulator system according to the present invention may further include a slip detection unit installed in the expansion and contraction unit in order to detect that a slip occurs between the mutually sliding unit pipes.

The support rail has an extended space extending in the vertical direction therein, and a plurality of detection holes are formed on the side to be spaced apart from each other by a predetermined unit distance along the vertical direction, and the slip detection unit is configured to emit light through the detection holes. An irradiation lamp installed in the extended space of the support rail so as to be output to the outside and generating light, and a contact roller rotatably installed on the support block so as to be in contact with the side surface of the support rail in which the detection hole is formed; A plurality of light receiving sensors installed on the outer circumferential surface of the contact roller to be spaced apart from each other by a distance corresponding to the unit distance along the circumferential direction in order to detect the light output through the detection hole, and the detection information provided by the light receiving sensor Based on the determination that the light is not detected by the light-receiving sensor, it is determined that a slip has occurred between the unit tubes, and a determination module is provided to provide notification information to the operator.

In addition, the contact roller is installed on the support block to be slidably slidable in a direction crossing the extension direction of the support rail, and the slip sensing unit attaches the contact roller to the side surface of the support rail to be in close contact with or spaced apart from the contact roller. When it is determined that sliding has occurred between the roller moving part for moving the unit pipes, the roller rotating part installed on the contact roller to rotate the contact roller, and the determination module, the contact roller is moved to the support rail. spaced apart from the side, and control the roller moving part and the roller rotating part so that the contact roller rotates so that the light receiving sensor detects the light output through the detection hole, and when the light is detected by the light receiving sensor, the contact It may further include a roller control module for operating the roller moving unit so that the roller is in close contact with the side surface of the support rail.

The crane remote telescope servo manipulator system according to the present invention has an advantage in that it is possible to move the working equipment up and down or in all directions inside the reactor, so that radiation exposure to the operator can be blocked and the work inside the reactor can be performed more safely.

1 is a perspective view of a crane remote telescope servo manipulator system according to the present invention;
FIG. 2 is a cross-sectional view of the telescopic actuator of the crane remote telescope servo manipulator system of FIG. 1;
3 is a cross-sectional view of the expansion unit of the crane remote telescope servo manipulator system of FIG. 1;
4 is a cross-sectional view of an expansion and contraction drive unit according to another embodiment of the present invention;
5 is a perspective view of a power supply unit according to another embodiment of the present invention,
Figure 6 is an exploded perspective view of the power supply unit of Figure 5,
Figure 7 is a cross-sectional view of the power supply unit of Figure 5,
8 is a perspective view of a crane remote telescope servo manipulator system according to another embodiment of the present invention;
9 is a cross-sectional view of a crane remote telescope servo manipulator system according to another embodiment of the present invention;
10 is an exploded perspective view of the sensor unit of the crane remote telescope servo manipulator system of FIG. 9;
11 is a cross-sectional view of a crane remote telescope servo manipulator system according to another embodiment of the present invention;
12 is a perspective view of a slip detection unit of a crane remote telescope servo manipulator system according to another embodiment of the present invention;
13 is a perspective view of a slip detection unit according to another embodiment of the present invention.

Hereinafter, a crane remote telescope servo manipulator system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. Since the present invention can have various changes and can have various forms, specific embodiments are illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed form, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention. In describing each figure, like reference numerals have been used for like elements. In the accompanying drawings, the dimensions of the structures are enlarged than the actual size for clarity of the present invention.

Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It is to be understood that it does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

1 to 3 show a crane remote telescopic servo manipulator system 100 according to the present invention.

Referring to the drawings, the crane remote telescope servo manipulator system 100 is installed at an upper end inside a nuclear reactor to transport a working device 19 such as a manipulator in the reactor.

The crane remote telescope servo manipulator system 100 is installed in the upper part of the nuclear reactor, the main frame 200 is installed to be movable in all directions, and is installed in the moving unit. A part is provided, and the expansion and contraction unit 300 is formed so as to be stretchable in the vertical direction, and a power supply unit 400 that provides a driving force for operating the main frame 200 and the expansion and contraction member, and the power supply unit 400 . The frame driving unit 500 for moving the main frame 200 by using the driving force provided by the power supply unit 400, and the power supply unit 400 so that the working device installed in the device installation unit 312 can be introduced into the nuclear reactor. The expansion and contraction drive unit 600 for stretching and contracting the expansion and contraction unit 300 by using the driving force provided in is provided.

The main frame 200 includes a plurality of first extension rails 201 extending in the front-rear direction to the inner upper end of the nuclear reactor, and a plurality of first moving blocks 202 movably installed on the first extension rails 201, respectively. ), a plurality of first supports 203 having left and right ends fixed to the first moving blocks 202, respectively, and a plurality of second supports 203 installed at the upper ends of the first supports 203, respectively, extending in the left and right directions An extension rail 204, a plurality of second moving blocks 205 movably installed on the second extension rails 204, respectively, and a second support 206 fixed to the second moving blocks 205 ) is provided.

Although not shown in the drawing, the first extension rail 201 is fixed to the upper end inside the reactor by a support frame. The first extension rails 201 are installed to be spaced apart from each other in the left and right direction, and a rack gear having a plurality of gear teeth is applied to the upper surface.

