JP4421357B2 - In-furnace inspection work device - Google Patents

Description

  The present invention relates to an in-core inspection work device used when a nuclear power plant stops operation of a nuclear reactor and performs maintenance and inspection work inside the nuclear reactor.

In light water reactors, for example, boiling water nuclear power plants, in order to confirm safety and perform stable operation, it is obliged to stop the operation of the reactor once a year and conduct periodic inspections.
Then, during the outage period, maintenance and inspection work such as inspection of equipment in the reactor and replacement of equipment as necessary is performed remotely underwater based on the maintenance inspection plan.
Conventionally, workers have performed work such as hanging and positioning of equipment, handling of lighting and cameras, handling of hoses and cables, etc., using a fuel changer provided in the upper part of the core in connection with this maintenance and inspection work.

During periodic inspections of nuclear reactors, replacement of fuel assemblies and movement of locations within the reactor (shuffling) are essential processes.
However, in general, only one fuel exchanger is installed for one nuclear reactor, and the fuel exchanger is occupied for the replacement operation of the fuel assembly at the time of fuel replacement.
For this reason, support work such as monitoring and maintenance of maintenance inspection work and cable routing performed by suspending the camera and lighting from the fuel changer cannot be performed concurrently with the fuel change work.

  In recent years, increasing the operating rate of nuclear power plants and reducing power generation costs have become more important, and fuel replacement work and maintenance inspection work, which were conventionally performed in series, have been shortened by paralleling work. It is desired.

However, on the other hand, improvement in the quantity and quality of inspections is required to confirm the safety of the nuclear reactor, and the periodical inspection period is expected to be prolonged, so that maintenance inspections should be made more efficient. .
The present invention has been made in order to solve the above-mentioned problems, and it is possible to parallelize fuel replacement work and maintenance / inspection work, facilitate maintenance / inspection work, shorten the periodic inspection period, and The purpose is to obtain an in-furnace inspection work device capable of improving the operating rate.

In order to achieve the above-mentioned object, the invention of the core inspection work apparatus according to claim 1 connects a buoyancy base on which an inspection worker floating on the reactor water of the nuclear reactor can board, and the buoyancy base and the reactor fixing part. And a control device that controls the position and orientation of the floating base on the reactor water remotely , and the flexible joint is extendable and retractable. A telescopic boom having one end connected to the float and the other end rotatably connected to the reactor fixing portion in the horizontal direction .
According to a second aspect of the present invention, there is provided a buoyancy base on which an inspection worker floating on the reactor water of a nuclear reactor can board, a flexible joint that connects the buoyancy base and the reactor fixing portion. In the in-furnace inspection work device comprising a control device for remotely controlling the flexible joint and controlling the position and orientation of the float on the reactor water, the flexible joints are rotatable in the horizontal direction with respect to each other. The rotary arm is composed of a plurality of connected arm links, one end of which is connected to the float and the other end is connected to the reactor fixing part so as to be rotatable in the horizontal direction.

Further, the invention of the core inspection work device according to claim 10 includes a fuel changer provided at an upper part of the core of the nuclear reactor, a buoyancy table on which an inspection worker floating on the reactor water of the nuclear reactor can board, and the buoyancy platform In the in-furnace inspection work apparatus, comprising: a flexible joint that connects the fuel exchanger and a control device that remotely controls the flexible joint and controls the position and orientation of the float on the reactor water. The flexible joint is composed of a plurality of telescopic beams connected in a telescopic manner, and is an telescopic boom in which one end is connected to the float and the other end is rotatably connected to the reactor fixing part in a horizontal direction. And
Further, the invention of the core inspection work device according to claim 11 includes a fuel changer provided at an upper part of the core of the nuclear reactor, a buoy that allows an inspection worker to float on the reactor water of the nuclear reactor, and the buoy In the in-furnace inspection work apparatus, comprising: a flexible joint that connects the fuel exchanger and a control device that remotely controls the flexible joint and controls the position and orientation of the float on the reactor water. The flexible joint is composed of a plurality of arm links connected to each other so as to be rotatable in the horizontal direction, and one end is connected to the float and the other end is connected to the reactor fixing part so as to be rotatable in the horizontal direction. It is characterized by being.

