JP2809729B2 - Remote maintenance equipment for fusion reactors - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Field of Industrial Application) The present invention relates to a remote maintenance device for a fusion reactor.

(Prior Art) In a fusion reactor, a method of confining high-temperature plasma in a vacuum vessel to cause a fusion reaction is adopted. Therefore, it is necessary to protect the vacuum vessel from high-temperature plasma by some means. As this protection means, it is considered to provide a heat-resistant wall inside the wall surface of the vacuum vessel.

By the way, if a heat-resistant wall is provided inside the wall of the vacuum vessel,
While it can protect the vacuum vessel, the heat-resistant wall is damaged by the high-temperature plasma. Therefore, it is necessary to repair damaged heat-resistant walls. In this repair, if a person intends to repair directly, it is necessary to open the inside of the vacuum vessel to the atmosphere. However, in the case of a large device such as a fusion reactor, it takes a long time to return to a vacuum state again. Therefore, such a method greatly hinders efficient operation of the furnace. In addition, the structural material located in the vacuum vessel is activated by being irradiated with radiation generated by the nuclear fusion reaction, and is in a state of emitting gamma rays.
For this reason, it is not preferable that a person approaches.

Under such circumstances, recently, it has been studied to repair a heat-resistant wall or the like installed in a vacuum vessel by remote control, and several methods have already been proposed. However, even these methods have not been able to cover the entire heat-resistant wall in the vacuum vessel. Especially when trying to realize the proposed method, if the furnace becomes large,
It is extremely difficult to cover the entire heat-resistant wall surface.

(Problems to be Solved by the Invention) As described above, in the conventionally proposed method, it is difficult to remotely repair, for example, all the heat-resistant walls in the vacuum vessel when the furnace is enlarged.

Accordingly, an object of the present invention is to provide a remote maintenance device for a fusion reactor that can perform, for example, repair of the entire heat-resistant wall remotely and with a simple configuration even when the vacuum vessel is enlarged. And

[Structure of the Invention] (Means for Solving the Problems) In order to solve the above problems, in a remote maintenance device for a fusion reactor according to the present invention, a cascade provided in a vacuum vessel of a fusion reactor is provided. And is housed in this cask,
A multi-joint boom formed by connecting a plurality of horizontally rotatable joints, a boom support mechanism for movably supporting the multi-joint boom along a rail disposed in a cask,
A worktable attached to the tip of the articulated boom, which is extendable and contractible in a direction orthogonal to the longitudinal direction of the articulated boom, a gripping mechanism provided on the worktable, A rotating mechanism for selectively rotating around a longitudinal axis, and a control device for remotely controlling at least the articulated boom, the boom support mechanism, the worktable, the gripping mechanism, and the rotating mechanism are provided.

(Operation) It is assumed that the cask is connected to the maintenance and inspection port provided in the vacuum vessel. For example, when replacing the heat-resistant wall located in the vacuum vessel, first, the boom support mechanism is controlled to advance the articulated boom toward the vacuum vessel, and the tip of the articulated boom is connected to a maintenance inspection port. From inside the vacuum vessel. At this time, the workbench provided at the tip of the articulated boom is held in the most contracted state. In this state, the joints of the boom support mechanism and the articulated boom are controlled to move the articulated boom forward along the axis of the vacuum vessel.
The vacuum vessel of a fusion reactor is usually formed in a torus shape. Since the articulated boom is configured by connecting a plurality of joints that can rotate in the horizontal direction, the articulated boom can be easily adapted to the bending of the vacuum vessel by controlling the rotation angle of each joint. You can proceed to And
When the tip of the articulated boom has advanced to a target position in the vacuum vessel, the workbench is extended to contact the target heat-resistant wall. In this state, the gripping mechanism is operated to fix the heat-resistant wall to the worktable. Remove the heat resistant wall by shrinking the workbench. This detaching operation can also be performed by using a working manipulator together.
After the heat-resistant wall is removed and the work table is contracted, the boom support mechanism and the articulated boom are controlled, and the articulated boom and the boom support mechanism are retracted into the cask along the same path as the outward path. Then, the removed heat-resistant wall is transported to the outside of the cask using an appropriate transfer mechanism. Also, installation of a new heat-resistant wall is performed by moving the articulated boom again along the above-described path.