The first moving block 202 is installed to be movable in the front-rear direction along the first extension rail 201 . The first moving blocks 202 extend a predetermined length in the front-rear direction, and a first passage is formed to pass through the first extension rail 201 in the front-rear direction.

The first support 203 extends in the left and right directions, and the left and right ends are fixed to the upper portions of the first moving blocks 202, respectively. At this time, the first supports 203 are supported to be spaced apart from each other in the left and right directions. In addition, a plurality of reinforcing rods are installed between the first supports 203 to reinforce the first supports 203 . Both ends of the reinforcing rod are respectively fixed to the first supports 203 to support the first supports 203 .

The second extension rails 204 are respectively installed at the upper ends of the first supports 203 and extend in the left and right directions. A rack gear having a plurality of gear teeth formed on an upper surface of the second extended lanes is applied.

The second moving block 205 is installed to be movable in the left and right directions along the second extension rail 204 . A second passage is formed in the second moving blocks 205 to pass through in the left and right directions so that the second moving rail can pass therethrough.

The second support 206 includes a plurality of fixing rods 207 having both ends fixed to the second moving block 205, respectively. The fixing rods 207 are preferably installed in the second moving blocks 205 to be spaced apart from each other in the left and right direction so that a space for the expansion and contraction unit 300 to be installed therebetween can be provided.

The expansion unit 300 is installed on the second supports 206, and is installed in a plurality of unit pipes 310 sequentially slidably coupled to each other in the vertical direction, and the unit pipes 310, A plurality of guide members 320 for preventing the unit pipes 310 from rotating in the left and right directions are provided.

The unit pipe 310 extends a predetermined length in the vertical direction, and a through space 311 is formed therein. The through space 311 of the unit pipe 310 is preferably formed to penetrate in the vertical direction so that the unit pipe 310 adjacent to the lower side can be inserted. The above-described unit tubes 310 are sequentially slidably installed along the vertical direction. The unit pipe 310 is inserted into the through space 311 of the upper unit pipe 310 to be slidably installed in the vertical direction. Here, the through space 311 of the unit tube 310 is preferably formed to have an inner diameter greater than the outer diameter of the unit tube 310 inserted at the lower side.

At this time, the upper end of the uppermost unit tube 310 is fixed to the fixing rods 207 of the second support 206 , and the lower end of the lowermost unit tube 310 is a device so that a working device such as a manipulator can be installed. An installation part 312 is provided.

The guide member 320 is installed on any one of the mutually coupled unit pipes 310 , and a support rail 321 extending in the vertical direction, and the unit pipe 310 along the support rail 321 . The support block is installed on the other one of the unit pipes 310 coupled to each other opposite to the support rail 321 so that it can be moved, and a passage hole 323 is formed so that the support rail 321 can pass therethrough. (322) is provided.

The support rail 321 is installed on the inner wall surface of the unit pipe 310 and extends a predetermined length along the vertical direction. In this case, the support rail 321 is preferably formed to protrude from the inner wall surface of the unit pipe 310 in the central direction of the through space 311 .

The support block 322 is formed at the upper end of the unit pipe 310 inserted into the through space 311 of the unit pipe 310 adjacent to the upper side. The support block 322 is preferably formed to protrude from the unit tube 310 so that the outer peripheral surface of the unit tube 310 can be in contact with the inner wall surface of the upper side.

In addition, the support block 322 is formed with a passage hole 323 to allow the support rail 321 to pass therethrough. It is formed to have a width corresponding to . The unit pipe 310 is prevented from rotating in the left and right directions by the support rail 321 and the support block 322 , so that the operator can more accurately transport the work device 19 to the desired position.

Although not shown in the drawing, the frame driving unit 500 includes a plurality of first driven gears rotatably installed on the first moving blocks 202 so as to be engaged with the gear teeth of the first extension rails 201 , and a second A plurality of second driven gears respectively rotatably installed on the second moving blocks 205 are provided so as to be meshed with the gear teeth of the extension rails 204 . The first and second driven gears are connected to a driving motor 410 of a power providing unit 400 to be described later and rotate by the rotational force of the driving motor 410 .

Meanwhile, although not shown in the drawing, the frame driving unit 500 further includes an auxiliary driving unit capable of moving the sub frame 610 in the left and right directions between the sub frame 610 and the second support 206 . The auxiliary driving unit extends in the left and right directions on the upper surface of the second supporter 206 and includes an auxiliary rack gear provided with a plurality of gears on the upper surface, and an auxiliary block installed in the auxiliary rack gear to be movable in the left and right directions; and an auxiliary gear rotatably installed on the auxiliary block so as to be meshed with the auxiliary rack gear, and a rotation motor installed on the auxiliary gear to rotate the auxiliary gear. At this time, the auxiliary rack gear is preferably formed so that the distance between the gear teeth is smaller than the distance between the gear teeth of the second extension rail 204 so that the auxiliary drive unit can be moved in smaller units. Since the sub-frame 610 can be moved in smaller units by the auxiliary driving unit, even if slip occurs when the main frame 200 is moved, the position can be corrected by the auxiliary driving unit.

