JPH05253869A - Space moving device - Google Patents

Abstract

PURPOSE:To simplify the moving structure of a space moving device by providing support fixtures each of which is freely locked in a support hole provided for a wall surface along a moving path, for each tip end of a plural number of wires, and thereby controlling each wire to be winded or rewinded while these actions are being mutually linked. CONSTITUTION:In a space moving device suitable for the inspection and replacement of tiles 5 which are set almost on the whole of the inner surface of a shield body 2 for the vacuum container of a nuclear fusion reactor, a plural number of support holes 8 in a F-shape each is provided for the inner surface of the apex section and the inner surface of the lower section of the shield body 2 at intervals arbitrary but shorter in length than the arm of a manipulator 20. And when the device is, for example, to be moved, the other upper side support fixture 9 is hooked in the support hole 8 located in the direction of proceeding with the manipulator 20 operated in a state that the device is hoisted down with the support fixture 9 at the tip end of a wire lope 11 hooked in the support hole 8. Under the aforesaid condition, the device is moved by one pitch by rewinding the wire rope 1 at the side opposite to the direction of proceeding while the wire rope 11 at the side of the direction of proceeding is being winded by a take-up mechanism 13.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a space moving device used for remote inspection and replacement work of wall components (carbon tiles, etc.) such as a vacuum vessel of a nuclear fusion reactor.

[0002]

2. Description of the Related Art Tile, which is a member forming a wall surface inside a reactor of a nuclear fusion reactor, is damaged by plasma irradiation, and therefore it is necessary to replace the tile. Moreover, since the tile replacement work is performed under the environment of radiation or the like, it is necessary for the worker to approach the tiles by a remote operation without approaching them.

A conventional example of the remote operation device for exchanging tiles will be described with reference to FIGS. 7 and 8. In the nuclear fusion reactor device, the vacuum container, which is the heart, has a donut shape (annular shape) having an elliptical cross section. In order to access the inside of this vacuum container, carry-in ports 56 are provided at four locations by 90 ° pitch. First, the telescopic mechanism 60, the rail insertion device 59, and the moving carriage 52 are inserted from the carry-in port 56 ', and the arc-shaped rail 50 jointly connected by using these devices is 180 ° along the circumference of the vacuum container. insert. A support member that supports the arcuate rail 50 is inserted from the carry-in port 56 at the 90 ° position to support the arcuate rail 50. Again 180 °
The rail support member 58 is inserted from the carry-in port 56 ″ at the position to support the arcuate rail 50.

Next, the movable carriage 52 is run using the arcuate rail 50 as a guide member. A manipulator 57 is attached to the moving carriage 52, and the tile attached to the inner wall surface of the furnace is replaced by the manipulator 57. In this remote control device for exchanging tiles, since the tile covering the inner surface of the vacuum container is made of a carbon material, a heavy object cannot be placed on the tile and the arc-shaped rail 50 having a length of 15 to 20 m is aerial (vacuum). It is laid at the center of the container) and after the laying, the arcuate rail 50 has a three-point support structure to minimize the deflection of the rail when the moving carriage 52 travels.

[0005]

In the conventional tile exchanging remote control device shown in FIGS. 7 and 8, the arc-shaped rail 5 is used.
0 is long and needs to be laid using a rail insertion device 59, a support 55 that supports the center of the rail, and a rail support device 58 that supports the 180 ° position of the rail, and therefore a large 3 openings (carrying port 56) (4 to replace tiles in the entire vacuum system)
Must be installed in the reactor, which hinders simplification of the fusion reactor system. In addition, it takes a long time to prepare for the remote replacement work, which reduces the plant operation rate.

The cross section of the vacuum vessel of the nuclear fusion reactor device is a vertically long elliptical shape (see FIG. 2), and even if the rail is installed in the substantially central portion of the vacuum vessel, the manipulator 57 approaches the entire wall surface range. In order to do so, it is necessary to lengthen the manipulator 57, and as a result, not only the moving carriage 52 and the rail 50 that supports it, but also the rail inserting device 59, the support 55, the rail supporting device 58, and the like are enlarged. From the point of view of weight reduction, the simplification of the fusion reactor device is also hindered.