  In the core inspection work device according to the present invention, since a float that floats on the surface of the reactor water is provided separately from the fuel changer, the fuel change work and the maintenance check work can be performed in parallel, and the periodic inspection period can be increased. The operating efficiency of the reactor can be improved by shortening.

Example 1
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIGS. 1A and 1B show a first embodiment of the present invention, in which 1 is a reactor pressure vessel, 2 is an upper grid plate, 3 is a core support plate, 4 is a shroud, In the reactor well, the reactor is constituted by these components.

  During the periodic inspection, the operation of the reactor is stopped, the reactor water is filled in both the pressure vessel 1 and the reactor well 5, and the reactor water surface 6 exists above the reactor well 5. Reference numeral 7 denotes a float that floats on the reactor water surface 6, and 8 is a flexible joint that connects the float 7 and the reactor fixing part, and includes two telescopic beams 9a and 9b that are connected to each other so as to be stretchable. It comprises a telescopic boom, and one end is rotatably connected to the horizontal direction via the float 7 and the hinge 10.

Reference numeral 11 denotes a rotating shaft provided on a fixed floor 5A above the reactor well 5, and the other end of the telescopic boom 8 is connected to be rotatable in the horizontal direction.
A control device 12 is fixed to the fixed floor 5A.

Next, the operation of the in-furnace inspection work apparatus according to the present embodiment having such a configuration will be described.
First, the operation of the reactor is stopped, the upper part of the reactor is opened, the reactor water is filled up to the upper part of the reactor well 5, the telescopic boom 8 and the hinge 10 are assembled, and one end of the telescopic boom 8 is provided on the fixed floor. Connected to the rotating shaft 11.

Further, the float 7 is floated on the reactor water surface 6 and connected to the other end of the telescopic boom 8 via a hinge 10.
Alternatively, the other end of the telescopic boom 8 may be connected to the rotary shaft 11 after the float 7 is connected to the hinge 10 of the telescopic boom 8.

Next, the telescopic boom 8 is contracted and rotated in the horizontal direction, the floating platform 7 is brought into contact with the fixed floor 5A, and an inspection worker gets in.
In this state, the control device 12 performs the rotation operation about the rotation shaft 11 of the telescopic boom 8, the expansion and contraction of the telescopic beams 9 a and 9 b, and the rotation of the float 7 about the hinge 10. The position and direction of the float 7 according to the inspection work to be performed are controlled by remote control.

For example, in FIG. 1A, it is arbitrarily moved from the position of the buoy 7 to the position of the buoy 7a.
When the buoy 7 reaches a desired position, the movement of the buoy 7 is stopped, and an inspection worker on the buoy 7 handles the cable hose of the apparatus suspended from a fuel changer (not shown), or from the buoy 7 Support underwater cameras, lights, etc., and work done from the fuel changer.

  In the in-furnace inspection work apparatus according to the present embodiment, the inspection worker freely changes the position of the buoy 7 on the reactor water by the expansion and contraction and rotation of the telescopic boom 8 and the rotation of the buoy 7, and supports maintenance and inspection. Therefore, it becomes possible to perform a collaborative work in parallel with the fuel changer, and work efficiency is improved. Independent of the fuel changer, it is possible to easily access the inspection symmetrical equipment from the core and perform the work, thereby shortening the time required for the in-furnace inspection work.

(Example 2)
Next, a second embodiment of the present invention will be described with reference to FIGS. 2 (a) and 2 (b). In the following description of the embodiment, the same parts as those in the first embodiment shown in FIG. 1 are denoted by the same reference numerals, and detailed description thereof is omitted.