The expansion and contraction driving unit 600 is connected to the sub frame 610 installed on the second support body 206 , a plurality of support sprockets 620 installed on the sub frame 610 , and the support sprocket 620 , and has one end Doedoe introduced into the unit pipe 310, the connecting chain 630 fixed to the lower end of the lowermost unit pipe 310, and installed in the sub-frame 610, the other end of the connecting chain 630 is accommodated therein It is provided with a storage box (640).

Although the illustrated example shows a structure in which three support sprockets 620 are rotatably installed on the sub-frame 610, the number of support sprockets 620 is not limited thereto, but depends on the size of the expansion and contraction unit 300. Two or less or four or more support sprockets 620 may be installed on the sub-frame 610 . Although not shown in the drawing, any one of the support sprockets 620 is connected to the driving motor 410 of the power providing unit 400 and operates by the rotational force of the driving motor 410 .

The storage box 640 is installed on the sub-frame 610 at a position adjacent to the unit pipe 310, and the other end of the connection chain 630 is preferably formed with an open top so that the other end can be easily drawn into the inside. do.

Meanwhile, as shown in FIG. 3 , the expansion and contraction driving unit 600 may further include an expansion and contraction holding unit 330 capable of maintaining the mutually constant expansion and contraction lengths of the unit pipes 310 .

The expansion and contraction holding part 330 includes a plurality of support drums 331 rotatably installed at the lower end of the unit pipe 310 and one end at the upper end of the upper unit pipe 310 into which the unit pipe 310 is inserted. This is fixed and is wound around the outer circumferential surface of the support drum 331 , and the other end includes a holding wire 332 fixed to the upper end of the lower unit pipe 310 inserted into the corresponding unit pipe 310 . Each unit pipe 310 can be expanded and contracted to have the same length as each other by the expansion and contraction holding part 330 .

The power providing unit 400 includes a plurality of driving motors 410 and the driving motors 410 respectively connected to the first driven gear, the second driven gear and the support sprocket 620 to the first moving block 202, the second 2 and a motor fixing unit (not shown) fixed to the moving block 205 and the sub-frame 610, respectively.

In the driving motor 410 , the rotating shaft is installed on the first driven gear, the second driven gear, and the support sprocket 620 , and an electric motor generating rotational force by electricity applied from the outside is applied.

Although not shown in the drawing, the motor fixing unit is positioned adjacent to the first driven gear, the second driven gear and the support sprocket 620. The first moving block 202, the second moving block 205, and the sub frame 610. A plurality of first fixing members each fixed to, and a plurality of first coupling pins installed in the driving motors 410 and detachably coupled to the first fixing member.

The first coupling pin is rotatably installed on the outer peripheral surface of the driving motor 410 adjacent to the rotation shaft of the driving motor 410 , and a first moving block 202 , a second moving block 205 and a sub frame 610 . ) at one end opposite to the plurality of first locking projections are formed. The first locking protrusion is formed on the outer peripheral surface of the first coupling pin at a position opposite to each other with respect to the rotation center of the first coupling pin, and extends a predetermined length in a direction away from each other. A first gripping member is provided at the other end of the first coupling pin so that an operator can easily grip and rotate the first coupling pin.

The first fixing member is fixed to the first moving block 202, the second moving block 205 and the sub-frame 610 at positions adjacent to the first driven gear, the second driven gear and the support sprocket 620, , a first fixing block having a first insertion space with one open side open so that one end of the first coupling pin having a coupling protrusion provided therein can be inserted, and a first fixing block to cover the open side of the first insertion space and a first locking cover installed on the .

The first locking cover has a first hollow formed in the center so that one end of the first coupling pin can be inserted, and a plurality of first extending from the first hollow so that the first locking protrusions of the first coupling pin can be inserted. An extension hole is formed. The first extension holes are located opposite to each other from the center of the first hollow, and extend in a direction away from each other. At this time, the first extension hole corresponds to the width and length of the first locking projection so that the first locking projection can be caught on the first locking cover when the first coupling pin inserted into the first insertion space of the first fixing block rotates at a predetermined angle. It is preferable to be formed to have a width and length that are

The operator inserts one end of the first coupling pin into the first insertion space of the first fixing block through the first hollow and the first extension hole of the first locking cover, and then rotates the first coupling pin at a predetermined angle for the first coupling. Set the first locking projection of the pin to the first locking cover in a locked state. Even when exchanging the drive motor 410, the operator rotates the first coupling pin so that the first locking projections are located in the first extension holes of the first locking cover, respectively, and then the first hollow and first extension of the first locking cover One end of the first coupling pin is separated from the first fixing block through the hole.

Since the motor fixing part fixes the driving motor 410 by a coupling method using a first coupling pin and a first fixing block, rather than a bolting method using bolts, replacement of the driving motor 410 is possible more quickly.

On the other hand, although not shown in the drawing, the power providing unit 400 has a plurality of driving motors 410 set in each of the first driven gear, the second driven gear and the support sprocket 620 , and among the driving motors 410 . A clutch means for connecting any one to the first driven gear, the second driven gear, and the support sprocket 620 may be further provided. As the clutch means, a conventionally used clutch means is applied to connect any one of the driving motors 410 to the output shaft, so a detailed description thereof will be omitted.