As is apparent from the above-described movement of the articulated boom, the articulated boom can be moved both clockwise and counterclockwise around the maintenance port in the vacuum vessel. In addition, since the work table can be rotated around the longitudinal axis of the articulated boom by the rotating mechanism, it is possible to repair not only the heat-resistant wall located on the ceiling side but also the heat-resistant wall located on the lower side. Become. Therefore, if a multi-joint boom having a length that can cover 180 degrees of the circumference in the vacuum vessel is used, all the heat-resistant walls can be repaired by one remote maintenance device. In addition, when using an articulated boom with a length that can cover 90 degrees of the circumference, all the heat-resistant walls can be repaired by symmetrically arranging two remote maintenance devices, and the vacuum Even if the container becomes large, it can sufficiently cope with it.

(Example) Hereinafter, an example is described, referring to drawings.

FIG. 1 shows a schematic configuration of a remote maintenance device for a fusion reactor according to one embodiment of the present invention.

In the figure, reference numeral 1 denotes a nuclear fusion reactor. The fusion reactor 1 has a torus-shaped vacuum vessel 2 for confining plasma. This vacuum vessel 2 is arranged such that the axis of the great circle of the torus is parallel to the direction of gravity. A heat-resistant wall 3 is provided in the vacuum vessel 2 to protect components of the vacuum vessel from high-temperature plasma. A heat-resistant tile (not shown) is fixed to the surface of the heat-resistant wall 3 with bolts or the like. Further, a system for circulating a coolant is provided in the heat-resistant wall 3 in order to suppress a rise in the temperature of the heat-resistant wall 3. As shown in FIG. 2, a heat receiving plate 4 is equally divided along the great circle of the torus and fixed to the enclosed ceiling and bottom of the heat-resistant wall 3. The heat receiving plate 4 is heated to a high temperature by the plasma that is directly applied. For this reason, the cooling liquid is usually circulated in each heat receiving plate 4 via a pipe (not shown) to cool the heat receiving plate 4. Each heat receiving plate 4 is fixed to the inner wall by a cotter 5 operated by the pressure of the liquid. Each heat receiving plate 4 has a large degree of damage because the plasma is directly applied. Therefore, if it is damaged, it needs to be replaced. The exchange of the heat receiving plate 4 is performed by a remote maintenance device 10 described below.

The remote maintenance device 10 is configured as follows. That is, the maintenance container 11 provided in the vacuum container 2 is
The cask 12 is connected so as not to disturb the degree of vacuum inside. The cask 12 extends in the horizontal direction coaxially with the maintenance access port 11. A multi-joint boom 13 in which a plurality of joints that can be rotated in the horizontal direction and whose rotation angles are respectively controlled by motors are connected in the cask 12 is bent, that is, in the most contracted state, Are located on the side opposite to the vacuum container. The base end of the articulated boom 13 is cantilevered by a boom support mechanism 14.

The boom support mechanism 14 is disposed on a rail 15 fixed to the inner surface of the bottom wall of the cask 12 so as to be movable in the direction indicated by the solid arrow 16 in FIG. As shown in FIGS. 3 and 4, the boom support mechanism 14 includes an upper roller 17, a lower roller 18,
The rail 15 is sandwiched by the side rollers 19, and is mechanically and strongly connected to the rail 15 without being hindered by the movement. In addition, a pinion 21 is provided on the upper surface of the rail 15 so as to mesh with a rack 20 protruding from the rail 15, and a driving force is obtained by driving the pinion 21.