In FIG. 2, reference numeral 13 denotes a rotary arm constituting a flexible joint, which is composed of three-joint arm links 13a, 13b, and 13c that are rotatably connected to each other in the horizontal direction by rotary shafts 14a and 14b.
One end of the rotary arm 13 is connected to the floating base 7 and the hinge 10 so as to be rotatable in the horizontal direction, and the other end is connected to a rotary shaft 11 provided on the fixed floor 5A so as to be rotatable in the horizontal direction.

  With such an in-furnace inspection work device, the overall shape of the rotary arm 13 is changed by changing the rotation angle of the three arm links 13a, 13b, 13c of the rotary arm 13 about the rotary shafts 14a, 14b. It is transformed into various types, and the position and direction of the buoy 7 are controlled by remote control.

In the in-furnace inspection work device according to the present embodiment, when the control device 12 controls the position and direction of the float 7, if there is an obstacle in the movable range of the rotary arm 13 on the reactor water surface, The shape of the rotary arm 13 can be changed so as to avoid the above.
Thereby, since the attitude | position which avoids the obstruction in the middle can be taken, a softness | flexibility improves further to the movement of the floating stand 7. FIG.

(Example 3)
Next, a third embodiment of the present invention will be described with reference to FIGS. 3 (a) and 3 (b). In FIG. 3, 15 is a center pole standing on the float 7, 16 is a hoist boom attached to the upper part of the center pole 15 so as to be rotatable in the horizontal direction, and 17 is attached so as to run on the hoist boom 16. A hoist.

  In such an in-furnace inspection work device, a work device for carrying out work in the furnace is attached to the tip of the hoist 17, and the position of the hoist 17 is rotated on the hoist boom 16 and on the hoist boom 16 according to the target position. The vehicle is moved to change its position, and an operator on the floating base 10 hangs the working device at the target position, handles the cable hose, and performs the target work.

In the in-furnace inspection work device according to the present embodiment, it becomes possible to perform the hanging work equivalent to the refueling machine by the hoist 17 alone, and the working efficiency is further improved.
In addition, by receiving the moment due to the suspension of the working device by the telescopic boom or the rotating arm, it is possible to perform stable work without tilting despite the underwater floating body.

Example 4
Next, a fourth embodiment of the present invention will be described with reference to FIGS. 4 (a), (b), and FIG. In FIG. 5, 10 is a hinge attached to the tip of the telescopic boom 8 shown in FIG. 1 or the rotary arm 13 shown in FIG. 2, and the bracket of the floating base 7 via two linear guides 18a and 18b as shown in the figure. 19 is attached.

  The linear guides 18a and 18b are rotatably supported on the hinge 10 by upper and lower bearings 20a and 20b, and are rotated by a motor 22 through a gear 21 to move the bracket 19 of the float 7 up and down.

  In such an in-furnace inspection work device, as shown in FIG. 4 (b) from the position shown in FIG. 4 (a) when the water level of the reactor water surface 6 changes or due to a change in the load applied to the float 7. When the vertical position of the buoy 7 is changed, the buoy 7 is moved up and down by the motor 21 via the gear 20 so that the buoyancy of the buoy 7 is balanced with the gravity at a height corresponding to the buoyancy. It becomes constant.

  As described above, in the in-furnace inspection work apparatus according to the present embodiment, the vertical boom due to the load change applied to the floating platform 7 does not act on the telescopic boom 8 or the rotary arm 13, and the telescopic boom is reduced by reducing the load load. 8 or the rotary arm 13 can be reduced in size and weight.

(Example 5)
Next, a fifth embodiment of the present invention will be described with reference to FIG. In FIG. 6, the float 7 has a U-shaped planar shape formed on the surface opposite to the surface connected to the hinge 10 with a notch 23 extending substantially to the center of the carriage.
In such an in-furnace inspection work device, an operator accesses from both sides of the notch 23 of the float 7 to install the work device by the hoist 17 and handle the cable hose.

  In the in-furnace inspection work apparatus according to the present embodiment, the number of workers that can be accessed simultaneously increases, and workability is improved. In addition, since the suspension position of the working device is always close to the center of gravity of the buoyancy table 7, a moment is hardly generated, and more stable work is possible.