As described above, since the plurality of drive motors 410 are set in each gear and the support sprocket 620, even if a failure occurs in any one of the drive motors 410, the remaining drive motors 410 are connected to each other by the clutch means. It can be connected to the gear and support sprocket 620 .

On the other hand, the crane remote telescope servo manipulator system 100 according to the present invention includes a control module (not shown) so that an operator can operate the expansion unit 300 and the main frame 200 .

The control module includes an input module through which the operator can input transport information of the working device, and each driving motor ( 410) may be provided with a motor control unit for controlling the.

The crane remote telescope servo manipulator system 100 according to the present invention configured as described above can move the working device 19 up and down or in all directions inside the nuclear reactor, so it blocks radiation exposure to the operator and makes the reactor safer It has the advantage of being able to perform internal work.

Meanwhile, a power providing unit 710 according to another embodiment of the present invention is illustrated in FIGS. 5 to 7 .

Elements having the same function as in the drawings shown above are denoted by the same reference numerals.

Referring to the drawings, the power supply unit 710 includes a plurality of motor shielding units ( 720) is provided. The motor shielding unit 720 includes a motor case 730 , a radiation blocking filter 740 and a blowing unit 750 .

The motor case 730 is provided with an accommodation space 735 so that the driving motor 410 can be accommodated therein, the first main body 731 having an open top, and the opening of the first main body 731 The first opening/closing cover 732 is installed on the first main body 731 so as to open and close the upper part, and the ventilation space is installed on the first main body 731 and communicates with the accommodating space 735. A first sub-body 733 having an open upper portion and a second opening/closing cover 734 installed on the first sub-body 733 to open and close the open upper portion of the first sub-body 733 ) is provided.

The driving motor 410 is fixed to the inner wall surface of the first main body 731 by a motor fixing unit. At this time, the driving motor 410 is installed such that the rotating shaft passes through the first main body 731 . At this time, it is preferable that the first fixing member of the motor fixing part is installed on the inner wall surface of one side of the first main body 731 .

Although not shown in the drawings, the first main body 731 includes a plurality of first moving blocks 202 and second moving blocks 205 adjacent to the first driven gear, the second driven gear and the support sprocket 620 . ) and the sub-frame 610 , respectively, and the rotation shaft of the driving motor 410 is connected to the first driven gear, the second driven gear, and the support sprocket 620 , respectively. On the other hand, the first main body 731 has a discharge port 736 for discharging the air of the accommodation space 735 to the outside is formed.

The first sub-body 733 has an inlet 737 formed therein so that outside air can be introduced into the accommodation space 735 through the ventilation space. In this case, the motor case 730 is preferably formed of a radiopaque material such as lead.

The radiation blocking filter 740 is installed in the inlet space of the first sub-body 733 on the side of the inlet 737 and blocks radiation flowing into the accommodation space 735 through the inlet 737 . In this case, the radiation blocking filter 740 includes a charcoal filter and a HEPA filter mill pre-filter.

The Sungpoong unit includes a first blowing fan 751 installed on the inlet 737 side of the first sub-body 733 and a second blowing fan 752 installed on the outlet 736 side of the first main body 731. be prepared The first and second blowing fans 751 and 752 forcibly circulate the air in the accommodation space 735 to the outside to dissipate heat from the driving motor 410 .

The motor shielding unit 720 configured as described above blocks the radiation exposure of the driving motor 410, so it reduces the shortened service life of the driving motor 410 by radiation, and external air inside the motor case 730 It may be circulated to dissipate heat from the driving motor 410 .

Meanwhile, FIG. 8 shows a crane remote telescope servo manipulator system 800 according to another embodiment of the present invention.

Referring to the drawings, the crane remote telescope servo manipulator system 800 is installed in the expansion unit 300 at a position adjacent to the device installation part 312, and a photographing camera ( (not shown), a camera shielding unit 820 formed to cover the photographing camera in order to prevent the photographing camera from being exposed to radiation generated in the nuclear reactor, and a display that provides an image photographed from the photographing camera to an operator A portion 830 is further provided.

The camera shielding unit 820 is provided with an accommodation case 821 provided with a photographing hole, and a shielding cover 822 installed in the accommodation case 821 to cover the photographing hole, and formed of a transparent radiopaque material. .

The accommodation case 821 is installed on the outer peripheral surface of the lowermost unit pipe 310 of the expansion and contraction unit 300 at a position adjacent to the device installation part 312 . Here, the housing case 821 is provided with an internal space so that a photographing camera can be installed therein, and a photographing hole for the photographing camera to photograph the inside of the reactor is formed on one side opposite to the working device 19 . On the other hand, the receiving case 821 is preferably formed of a radiopaque material such as lead.

The shielding cover 822 is installed in the receiving case 821 so as to cover the photographing device, and is preferably formed of a transparent radiopaque material such as lead glass.

The photographing camera is installed inside the accommodation case 821 to photograph the inside of the nuclear reactor through the photographing port of the accommodation case 821 . The photographing camera transmits the photographed image to the display unit 830 .