The present invention is proposed in view of the above problems, and an object of the present invention is to simplify a work target device such as a fusion reactor device and also to move a space to improve a plant operation rate. The point is to provide the device.

[0008]

In order to achieve the above-mentioned object, the space moving device of the present invention has a winding mechanism for a flexible body such as a wire rope installed side by side on the upper part of the moving device main body, A support tool is attached to the tip of the flexible body of the take-up device, a clamp mechanism is attached to each support tool, a bendable manipulator is attached to the moving device body, and the support tool of the support device is attached via a gripping part of the clamp mechanism. Attach a gripper that grips and opens and closes the clamp mechanism to the tip of the manipulator,
Supporting holes of the supporting member are formed in the wall surface of the moving device body along the moving path at intervals shorter than the arm length of the manipulator in the moving direction of the moving device body.

[0009]

The space moving device of the present invention is constructed as described above. First, as shown in FIG. 6A, the space moving device is suspended from the flexible body (wire rope) A, and then the manipulator 20 is moved. Also, the moving device body 19 is rotated 180 °, the manipulator 20 is operated, and the support tool B is inserted into the support hole 8 on the moving direction side and locked as shown in FIG. 6B. In this state, while sequentially winding the wire rope B by the winding mechanism 13, the other wire rope A is sequentially unwound, and the space moving device is moved by one pitch in the moving direction as shown in FIG. 6C. The space moving device is moved to a position below the support tool B. Next, the manipulator 20 and the moving device main body 19 are replaced by 18
After turning by 0 °, the wire rope B is wound up if necessary, and the manipulator 20 is brought as close as possible to the support hole 8 to move the support A from the support hole 8 as shown in FIG. 6D. Remove. 6D shows a state in which one top is suspended as in the case of FIG. 6A, and the above operation is repeated thereafter to move the space moving device one pitch at a time.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, a space moving apparatus of the present invention will be described with reference to an embodiment shown in FIGS. FIG. 1 shows a space moving device of the present invention. FIG. 2 shows a vacuum container of the fusion reactor device. FIG. 3 shows an outline of the supporting holes 8 used when moving and working the space moving apparatus of the present invention. Figure 4
4 shows details of the clamp mechanism of the support tool 10 and the support hole 8. FIG. 5 shows a case where a flat chain (flat chain = flexible body considering twist prevention of the space moving device) is used instead of the wire rope (flexible body) shown in FIG. FIG. 6 schematically shows a moving state of the space moving device. In the case of moving the space moving device simply, in the drawing, the lower support tools C and D should not be operated while the wire rope is wound. It is also possible (supports C and D may be omitted).

In FIGS. 2 and 3, 2 is a shield for a vacuum container, 3 is a space region in the shield 2, 4 is a tile layer, 5
Is a tile constituting the same tile layer 4, 6 is a receiving metal, 7 is a mounting bolt, and the tile 5 is mounted on substantially the entire inner surface of the shield 2 via the receiving metal 6 and the mounting bolt 7. The reason why the tile 5 is attached to almost the entire inner surface of the shield 2 in this way is to generate plasma in the space region 3 in the shield 2, and the inner surface of the shield 2 is formed smoothly by the tile layer 4. Therefore, no projecting structure is provided. Therefore, a plurality of T-shaped supporting holes 8 are provided in advance on the inner surface of the top portion and the inner surface of the lower portion of the shield 2 at arbitrary intervals equal to or less than the arm length of the manipulator 20 described later.

The tile 5 facing the supporting hole 8 is also provided with a supporting hole slightly larger in diameter than the supporting hole 8 as shown in FIG. Next, the space moving device of the present invention will be described in detail with reference to FIG. 1. Reference numeral 17 denotes an upper case, 11 denotes two or more wire ropes (flexible bodies) having a central portion of the upper case 17 as a wire rope outlet. 13, 13 'is a wire rope winding mechanism mounted in the upper case 17,
The winding mechanism 13 and 1 in which 15 'is attached to the upper case 17
It is a 3'drive motor.