(Example 6)
Next, a sixth embodiment of the present invention will be described with reference to FIG. In FIG. 7, the control device 12 includes a travel position signal input unit 12 a of the refueling machine 24, a calculation unit 12 b that calculates the position of the tip of the float 7, a calculation unit 12 c that compares them, and a telescopic boom. 8 and a command section 12d for giving an operation command to the rotary arm 13.

  With such an in-furnace inspection work device, the tip of the float 7, for example the tip position of the hoist boom 16, is calculated by the calculation unit 12 b with respect to the traveling direction position X where the fuel exchanger 24 interferes with the lift 7 Calculate according to the following formula.

XT = L1 cos θ1 + L2 cos (θ2 + θ1) + L3 cos (θ3 + θ2 + θ1)
Then, each axis is controlled so that X1-XT> XL, or control is performed so that an alarm or interlock is applied when X1-XT = XL.
In the in-furnace inspection work device according to the present embodiment, interference between the float 7 and the fuel changer 24 can be prevented, and the safety of work is increased.

(Example 7)
Next, a seventh embodiment of the present invention will be described with reference to FIG. In FIG. 8, two sets (7b, 7c) of floating bases 7 attached to the telescopic boom 8 via hinges 10 are attached to the upper part of the nuclear reactor, and the controller 12 controls the position and direction thereof.

  In such an in-furnace inspection work apparatus, the two sets of floats 7b and 7c are moved in cooperation with each other according to the purpose of work while maintaining the mutual position and direction of the two sets of floats 7b and 7c. If the inspection workers on the floats 7b and 7c and the hoists cooperate with each other, the inspection work is performed.

  In the in-furnace inspection work apparatus according to the present embodiment, since two floats 7 are provided, the work place is accessed and coordinated with only the lift without using a fuel changer, and complicated or heavy work is performed. It becomes possible to do.

(Example 8)
Next, an eighth embodiment of the present invention will be described with reference to FIG. In FIG. 9, 25 is a hoisting machine attached to the float 7, 26 is a pan moved up and down in the reactor water by the hoisting machine 25, an underwater television camera with a tilt mechanism 27, illumination, and 28 is a television for controlling the television camera. A camera control device 29 is a control unit that controls the control amounts of vertical height, pan, and tilt prepared in advance.
In such an in-furnace inspection work apparatus, the necessary camera position and direction are determined in advance by CAD or the like according to the progress of work, and stored as control data.

  The inspection work is performed using the remotely operated unmanned work device 30 submerged in the reactor water. The necessary control data is read out according to the work process, and the position of the underwater television camera 26 is read by the television camera control device 28. Control the direction.

  In the in-furnace inspection work apparatus according to the present embodiment, the operation of the surveillance camera, which is indispensable for the in-furnace work, is simplified, the work time can be shortened, and the work quality can be improved by more precise positioning. .

Example 9
Next, a ninth embodiment of the present invention will be described with reference to FIG. In FIG. 10, reference numeral 8 denotes a telescopic boom composed of telescopic beams 9 a and 9 b that are connected to each other so as to be stretchable. One end of the boom is connected to the float 7 and the hinge 10 so as to be rotatable in the horizontal direction. Reference numeral 11 denotes a rotating shaft provided in the fuel exchanger 24 and connected to the other end of the telescopic boom 8 so as to be rotatable in the horizontal direction.

Reference numeral 12 denotes a control device, a travel position signal input unit 12a of the refueling machine 24, a calculation unit 12b that calculates the position of the float 7, a calculation unit 12c that compares them, and an operation command to the telescopic boom 8 and the rotation unit. And a command unit 12d for providing
In the in-furnace inspection work apparatus, when the fuel exchanger 24 is moved, the float 7 is connected with the fuel exchanger 24 and the telescopic boom 8, and therefore moves together with the fuel exchanger 24.