The display unit 830 is installed outside the nuclear reactor and outputs the image so that the operator can check the image of the photographing camera. The operator operates the control module based on the image output from the display unit 830 .

As described above, in the crane remote telescope servo manipulator system 800 , exposure of the imaging camera to radiation is blocked by the camera shielding unit 820 , so that a defect in the imaging camera is prevented from occurring.

Meanwhile, FIGS. 9 and 10 illustrate a crane remote telescope servo manipulator system 900 according to another embodiment of the present invention.

Referring to the drawings, the crane remote telescope servo manipulator system 900 includes a sensor unit 910 installed in each of the unit pipes 310 to measure the sliding distance of the corresponding unit pipes 310 , and the An information calculation module 920 for calculating the expansion/contraction length of the expansion/contraction unit 300 based on the measurement information provided from the sensor unit 910, and the expansion/contraction unit 300 based on the information calculated by the information calculation module 920 ) is provided with a modeling module 930 that models a virtual three-dimensional model corresponding to the state of the state and provides it to the operator.

The sensor unit 910 includes a plurality of measurement sensors 911 installed in each of the unit tubes 310 to measure sliding distances of the corresponding unit tubes 310, and the measurement sensors ( In order to prevent the 911 from being exposed, a plurality of sensor shielding units 940 are provided to respectively cover the measurement sensors 911 .

The measuring sensor 911 is provided at the inner upper end of the unit tube 310, and a distance measuring means for irradiating a measuring laser and receiving the reflected laser to measure the moving distance is applied. Here, the measurement sensor 911 is preferably installed so as to irradiate the laser light for measurement to the upper end of the other unit tube 310 inserted under the through space 311 of the unit tube 310 . In addition, the measurement sensor 911 is fixed to the inner surface of the unit tube 310 by the sensor shielding unit 940 .

The sensor shielding unit 940 includes a sensor case 941 provided with an irradiation hole, and a transmission cover 942 installed on the sensor case 941 to cover the irradiation hole.

The sensor case 941 is fixed to the inner wall surface of the unit tube 310 by the sensor fixing part 950 , and an installation space is provided so that the measurement sensor 911 can be accommodated therein. At this time, it is preferable that the sensor case 941 has an irradiation hole formed at a position opposite to the upper end of the unit tube 310 coupled to the unit tube 310 , that is, on the lower surface. In addition, the sensor case 941 is preferably formed of a radiopaque material such as lead.

On the other hand, the sensor fixing part 950 is installed on the plurality of second fixing members 960 respectively fixed to the inner wall surface of the unit pipe 310 and the sensor case 941, and the second fixing member 960 . and a plurality of second coupling pins 970 that are detachably coupled to the .

The second coupling pin 970 is rotatably installed in the sensor case 941 , and a plurality of second locking protrusions (not shown) are formed at one end opposite to the inner wall surface of the unit pipe 310 . The second locking protrusion is formed on the outer peripheral surface of the second coupling pin 970 at a position opposite to each other with respect to the rotation center of the second coupling pin 970, and extends a predetermined length in a direction away from each other. A second gripping member 972 is provided at the other end of the second coupling pin 970 so that an operator can easily grip and rotate the second coupling pin 970 .

The second fixing member 960 is fixed to the inner wall surface of the unit pipe 310, and has a second insertion space with an open side so that one end of the second coupling pin 970 having a coupling protrusion therein can be inserted. It includes a formed second fixing block 961, and a second locking cover 962 installed on the second fixing block 961 so as to cover the open side of the second insertion space.

The second locking cover 962 has a second hollow 963 formed in the center so that one end of the second coupling pin 970 can be inserted, and the second locking protrusions of the second coupling pin 970 are inserted thereinto. A plurality of second extension holes 964 extending from the second hollow 963 are formed so as to be able to do so. The second extension holes 964 are located opposite to each other from the center of the second hollow 963 and extend away from each other. At this time, when the second coupling pin 970 inserted into the second insertion space of the second fixing block 961 rotates at a predetermined angle, the second extension hole 964 has the second locking protrusion to be caught by the second locking cover 962 . It is preferable to be formed to have a width and a length corresponding to the width and length of the second locking protrusion.

The operator inserts one end of the second coupling pin 970 into the second insertion space of the second fixing block 961 through the second hollow 963 and the second extension hole 964 of the second locking cover 962 . Then, by rotating the second coupling pin 970 by a predetermined angle, the second locking projection of the second coupling pin 970 is set in a locked state on the second locking cover 962 . Even when replacing the measurement sensor 911, the operator rotates the second coupling pin 970 so that the second locking protrusion is located in the second extension hole 964 of the second locking cover 962, respectively, and then the second locking One end of the second coupling pin 970 is separated from the second fixing block 961 through the second hollow 963 and the second extension hole 964 of the cover 962 .

Since the sensor fixing part 950 fixes the sensor case 941 by a coupling method by a second coupling pin 970 and a second fixing block 961 rather than a bolting method by a bolt, the sensor case 941 is more quickly ) can be replaced.