As shown in FIG. 1, a worktable 22 that can expand and contract in a direction perpendicular to the direction in which the articulated boom 13 expands and contracts is attached to the tip of the articulated boom 13. As shown in FIGS. 5 to 8, the working table 22 is configured by stacking parallel links in three stages in this example, and reaches the ceiling and the bottom of the vacuum vessel 2 when extended as described later. . That is, as shown in FIGS. 9 and 10, the work table 22 fixes the substrate 24 to a support table 23 provided at the distal end of the articulated boom 13 and, at the same time, faces the table
25 and place a link between the table 25 and the board 24
Two sets of X-shaped links 28 in which 26 and 27 are rotatably combined in an X-shape are stacked in parallel in a three-stage configuration. Each link 26 constituting the X-shaped link 28 located at the bottom of the figure,
The lower end of 27 is rotatably connected to nuts 29 and 30 of ball screws, respectively. These nuts 29 and 30 are screwed into a feed screw 31 whose thread direction is reversed from the center. Pins 32 project from the side surfaces of the nuts 29 and 30, respectively, and these pins 32 are fitted in guide grooves 34 of a guide plate 33 fixed to the substrate 24. The upper ends of the links 26 and 27 constituting the X-shaped link 28 located at the uppermost stage in the figure are also rotatably connected to nuts 35 and 36 of ball screws, respectively. These nuts 35 and 36 are also screwed into a feed screw 37 whose screw thread direction is formed in the opposite direction from the center.
Pins 38 protrude from the side surfaces of the nuts 35 and 36, respectively. The pins 38 are fitted in guide grooves 40 of a guide plate 39 fixed to the lower surface of the table 25. The upper ends of the links 26 and 27 forming the X-shaped link 28 located at the lowermost stage in the figure and the lower ends of the links 26 and 27 forming the X-shaped link 28 located in the middle stage are respectively provided with ball screws. nut
41 and 42 are rotatably connected. These nuts 41,
42 is also a feed screw with the thread direction reversed from the center
It is screwed into 43. Pins 44 project from the side surfaces of the nuts 41 and 42, respectively, and these pins 44 are fitted in guide grooves 46 of a guide plate 45. Similarly, the lower ends of the links 26 and 27 forming the X-shaped link 28 located at the uppermost stage in the figure and the upper ends of the links 26 and 27 forming the X-shaped link 28 located at the middle stage are respectively Ball screw nut 4
It is rotatably connected to 7, 48. These nuts 47, 4
8 is also a feed screw 4 with the thread direction reversed from the center
Screwed into 9. Pins 50 project from the side surfaces of the nuts 47 and 48, respectively, and these pins 50 are fitted in guide grooves 52 of a guide plate 51.

On the lower surface of each guide plate 45 and the lower surface of each guide plate 51,
Connecting plates 52 and 53 for connecting these lower surfaces are provided. A total of eight motors 54 for independently driving each feed screw are fixed to the upper surface of the substrate 24, the upper surfaces of the connecting plates 52 and 53, and the lower surface of the table 25. In addition, each motor
The torque of 54 is transmitted to each corresponding feed screw via a chain. The motors 54 are controlled by a control circuit (not shown) so that the rotation amounts are the same.

As shown in FIG. 11, a holding mechanism 60 for holding the heat receiving plate 4 is attached to the table 25 at four positions. These gripping mechanisms 60 are mainly configured with bayonet-type rotating hooks 62 that are connected by being inserted into and rotated by hook holes 61 formed in the end face portion of the heat receiving plate 4, specifically, as shown in FIG. It is configured as shown. That is, the shaft 63 of the rotating hook 62 is
Penetrates a hole 64 provided in the hole. The shaft 63 has a cylindrical body
A rotating wheel 66 is attached to the lower end of the cylindrical body 65 in the figure. A thread 67 is formed on the outer periphery of the cylindrical body 65, and the thread 67 is screwed to a nut 68. The nut 68 is fixed to the lower surface of the table 25. A flange 69 is fixed to the upper end surface of the cylindrical body 65 in the figure, and a bearing 70, a spacer 71, a load cell 72, and a spacer 7 are provided between the flange 69 and the rotary hook 62.
3. The bearings 74 are coaxially inserted in the above order.
On the other hand, a disk 75 is fixed to the lower end of the shaft 67,
A load cell 76 and a rotating wheel 77 are coaxially fixed to the lower surface of the disk 75. A bearing 78 is interposed between the disk 75 and the rotating wheel 66.