In addition, when the position of the float 7 is moved alone, regardless of the travel movement of the fuel changer 24, the control device 12 rotates the telescopic boom 8, the expansion and contraction of the telescopic beams 9a and 9b, and the hinge 10 as the center. The position and direction of the buoy 7 are controlled remotely by the rotation of the buoy 7.
In the in-furnace inspection work apparatus according to the present embodiment, since the float 7 moves together with the fuel changer 24, the stroke required for the inspection work can be reduced and the apparatus can be reduced in weight.

  In addition, since the work of the buoy 7 and the fuel changer 24 can be performed independently, the efficiency of the work in the furnace is greatly improved, and the time can be shortened. Compared to the conventional method of installing the work carriage on the refueling machine rail, the apparatus is small and light and easy to install, so the preparation time can be shortened. For this reason, it contributes to the maintenance and improvement of the operating rate of the power plant.

(Example 10)
Next, a tenth embodiment of the present invention will be described with reference to FIG. In FIG. 11, 31 a and 31 b are connected to the telescopic beams 9 a and 9 b by couplers 32 a and 32 b, respectively, and a floating bridge that can expand and contract in synchronization with the expansion and contraction of the telescopic boom 8, 33 is one end of the floating bridge 31 b and the floating base 7. The bellows enclosure is connected between the two and the inspection worker can move inside.

Further, 10 is a hinge and 11 is a rotating shaft.
In such an in-furnace inspection work apparatus, the telescopic boom 8 is sufficiently extended as shown in the figure, and the buoy 7 is moved to a position away from the fixed part, and the gap between the fixed part and the buoy 7 is shown. When a worker moves or moves an article, the floating bridges 31a and 31b and the bellows enclosure are used.

  When the float 7 changes direction and moves to another position, the floating bridges 31a and 31b expand and contract in accordance with the expansion and contraction of the telescopic boom 8. Also, the bellows are not used for rotation around the hinge 10 of the float 7. The enclosure 33 expands and contracts.

  With the in-furnace inspection work device according to the present embodiment, it is possible to move workers and articles between the fixed part and the floating table 7 while the floating table 7 is moved to a position away from the fixed unit. The inspection work becomes more efficient.

It is a figure which shows the core inspection work apparatus by the 1st Embodiment of this invention, (a) is a top view, (b) is a front view. It is a figure which shows the core inspection work apparatus by the 2nd Embodiment of this invention, (a) is a top view, (b) is a principal part front view. It is a figure which shows the core inspection work apparatus by the 3rd Embodiment of this invention, (a) is a top view, (b) is a front view. It is a figure which shows the core inspection work apparatus by the 4th Embodiment of this invention, (a) is a front view, (b) is a front view of a different state. The front view which shows the principal part of the core inspection work apparatus by the 4th Embodiment of this invention. The top view which shows the principal part of the core inspection work apparatus by the 5th Embodiment of this invention. The top view which shows the core inspection work apparatus by the 6th Embodiment of this invention. The top view which shows the core inspection work apparatus by the 7th Embodiment of this invention. The front view which shows the core inspection work apparatus by the 8th Embodiment of this invention. The top view which shows the core inspection work apparatus by the 9th Embodiment of this invention. The top view which shows the core inspection work apparatus by the 10th Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Pressure vessel, 2 ... Upper lattice board, 3 ... Core support plate, 4 ... Shroud, 5 ... Reactor well, 6 ... Reactor water surface, 7 ... Floating base, 8 ... Telescopic boom, 9a, 9b ... Telescopic beam, DESCRIPTION OF SYMBOLS 10 ... Hinge, 11 ... Rotating shaft, 12 ... Control device, 12a ... Traveling position signal input part, 12b ... Calculation part, 12c ... Calculation part, 12d ... Command part, 13 ... Rotating arm, 13a, 13b, 13c ... Arm, 14a, 14b, 14c ... rotating shaft, 15 ... center pole, 16 ... hoist boom, 17 ... hoist, 18a, 18b ..., linear guide, 19 ... bracket, 20a, 20b ... bearing, 21 ... gear, 22 ... motor, 23 ... notches, 24 ... fuel changers, 25 ... winding machines,
26 ... Underwater television camera, illumination, 27 ... pan / tilt mechanism, 28 ... TV camera control device, 29 ... control unit, 30 ... working device, 31a, 31b ... floating bridge, 32a, 32b ... connector, 33 ... bellows enclosure.

