JPS58151594A - Reactor operating 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] [Technical Field of the Invention] The present invention relates to an in-reactor working device that performs operations such as visual inspection inside the reactor, collection of fallen objects, and ultrasonic flaw detection during the service life of a boiling water nuclear reactor. The present invention relates to an in-core working device suitable for work below the 41IK core support plate.

[Technical Background and Problems of the Invention] Conventionally, during the service life of boiling water reactors, atomic pressure vessels
If the object falls inside the reactor and falls onto an object, a simple handling tool is used to grasp the object and retrieve it, but with this type of method, it is only possible to work above the core support plate. The recovery work below the reactor core support plate is extremely difficult as it is 25 meters below the water surface from the working hood.
) is relatively easy to visually inspect, but ultrasonic flaw detection is extremely difficult.

[Purpose of the invention]

The present invention has been developed in consideration of such current situation, and its purpose is to facilitate operations such as visual inspection of the interior of the four reactors, collection of fallen objects, and ultrasonic #a level under the core support plate by remote control. The purpose of the present invention is to provide an in-furnace working device that can perform in-furnace work.

[Summary of the invention]

The present invention comprises a main body that is suspended in a reactor pressure vessel and fixed in position, a multi-joint manipulator that is attached to the main body and can be folded ninety-nine times, and a swingable manipulator that is attached to the hand portion of the manipulator. A rotatable optical head, a converter that converts a signal from the optical head into a signal at once, a drive device for the manipulator and the optical head, and a recovery device provided in the main body to accommodate the objects under the furnace cover gripped by the manipulator. O [Relaxation Example ] The present invention will be described below based on an illustrated embodiment.

In FIG. 1, 1 is a reactor pressure vessel, and a shroud 2 is disposed within this pressure vessel 61, and a tap tube 3 is welded to the lower end plate 1& of the pressure vessel 1.

Inside the shroud 2, a fuel assembly 7 whose upper and lower parts are supported by an upper grid plate 4, a core support plate 5, and a fuel support fitting 6 is arranged to constitute a reactor core. Control rod guide tube 8, CRD housing 9, in-core guide tube 10. A differential pressure detection/acidic acid water injection piping 11 and the like are provided. And the in-furnace working device 1 according to this embodiment
1120 is a fuel assembly 7 near the work site, a fuel support fitting 6, a control rod (not shown), a control rod guide tube 8,
and a thermal tube (not shown), which is suspended from an operating facility (not shown) installed above the reactor pressure vessel 1 using the space created by its removal. It is fixed to the CHD housing 9 through the upper grid plate 4 and the core support 1 [5, etc.].

As shown in FIGS. 2 and 3, the in-furnace work equipment fii2U is equipped with a device main body 21 whose lower end is supported by the CHD housing 9 and which can be rotated 111 times. for,! As shown in FIGS. 2 and 4, a drive shaft 22 is vertically screwed and is movable up and down and rotatable around an axis and moves around the device body 21 as the device body 21 rotates. An articulated manipulator 4 is attached to the lower part of the drive shaft 4. Further, at the lower end of the device main body 21, a second (2) and @
As shown in Fig. 6, a collection pocket (24'ft) 25 for storing fallen objects grasped by the manipulator section is provided, and a collection pocket 25 is provided at the edge of the collection pocket 25 to prevent the collected lower-grade objects 24 from going down the road. A raised edge piece is provided for this purpose.

As shown in FIGS. 4 and 5, the manipulator section includes a rod-shaped 11-arm 26 connected to the lower end of the #1 grip drive shaft 22 so as to be able to swing up and down, and a first arm that is connected to the light leakage. No. 27-^27, which is a two-plate plate connected so as to be swingable;
It has a rod-shaped third arm that is swingably connected to the light beam of the WJJ2 arm n, and a handling wrist that has two degrees of freedom and is capable of swinging 1° with four joints.

When the manipulator is folded, as shown in FIG.
28 can be accommodated to make it compact.

The working range of this manipulator day is shown in Figure 3 with the symbol 'C'.
As shown, it is set within a circle with a diameter of approximately 1.2 m.