Reference numeral 19 is the main body of the moving device, and 18 is the upper case 1.
It is an upper turning mechanism that supports the moving device main body 19 so as to be turnable. The wire rope outlet of the upper case 17, the turning centerline of the upper turning mechanism 18, and the turning centerline of the lower turning mechanism 31 described later are located on a vertical line passing through the center of gravity of the moving device body 19. Wire rope 11
A support tool 9 is attached to the tip of the. When the gripper 38 of the manipulator 20 grips the grip 38 of the lever 42 shown in FIG.
2 rotates in the direction of the arrow X around the pin 43, and the lever 42
The wire rope 39 attached to the other end of is pulled in the arrow Z direction, and the wedge 36 moves in the arrow Z direction.

At this time, the support tool locking claw 34 is engaged with the spring 3.
By the action of 7, the pin 35 is rotated from the solid line position to the alternate long and two short dashes line position so that the support tool locking claw 34 is moved to the support tool body 3
Stored in 3. When the grip 38 of the lever 42 is released from the gripper 22 of the manipulator 20, the wedge 36 is released.
Is moved in the opposite arrow Z direction by the spring 40 in the support body 33. At this time, the support tool locking claw 34 is projected by the wedge 36 from the two-dot chain line position to the solid line position (outside the support tool body 33), and the support tool body 33 is locked in the T-shaped support hole 8 ( T-shaped support hole 8 even if pulled in the direction of arrow Z
It does not come off). That is, when the support tool 9 is locked in the T-shaped support hole 8, the manipulator 20
The gripper 22 grips the grip 38 of the lever 42, rotates the lever 42 around the pin 43 in the arrow X direction, and pulls the wire rope 39 attached to the other end of the lever 42 in the arrow Z direction. The wedge 36 is moved in the arrow Z direction, and the support tool locking claw 34 is rotated about the pin 35 from the solid line position to the two-dot chain line position by the action of the spring 37.
The support tool locking claw 34 is housed in the support tool body 33.

Then, the support body 33 is inserted into the T-shaped support hole 8 by the gripper 22 of the manipulator 20 holding the holding portion 38 of the lever 42, and the support body 33 is inserted.
The tip end of is contacted with the bottom surface (the upper surface in FIG. 4) of the T-shaped supporting hole 8. Then, the grip 38 of the lever 42 is released from the gripper 22 of the manipulator 20, and the support tool locking claw 34 is rotated from the alternate long and two short dashes position to the solid line position to lock the support tool 9 in the T-shaped support hole 8. To do.

On the contrary, when the support 9 is pulled out from the T-shaped support hole 8, the gripper 22 of the manipulator 20 grips the grip portion 38 of the lever 42, and the lever 42 is moved around the pin 43 to the arrow X. Direction, the wire rope 39 attached to the other end of the lever 42 is pulled in the arrow Z direction to move the wedge 36 in the arrow Z direction, and the support tool locking pawl 34 is moved by the spring 37 to cause the pin 35 to move. By rotating from the solid line position to the two-dot chain line position to store the support tool locking claw 34 in the support tool body 33, and then by the gripper 22 of the manipulator 20 that holds the grip portion 38 of the lever 42. The support tool 9 is pulled out from the T-shaped support hole 8.

In the present embodiment, the clamp mechanism of the support 9 has a claw 34, a pin 35, a wedge 36, a spring 37, and a grip 38.
It is composed of a rope 39, a spring 40, a pulley 41, a lever 42, a pin 43 and a stopper 44. The moving device body 19 of FIG. 1 includes a feed screw 25 and a slide shaft 24.
The carriage 23 is supported by the above so as to be vertically movable, the manipulator 20 having 6 degrees of freedom is attached to the carriage 23, and the gripper 22 is attached to the tip end portion of the manipulator 20. In addition, the carriage 23
The driver unit 26 is housed in the driver unit 26, and a drive unit such as a vertical movement motor is housed in the driver unit 26.

An illuminated visual camera 21 is mounted near the gripper 22 of the manipulator 20 for visual inspection and monitoring during work. Carriage 2
The balance weight 27 is provided on the opposite side of the mounting surface of the manipulator 20 of FIG.
Is installed. A tool box 61 for accommodating the tools 62 and the old and new tiles 5 necessary for the work is attached to an appropriate position on the moving device body 19 (a position where the manipulator 20 can easily handle).