The transmission cover 942 is installed on the sensor case 941 to cover the irradiation hole, and is formed of a transparent radiopaque material such as lead glass.

The information calculation module 920 is installed outside the nuclear reactor, and receives measurement information from the measurement sensors 911 . Here, the information calculation module 920 calculates the stretching length of the stretching unit 300 based on the received measurement information.

The modeling module 930 models a virtual three-dimensional model corresponding to the state of the expansion and contraction unit 300 based on the information calculated by the information calculation module 920 and displays it to the operator through the display unit 830 . In this case, the modeling module 930 may also model the nuclear reactor, display the position of the expansion and contraction unit 300 with respect to the nuclear reactor, produce a 3D image, and provide it to the display unit 830 . The operator may transport the work device 19 more precisely by referring to the 3D image provided by the modeling module 930 .

Meanwhile, FIG. 11 illustrates a crane remote telescope servo manipulator system 110 according to another embodiment of the present invention.

Referring to the drawings, the crane remote telescope servo manipulator system 110 includes a plurality of bearings 111 installed between unit pipes 310 to mutually support the unit pipes 310 , and the bearings 111 . ) is further provided with a pressing bolt 112 that can press the outer peripheral surface of the unit pipe (310).

Here, the unit pipe 310 has a fastening hole 113 formed at the lower end thereof to penetrate in a direction crossing the longitudinal direction of the through space 311 . The fastening hole 113 has a plurality of threads formed on the inner circumferential surface so that the pressing bolt 112 can be screwed.

The bearing 111 is inserted into the fastening hole 113 so as to be in contact with the outer circumferential surface of another unit pipe 310 inserted into the through space 311 of the unit pipe 310 . Since the bearing 111 is a conventionally used bearing 111 to reduce friction between the unit pipes 310 , a detailed description thereof will be omitted.

The pressure bolt 112 is inserted into the fastening hole 113 so that one end of it can be in contact with the bearing 111 , and a thread is formed on the outer circumferential surface to be screwed into the fastening hole 113 . On the other hand, although not shown in the drawing, the other end surface of the pressing bolt 112 is coupled to a tool such as a screwdriver, so that the operator can rotate the pressing bolt 112 'one' or '十' shaped groove is formed. .

The crane remote telescope servo manipulator system 110 described above has an advantage in that the expansion and contraction unit 300 can be expanded and contracted more easily and quickly because the bearing 111 is installed between the unit pipes 310 .

Meanwhile, FIG. 12 shows a crane remote telescope servo manipulator system 120 according to another embodiment of the present invention.

Referring to the drawings, the crane remote telescope servo manipulator system 120 is a slip detection unit installed in the expansion and contraction unit 300 in order to detect that a slip occurs between the unit pipes 310 sliding each other. (130) is further provided. Here, the support rail 321 is provided with an extended space 11 extending in the vertical direction therein, and a plurality of detection holes 12 are formed on the side to be spaced apart from each other by a predetermined unit distance along the vertical direction. .

The slip detection unit 130 includes an irradiation lamp 131 installed in the extension space 11 of the support rail 321 to generate light so that light can be output to the outside through the detection holes 12; A contact roller 132 rotatably installed on the support block 322 so as to be in contact with the side surface of the support rail 321 on which the detection hole 12 is formed, and the light output through the detection hole 12 . A plurality of light receiving sensors 133 installed to be spaced apart from each other along the circumferential direction on the outer circumferential surface of the contact roller 132 to detect and a determination module (not shown) for determining that a slip has occurred between the unit tubes 310 when the light is not detected in the , and providing notification information to the operator.

The irradiation lamp 131 is installed inside the support rail 321 to generate light, and an LED lamp is applied.

* The contact roller 132 is rotatably supported by the support block 322 by the bracket 135 . The contact roller 132 is preferably formed of a material having a predetermined elasticity, such as rubber, so that it can be rotated according to the sliding of the unit pipe 310 .

The light receiving sensor 133 is installed on the outer circumferential surface of the contact roller 132 , and a plurality of light receiving sensors 133 are installed to be spaced apart from each other along the circumferential direction of the contact roller 132 . At this time, the light receiving sensor 133 is installed on the contact roller 132 to face the detection hole 12 of the support roller, and to be spaced apart from each other by the separation distance between the detection holes 12, that is, the distance corresponding to the unit distance. It is preferable to place

The determination module determines that when light is detected from any one of the light receiving sensors 133, sliding does not occur between the unit tubes 310, and when light is not detected from the light receiving sensors 133, the unit tube ( 310), it is determined that a sleep has occurred and provides notification information to the operator's terminal. The operator may operate the control module in consideration of the slip generated between the unit pipes 310 when receiving notification information through the terminal.

Meanwhile, FIG. 13 shows a sleep detection unit 150 according to another embodiment of the present invention.

Referring to the drawings, the slip detection unit 150 includes a roller moving unit 151 , a roller rotating unit 152 , and a roller control module 153 . The contact roller 132 is installed on the support block 322 to be slidable in a direction crossing the extending direction of the support rail 321 . That is, the support block 322 has an auxiliary rail 156 extending in the radial direction of the unit pipe 310 on the upper surface adjacent to the support rail 321 , and a bracket 135 installed on the contact roller 132 . It is movably installed on the auxiliary rail (156). Accordingly, the contact roller 132 is installed on the support block 322 so that the bracket 135 is slidable in the radial direction of the unit pipe 310 .