1IilII Manipulator 230 At the wrist 4, there is a flexible fiber scope 3 with an optical head, 30 for light leakage.
1 is attached, and the optical head (equipment) is swung and rotated by the operation of this fiberscope 31, making it possible to search for fallen objects 24''f that have fallen into the furnace with a small number of times. The search range is set to about 177 in the furnace in order to prevent a sudden increase in the number of joints during onibulator mowing. At the same time, electrical signal-to-IKK conversion is performed by an industrial ITV camera built into the main body 21 of the device, and these can be remotely controlled from outside f.

Next, the effect will be explained.

When recovering the fallen object 24, first, it is suspended from the operating floor extending above the reactor pressure vessel 1 to the in-reactor working device 20, and fixed to the CRD housing 9 through the upper grid plate 4, core support plate 5, etc. do. At this time, the manipulator command is added to the front and rear arms within the 21st-5th n.
8 can be stored and folded compactly,
Any support 1811 can be passed through the hole for the control rod guide tube 8.

Next, while searching with an optical head (equipment), the manipulator grips the falling object 24, and collects the falling object 24 in the collection pocket 25 as shown in the sixth factor. At this time, since the optical head J can swing and rotate, it is possible to search for the falling object 24 in a small number of times, and since the manipulator is multi-jointed, the CHD that stands in a forest can be searched for.
It is possible to work in a wide range by avoiding the housing 9. In addition, since the wrist 29 has a free length of 1 ft, it is easy to grasp the lower-grade object.

Ultrasound tI1. During the inspection 11, an ultrasonic flaw detector (not shown) is gripped by the manipulator and the flaw detector is brought into contact with or approaches the surface of the weld by operating the manipulator. At this time, since the wrist 4 has two degrees of freedom, it is easy for the flaw detector to contact or approach the surface of the welded part.

For visual inspection, the optical head 307 is operated by a manipulator and a fiber scope 31t. At this time, the optical head can be swung and rotated, and the fiberscope 51 is attached to the wrist 29 of the manipulator prisoner, which has two degrees of freedom. Visual inspection f can be performed accurately.

In addition, although the case where a manipulator prisoner with 4 joints is used has been explained in the first experiment, this may be changed to a t-5 joint. Further, the device main body 21 may not be fixed to the CRD housing 9 but may be fixed to the core support plate 5.

[Effects of the Invention] As explained above, the present invention provides a multi-jointed folding OJ.
Equipped with a large manipulator and a swingable and rotatable optical head attached to one part of the manipulator's hand, it is possible to visually inspect the position below the core support plate, which was extremely difficult until now. Recovery of objects and ultrasonic flaw detection, etc. can be carried out easily and 1n/I & well by remote control, and the integrity of the nuclear reactor is high. This makes it possible to reduce the radiation exposure of workers to a large extent.

[BRIEF DESCRIPTION OF THE DRAWINGS] Figure 1 is an overall view showing one embodiment of the present invention, the second color is a perspective view showing details of the furnace work fi & location, and Figure 3 is a plan view of Figure 2. , FIG. 4 is a perspective view showing the operating state 11 of the manipulator and the optical head, FIG. WJ5 is a perspective view showing the manipulator in a folded state, and FIG. 6 is an explanatory view showing a fallen object recovery operation. 1-Reactor pressure @ vessel, 5--core support plate, 9-CHD housing, processing--in-reactor working device, 21... device main body,
n... Drive shaft, two manipulators, Sae - falling objects, four collection pockets, a - first arm, l...
2nd arm, 4th - 3rd arm, 4... wrist, (fund).
- Optical head, 31... fiber scope. Applicant's agent Kiyoshi Inomata 61 Kasumi! [at 32

Claims (1)

[Claims] 1. A main body that is suspended in a reactor pressure vessel and fixed in position, a foldable multi-joint manipulator attached to the main body, and a rocker attached to the wrist of the manipulator. A movable and rotatable optical head, a converter that converts a signal from the optical head into an electric signal, a drive device for the manipulator and the optical head, and a main body that is provided to accommodate falling objects in the furnace that are gripped by the manipulator. An in-furnace working device that is equipped with a collection pocket and is capable of performing visual inspection inside the furnace, collection of fallen objects, ultrasonic flaw detection, etc. by remote control. 2. The in-furnace working device according to claim 1, wherein the wrist portion of the manipulator is formed of a flexible member having t-2 degrees of freedom.