Reference numeral 32 is a lower case.
Is also rotatably attached to the moving device main body 19 by a lower turning mechanism 31, and the lower case 32 has a wire rope 12 having a support 9 attached to the tip thereof, like the upper case 17. The winding mechanism 14, 14 'and its driving motor 16, 16' are attached. A lifting device 29 for lifting heavy objects and a motor 30 for driving the lifting device 29 are attached to a substantially central portion of the lower case 32.

Next, the operation of the space moving device shown in FIGS. 1 to 6 will be specifically described. The T-shaped supporting hole 8 (see FIGS. 3 and 4) is shown in FIG.
It is provided in advance on the top and the lower part of the robot along the moving direction of the moving device body 19 at intervals shorter than the length of the arm of the manipulator 20. The moving procedure of the space moving device is schematically shown in FIG. The space moving device is initially located at the carry-in port 56 of the vacuum container. At this time, as shown in FIG. 6A, the space moving device is in a state of being suspended by one wire rope A attached to the upper case 17. In order to install the space moving device in this state, a lifting device or a lifting device is required near the carry-in port 56, but these lifting devices or lifting devices are not shown. ..

When the movement of the space moving device is positively performed to prevent runout, the wire rope C of the lower case 32,
Use D. Although this point will be described later, FIG.
Shows the usage state of the wire ropes C and D.
That is, FIG. 6A shows an initial state in which the support tools A and C are fixed to the upper and lower surfaces and the wire ropes A and C are stretched.

In FIG. 6B, the manipulator 20 is used to fix the supports B and D to the upper and lower surfaces, and the upper turning mechanism 1 is used.
8 shows a state in which the turning axes E and F of the lower turning mechanism 31 are fixed. FIG. 6C shows a state in which the wire ropes B and D are stretched while the wire ropes A and C are loosened.

In FIG. 6 (d), the manipulator 20 is used to remove the support A from the support hole, and the wire rope A is removed.
Shows the state of winding up. FIG. 6E shows a state in which only the swivel axis E is swung by 180 ° and the support tool A is oriented in the moving direction to the right. In FIG. 6 (f), the manipulator 20 is used to insert and fix the supporting tool A into the next supporting hole, remove the supporting tool C from the supporting hole, and swivel only the swivel axis F by 180 ° (lower part). Only turn). Then, returning to FIG. 6B at the beginning of the procedure, the above operation is repeated (however, the support A is the support B, the support C is the support D,
Replace).

First, the supports A and B and the wire ropes A and B
The procedure for moving the space moving device will be described using. As shown in FIG. 6A, from the state where the space moving device is suspended by the wire rope A, the manipulator 20 and the moving device body 19 are turned 180 ° by the upper turning mechanism 18, and the manipulator 20 is operated to operate the manipulator 20. As shown in (b), the support tool B is inserted into the support hole 8 on the moving direction side and locked.

In this state, the wire rope B is taken up by the winding mechanism 1
While winding in sequence by 3, the other wire rope A
6 is sequentially rewound, and the space moving device is moved by one pitch in the moving direction as shown in FIG. 6C, and the space moving device is positioned below the support tool B. Next, after rotating the manipulator 20 and the moving device body 19 by 180 ° contrary to the above, the wire rope B is wound up if necessary, and the driver unit 26 is driven to move the manipulator 20 into the supporting hole 8 as much as possible. The support A is removed from the support hole 8 as shown in FIG. 6 (d).

The supporting holes 8 are provided at intervals less than the length of the arm of the manipulator 20, and if the manipulator 20 is brought as close as possible to the supporting hole 8, the manipulator 20 will support the supporting holes of the support. It is possible to attach and detach to 8. 6D shows a state in which one top is suspended as in the case of FIG. 6A, and the above operation is repeated thereafter to move the space moving device one pitch at a time.

Next, a description will be given of how to move the space moving device by using the supports A to D. When the space moving device is moved by using the supports A and B and the wire ropes A and B, the space moving device has the top 1
It is expected to swing due to the suspension. When the space moving device is moved when this shake is not allowed, it is moved as follows.