The roller moving part 151 moves the contact roller 132 so that the contact roller 132 is closely contacted or spaced apart from the side surface of the support rail 321, and one end of the contact roller 132 is supported by a bracket ( 135), and the other end is fixed to the support block 322, and an actuator whose distance from one end to the other end is stretchable is applied.

The roller rotating part 152 is installed on the contact roller 132 to rotate the contact roller 132, and an auxiliary roller 154 rotatably installed on the bracket 135 so as to be in contact with the outer circumferential surface of the contact roller 132 and , which is installed on the auxiliary roller 154 and includes an auxiliary motor 155 for rotating the auxiliary roller 154 . On the other hand, the roller rotating unit 152 is not limited to the illustrated example, and any rotating means capable of rotating the contact roller 132 may be used.

The roller control module 153, when it is determined that a sliding has occurred between the unit pipes 310 in the determination module, moves the contact roller 132 away from the side surface of the support rail 321, and receives the light. The roller moving unit 151 and the roller rotating unit 152 are controlled so that the contact roller 132 is rotated so that the sensor 133 can detect the light output through the detection hole 12 . Here, when light is detected by the light receiving sensor 133 , the roller control module 153 operates the roller moving part 151 so that the contact roller 132 is in close contact with the side surface of the support rail 321 . desirable.

The above-described slip detection unit 150 has the advantage that the operator can set the position of the contact roller from a distance by using the roller rotating unit 152 and the roller moving unit 151 even if slip occurs between the unit pipes 310 . there is this

The description of the presented embodiments is provided to enable any person skilled in the art to use or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the scope of the invention. Thus, the present invention is not to be limited to the embodiments presented herein, but is to be construed in the widest scope consistent with the principles and novel features presented herein.

100: crane remote telescope servo manipulator system
200: main frame
201: first extension rail
202: first moving block
203: first support
204: second extension rail
205: second movement block
206: second support
207: fixed rod
300: expansion unit
310: unit tube
311: through space
312: device installation unit
320: guide member
321: support rail
322: support block
323: pass
400: power supply unit
410: drive motor
500: frame driving unit
600: stretch drive unit
610: sub frame
620: support sprocket
630: link chain
640: storage box

Claims (13)