Claims (11)

A float that can be carried by an inspection worker floating on the reactor water of the nuclear reactor, a flexible joint that connects the float and the reactor fixing part, and the flexible joint is remotely operated to In the in- furnace inspection work device comprising a control device for controlling the position and orientation of the flexible joint, the flexible joint is composed of a plurality of telescopic beams connected in a telescopic manner, one end to the float and the other end An in-reactor inspection work device characterized in that each is a telescopic boom connected to the reactor fixing part so as to be rotatable in the horizontal direction . A float that can be carried by an inspection worker floating on the reactor water of the nuclear reactor, a flexible joint that connects the float and the reactor fixing part, and the flexible joint is remotely operated to In the in-furnace inspection work device comprising a control device for controlling the position and orientation of the flexible joint, the flexible joint is composed of a plurality of arm links that are rotatably connected to each other in the horizontal direction, one end of the float In addition, the in-reactor inspection device is characterized in that the other end is a rotating arm connected to the reactor fixing part so as to be rotatable in the horizontal direction . Furnace inspection apparatus according to claim 1 or 2, characterized in that installed hoist to the raft. The relative lifting platform is the flexible joint, furnace inspection apparatus according to claim 1 or 2, characterized in that movably connected in accordance with the buoyancy in the vertical direction. 3. The in-furnace inspection work apparatus according to claim 1, wherein a planar shape of the buoy is formed by notching one portion from a side surface to form a substantially U shape. 4. A travel position signal input section of a fuel exchanger provided in the upper part of the core, a calculation section for calculating a maximum travel direction position of the buoy from the position of the flexible joint and a rotation angle of the buoy; Comparing and calculating the travel position of the exchange and the position of the buoy in the travel direction, and comprising a computing unit that controls the telescopic boom or the rotary arm so that there is no interference of movement between the fuel exchanger and the buoy The in-furnace inspection work device according to claim 1 or 2 . The in-furnace inspection work device according to claim 1 or 2 , wherein two sets of the floating base and the flexible joint are installed, and the movement of the floating base is controlled in cooperation by the control device. A television camera attached to the cradle, a control unit that stores a sequence determined in advance according to the work content of the work device as control data, and the vertical position, pan, and tilt angle of the camera based on the control data furnace inspection apparatus according to claim 1 or 2, characterized in that it has a television camera control apparatus for controlling a. The in-furnace inspection work device according to claim 1 or 2, further comprising a floating bridge that can be extended and retracted following the telescopic boom and that allows inspection workers to pass through. A fuel exchanger provided at the upper part of the core of the nuclear reactor, a float that can be carried by an inspection worker floating on the reactor water, a flexible joint that connects the float and the fuel exchanger, and the flexible joint In the furnace inspection work device comprising a control device for controlling the position and orientation of the float on the reactor water, wherein the flexible joint is composed of a plurality of telescopic beams connected in a telescopic manner An in- reactor inspection work device characterized in that one of the telescopic booms has one end connected to the float and the other end connected to the reactor fixing portion so as to be rotatable in the horizontal direction . A fuel exchanger provided at the upper part of the core of the nuclear reactor, a float that can be carried by an inspection worker floating on the reactor water, a flexible joint that connects the float and the fuel exchanger, and the flexible joint In the in-furnace inspection work device comprising a control device for controlling the position and orientation of the float on the reactor water, wherein the flexible joints are connected to each other in a rotatable manner in the horizontal direction. An in-reactor inspection work device comprising an arm link, a rotary arm having one end connected to the float and the other end rotatably connected to the reactor fixing part in a horizontal direction .

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