The movement procedure of the space moving device is exactly the same as the case of suspending one top portion, but in order to prevent runout, wire ropes A and B of the upper case 17 and wire ropes C and D of the lower case 32 are used. Used together. That is, FIG. 6A shows the initial state, and the lower wire rope C is pulled together with the upper wire rope A. From this state, similarly to the above, the upper turning mechanism 18 and the lower turning mechanism 31 are driven to turn the manipulator 20 and the moving device main body 19 with respect to the upper case 17 and the lower case 32 in the moving direction by 180 °, and While winding the wire rope A, the lower wire rope C is pulled and rewound, and the driver unit 26 is driven to move the manipulator 20.
Are brought closer to the support holes 8 at the top, if necessary.

Then, another support tool B of the upper case 17 is inserted into the support hole 8 at the top in the moving direction and locked, and the wire rope B is also wound up, and the wire ropes A, B,
Put C in tension. Then wire rope A, B, C
While maintaining the tensioned state, the wire ropes A and B are rewound, the wire rope C is wound up, and the manipulator 20 is driven by the driver unit 26 to bring the manipulator 20 closer to the lower surface of the shield 2 as necessary, and the support D Is inserted into the lower supporting hole 8 in the moving direction, locked, and the wire rope D
Take up the looseness by winding and put it in a taut state (Fig. 6
(See (b)).

Then, as shown in FIG. 6 (c), while the four wire ropes A to D are stretched, the wire ropes A and C are unwound while the wire ropes B and D on the moving direction side are wound. The space moving device is moved without shaking. Then, the manipulator 20 and the moving device main body 19 are turned 180 degrees in the opposite direction to the above, and after the support tool C is removed, the manipulator 20 and the lower case 31 are turned again 180 degrees, and the support tool C is newly supported in the moving direction. Insert it in the hole,
After locking, the wire rope C is wound and loosened.

Further, the manipulator 20 and the moving device main body 19 are rotated by 180 °, and then the manipulator 20 is rotated.
Move toward the top in the same manner as above to move the wire rope A
Remove. Then, with the wire ropes B, C, and D stretched, the upper case 17 and the manipulator 20 are turned together by 180 °, and the support A is inserted into a new top support hole in the moving direction and locked, and then, Take up the wire rope A and remove it. (In this procedure, the lower support C may be removed after the upper support A is removed.
(D) to (f) show the procedure, which is different from the above described procedure). After that, the same operation is repeated to move the space moving device.

The manipulator 20 and the lower case 32
It is desirable to pull the lower wire rope at the time of turning with, but when the wire ropes C and D are separated from each other, loosen them a little and turn the lower case 32 together with the manipulator 20, and then loosen them. You can also suppress the shake by taking it. Next, the replacement work of the tile 5 will be described.

The tile 5 to be replaced is the manipulator 2
0 is identified by the visual camera 21 or the like attached near the gripper 22, and the manipulator 20 is replaced by the winding of the wire ropes A to D, rewinding, and driving of the vertical turning mechanisms 18 and 31 and the driver unit 26. Set it to a substantially horizontal position. Especially at the time of replacement work, it is only necessary to stretch two wire ropes on the upper case 17 side,
If the lower wire rope on the lower case 32 side is also stretched, even if the reaction force of the replacement work is received, the moving device body 1
No. 9 maintains a desired posture and enables stable work.

Further, the manipulator 20 can be installed at the same horizontal position as the tile 5 to be replaced by winding the wire rope, operating the turning mechanism and the vertical moving mechanism, and can cover the entire range even with a short arm length. In the replacement work of the tile 5, first, the necessary tool 62 is taken out from the tool box 61 by the gripper 22 of the manipulator 20, and the mounting bolt 7 of the old tile 5 is loosened. Although illustration is omitted,
In this state, the old tile 5 is prevented from falling. Next, the tool 62 is attached to the gripper 2 of the manipulator 20.
2 in the tool box 61, then the old tile 5
Is also stored in the tool box 61 by the gripper 22 of the manipulator 20.

Next, the new tile 5 is taken out from the tool box 61 by the gripper 22 of the manipulator 20, mounted at the position of the old tile 5 from which it was removed, and the mounting bolt 7 is fastened by the tool 62 to fix the new tile 5. With the above, one cycle of tile replacement work is completed, and the old tile 5 to be replaced next is replaced with the new tile 5 in the same manner.