a main frame installed on the upper part of the reactor to be movable in all directions;
a telescoping unit installed on the main frame, provided with a device installation unit at the lower end so that a working device can be installed, and configured to be stretchable in the vertical direction; and
a power providing unit providing a driving force for operating the main frame and the expansion and contraction unit;
a frame driving unit for moving the main frame using the driving force provided by the power providing unit; and
and an expansion and contraction drive unit for expanding and contracting the expansion and contraction unit using the driving force provided from the power supply unit so that the working device installed in the device installation unit can be introduced into the reactor.
The expansion unit is
A plurality of unit tubes sequentially coupled to each other slidably along the vertical direction; and
and a guide member installed on the unit pipes and preventing the unit pipes from rotating in the left and right directions;
A plurality of measuring sensors respectively installed in the unit pipes to measure the sliding distance of the corresponding unit pipes; further comprising,
A plurality of sensor shielding units formed to respectively cover the measurement sensors to prevent exposure of the measurement sensors to the radiation generated in the nuclear reactor;
The sensor shielding unit is
It is installed in the unit tube, and an installation space is provided therein so that the measurement sensor can be accommodated, and at a position opposite to the end of the unit tube coupled to the unit tube, the measuring laser irradiated from the measurement sensor passes through The irradiation hole is formed so as to be, the sensor case formed of a radiopaque material; and
provided in the sensor case so as to cover the irradiation hole, and a transmission cover formed of a transparent radiopaque material so that the measuring laser can be transmitted;
Crane remote telescope servo manipulator system.
delete According to claim 1,
The guide member
a support rail installed in any one of the mutually coupled unit pipes and extending along the vertical direction; and
A support block installed on the other one of the unit pipes coupled to each other opposite to the support rail so that the unit pipe can be moved along the support rail, and having a passage hole formed therein so that the support rail can pass through; doing,
Crane remote telescope servo manipulator system.
According to claim 1,
The power supply unit
a driving motor installed in the frame driving unit or the expansion and contraction driving unit, respectively, to provide a driving force; and
A motor shielding unit formed to cover the driving motor in order to prevent the driving motor from being exposed to radiation generated in the nuclear reactor;
Crane remote telescope servo manipulator system.
5. The method of claim 4,
The motor shielding unit is
An accommodating space is provided therein so that the driving motor can be accommodated, an inlet is formed so that external air can be introduced into the accommodating space, and an outlet is formed for discharging the air of the accommodating space to the outside. Motor case formed of a material;
a radiation blocking filter installed at the inlet to block radiation flowing into the accommodation space through the inlet; and
A blowing unit installed in the motor case and forcibly circulating the air in the accommodating space to the outside to dissipate heat from the driving motor;
Crane remote telescope servo manipulator system.
According to claim 1,
a photographing camera installed in the telescopic unit in a position adjacent to the device installation part and photographing the inside of the reactor;
a camera shielding unit formed to cover the imaging camera in order to prevent the imaging camera from being exposed to radiation generated in the nuclear reactor; and
and a display unit that provides an image captured by the photographing camera to a worker;
The camera shielding unit
a receiving case having an inner space so that the photographing camera can be installed therein, and formed of a radiopaque material, provided with a photographing port for photographing the inside of the reactor by the photographing camera on one side; and
A shielding cover that is installed in the receiving case to cover the photographing sphere and formed of a transparent radiopaque material;
Crane remote telescope servo manipulator system.
delete According to claim 1,
an information calculation module for calculating a stretch length of the stretch unit based on the measurement information provided from the measurement sensors; and
A modeling module for modeling a virtual three-dimensional model corresponding to the state of the expansion and contraction unit based on the information calculated by the information calculation module and providing it to the operator; further comprising,
Crane remote telescope servo manipulator system.
delete a main frame installed on the upper part of the reactor to be movable in all directions;
a telescoping unit installed on the main frame, provided with a device installation unit at the lower end so that a working device can be installed, and configured to be stretchable in the vertical direction; and
a power providing unit providing a driving force for operating the main frame and the expansion and contraction unit;
a frame driving unit for moving the main frame using the driving force provided by the power providing unit; and
and an expansion and contraction drive unit for expanding and contracting the expansion and contraction unit using the driving force provided from the power supply unit so that the working device installed in the device installation unit can be introduced into the reactor.
The expansion unit is
A plurality of unit tubes sequentially coupled to each other slidably along the vertical direction; and
and a guide member installed on the unit pipes and preventing the unit pipes from rotating in the left and right directions;
The unit pipe has a through space penetrating in the vertical direction so that an adjacent unit pipe can be inserted downward, and a fastening hole is formed at the end to penetrate in a direction crossing the longitudinal direction of the through space,
a bearing inserted into the fastening hole so as to be in contact with an outer circumferential surface of the unit pipe inserted into the through space; and
A pressing bolt screwed into the fastening hole to press the bearing so that the bearing can be brought into close contact with the outer circumferential surface of the unit pipe inserted into the through space;
Crane remote telescope servo manipulator system.
a main frame installed on the upper part of the reactor to be movable in all directions;
a telescoping unit installed on the main frame, provided with a device installation unit at the lower end so that a working device can be installed, and configured to be stretchable in the vertical direction; and
a power providing unit providing a driving force for operating the main frame and the expansion and contraction unit;
a frame driving unit for moving the main frame using the driving force provided by the power providing unit; and
and an expansion and contraction drive unit for expanding and contracting the expansion and contraction unit using the driving force provided from the power supply unit so that the working device installed in the device installation unit can be introduced into the reactor.
The expansion unit is
A plurality of unit tubes sequentially coupled to each other slidably along the vertical direction; and
and a guide member installed on the unit pipes and preventing the unit pipes from rotating in the left and right directions;
The guide member
a support rail installed in any one of the mutually coupled unit pipes and extending along the vertical direction; and
A support block installed on the other one of the unit pipes coupled to each other opposite to the support rail so that the unit pipe can be moved along the support rail, and having a passage hole formed therein so that the support rail can pass through; do,
Further comprising; a slip detection unit installed in the expansion and contraction unit in order to detect that a slip occurs between the unit pipes sliding each other;
Crane remote telescope servo manipulator system.
12. The method of claim 11,
The support rail is provided with an extended space extending along the vertical direction inside, and a plurality of detection holes are formed on the side to be spaced apart from each other by a predetermined unit distance along the vertical direction,
The slip detection unit is
an irradiation lamp installed in the extended space of the support rail to generate light so that light can be output to the outside through the detection holes;
a contact roller rotatably installed on the support block so as to be in contact with the side surface of the support rail on which the detection hole is formed;
a plurality of light receiving sensors installed on the outer peripheral surface of the contact roller to be spaced apart from each other by a distance corresponding to the unit distance in a circumferential direction to detect the light output through the detection hole; and
A determination module for providing notification information to an operator by determining that sliding has occurred between the unit tubes when light is not detected by the light receiving sensor based on the detection information provided by the light receiving sensor;
Crane remote telescope servo manipulator system.
13. The method of claim 12,
The contact roller is installed on the support block to be slidable in a direction crossing the extension direction of the support rail,
The slip detection unit is
a roller moving part for moving the contact roller so that the contact roller is closely adhered to or spaced apart from the side surface of the support rail;
a roller rotating part installed on the contact roller to rotate the contact roller; and
When it is determined in the determination module that sliding has occurred between the unit tubes, the contact roller is spaced apart from the side surface of the support rail, and the light receiving sensor detects the light output through the detection hole. A roller control module that controls the roller moving unit and the roller rotating unit so that the contact roller rotates, and operates the roller moving unit so that the contact roller is in close contact with the side surface of the support rail when light is detected by the light receiving sensor;
Crane remote telescope servo manipulator system.

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