FIG. 5 shows a flat chain (flat chain in consideration of twist prevention of the space moving device) instead of the wire rope (flexible body) shown in FIG. 1 as described above.
A flexible body is used. In this case as well, the basic structure is the same as that of the above-described embodiment, but instead of the vertical turning mechanisms 18 and 31, a turning mechanism 45 is provided in a part of each flat chain 48.

In the embodiment shown in FIG. 1, two wire ropes are used for the upper case 17, but three or more wire ropes may be used so that the supporting members are alternately attached and detached. .. Further, when only moving or when performing moving and light work, the wire rope of the lower case 32 can be eliminated as described above.

[0038]

As described above, according to the space moving apparatus of the present invention, the manipulator 20 and the moving apparatus are first suspended from the space moving apparatus by the flexible body (wire rope) A as shown in FIG. 6 (a). The main body 19 is rotated 180 °, the manipulator 20 is operated, and the support tool B is inserted into the support hole 8 on the moving direction side and locked as shown in FIG. 6B. In this state, while sequentially winding the wire rope B by the winding mechanism 13, the other wire rope A is sequentially unwound, and the space moving device is moved by one pitch in the moving direction as shown in FIG. 6C. The space moving device is moved to a position below the support tool B. Then manipulator 2
0 and the moving device main body 19 are turned 180 degrees opposite to the above, the wire rope B is wound up if necessary, and the manipulator 20 is brought closer to the supporting hole 8 as much as possible,
The support A is removed from the support hole 8 as shown in FIG. FIG. 6 (d) shows a state in which one top is suspended as in the case of FIG. 6 (a), and the above operation is repeated thereafter to move the space moving device one pitch at a time.
It is possible to eliminate auxiliary equipment such as guide members such as rails and their support members, and simplify a work target device such as a fusion reactor device.

Moreover, since the vicinity of the work target area can be approached,
The arm length of the manipulator can be shortened, and the space moving device can be simplified. Further, as described above, guide members such as rails and auxiliary equipment such as support members thereof can be eliminated, and the space moving device can be simplified, so that the carry-in port can be made small, and from this point also, the fusion reactor device It is possible to simplify the work target device such as.

Further, it is possible to eliminate the need for auxiliary equipment such as guide members such as rails and their supporting members, save the time required for the installation, and improve the operating rate of the plant.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of a space moving device of the present invention.

FIG. 2 is a perspective view showing an example of a nuclear fusion reactor device (work target device).

FIG. 3 (a) is a vertical cross-sectional side view showing an outline of supporting holes used during movement and work of the space moving device of the present invention;
Is a bottom view thereof.

FIG. 4A is a vertical sectional side view showing details of a clamp mechanism and a support hole of a support tool, and FIG. 4B is a plan view of the clamp mechanism.

FIG. 5 is a perspective view showing another embodiment using a flat chain.

FIG. 6 is an explanatory view schematically showing a moving state of the space moving device.

FIG. 7 is a perspective view showing a conventional remote operation device for tile replacement.

FIG. 8 is a perspective view showing a part thereof.

[Explanation of symbols]

 8 Support Hole 9 (A, B) Support Tool 11 Flexible Body such as Wire Rope 13 Winding Mechanism for Flexible Body 19 Moving Device Main Body 20 Manipulator 22 Gripper 34 Claw of Clamp Mechanism 35 〃 Pin 36 〃 Wedge 37 〃 Spring 38 〃 Grip part 39 〃 Rope 40 〃 Spring 41 〃 Pulley 42 〃 Lever 43 〃 Pin 44 〃 Stopper

Claims (1)

[Claims] 1. A winding mechanism for a flexible body such as a wire rope is provided side by side on an upper part of a main body of a moving device, and a support tool is attached to a tip end portion of the flexible body of each of the above-mentioned winding devices, and clamped on each support tool. A mechanism is attached, a bendable manipulator is attached to the moving device body, and a gripper for holding the support and opening and closing the clamp mechanism is attached to the tip of the manipulator via the holding portion of the clamp mechanism. A space moving device characterized in that support holes of the above-mentioned support are formed in a wall surface along a moving path of the moving device main body at intervals shorter than an arm length of the manipulator in a moving direction of the moving device main body.