In this gripping mechanism 60, the rotary hook 62 is inserted into the hook hole 61 provided in the heat receiving plate 4, and in this state, the rotary wheel
By rotating the rotary hook 62 90 ° using 77,
The rotation hook 62 is prevented from coming off from the hook hole 61. At this time, the necessary distance adjustment between the surface having the hook hole 61 and each rotary hook 62 is performed by rotating each rotary wheel 66. Each rotating wheel for height adjustment
Each rotating wheel 77 for rotating 66 and rotating hook 62
Are separately driven by separate motors installed in the moda box 55, respectively. The load cells 72, 75
Is used for detecting the state of how a load is applied when attaching and detaching the heat receiving plate 4 and for positioning the height of the rotary hook 62. For example, when removing the heat receiving plate 4 shown in FIG. 1, the work table 22 is extended, the table 25 is brought into contact with the heat receiving plate 4, and the rotary hook 62 is inserted into the hook hole 61 and is rotated and fixed, that is, gripping. Let it.
At this time, when the work table 22 is further extended, and when the sum of the load signals of the four load cells 72 becomes equal to the weight of the heat receiving plate 4, the fixing cotter 5 is loosened and the load of the heat receiving plate 4 is applied to the work table 22. To support. At this time, the height of the rotary hook 62 is adjusted by rotating the rotating wheel 66 for adjusting the height of the heat receiving plate 4 so as to equally share the weight. Rotating hook 62 and heat receiving plate 4
The positioning of the relative position with the
TV cameras 81, 82, 83, 84 are used. Among these TV cameras, the TV cameras 82 and 83 are mounted so as to be able to selectively protrude from the side surface of the table 25 so that the outside of the heat receiving plate 4 in the width direction can be monitored.

In the cask 12, at a portion near the maintenance inspection port 11, a rotation mechanism 91 that can selectively rotate the direction of the worktable 22 by 180 degrees is arranged. The rotating mechanism 91 is movably arranged on the lay 15 and is specifically configured as shown in FIGS. 13 and 14. That is, the rail
A support frame 92 is movably mounted on the rail 15 along the rail 15. Four gears 9 are provided inside the support frame 92.
The rotating frame 97 is rotatably supported by 3, 94, 94 and 95. Each gear is selectively driven by a motor (not shown). Therefore, when the motor is driven, the rotating frame 97 rotates as shown by the solid arrow 98 in the figure. Rotating frame
A through hole 99 is formed in the center of 97 so as to allow the work table 22 holding the heat receiving plate 4 and the articulated boom 13 to pass without any trouble. A pad 100 controlled by a motor is provided on the inner side of the wall defining the passage hole 99 so as to be able to advance and retreat. That is, the rotating mechanism 91 positions the work table 22 holding or not holding the heat receiving plate 4 in the passage hole 99, and advances each pad 100 in this state to move the work table 22
By rotating the rotary frame 97 in this state, a rotational force can be applied to the work table 22. As shown in FIG. 1, between the first joint and the second joint counted from the distal end of the articulated boom 13, the rotation of the articulated boom 13 in the longitudinal direction of the articulated boom 13 is performed. axis
101 is inserted. Therefore, when a rotational force is applied to the worktable 22, the worktable 22 rotates about the rotation axis 101. This rotation is restricted by the rotation stopper 102, and is locked when rotated by 180 degrees.

As shown in FIG. 1, an opening 111 for transferring the heat receiving plate 4 between the inside and the outside is formed on the upper wall of the cask 12. The opening 111 is provided with a transport cask 112 for transporting the heat receiving plate 4 or a door opening / closing mechanism 113 described later.
Is always airtightly closed. That is, the door is closed by the door opening / closing mechanism 113 when the transport cask 112 is transported, and is closed by the transport cask 112 while the heat receiving plate 4 is being replaced. FIG. 1 shows a state of being closed by the transport cask 112, and FIG. 15 and FIG. 16 show a state of being switched from being closed by the transport cask 112 to being being closed by the door opening / closing mechanism 113.

As shown in FIGS. 15 and 16, the transfer cask 112 houses the heat receiving plate 4 therein, and
The cask main body 122 is formed so as to be able to be held at 1, and a door body 123 that hermetically covers an opening of the cask main body 122 is provided. At the opening edge of the cask main body 122, a sealing mechanism 124 for maintaining airtightness when the cask main body 122 is placed on the upper wall of the cask 12 so as to cover the opening 111 provided in the cask 12 Is provided. The door 123 is also provided with a sealing mechanism 125 for maintaining airtightness. The mounted state of the door 123 is maintained by the locking action of the pin 126 which can be inserted and removed from the outside.

On the other hand, the door opening / closing mechanism 113 is configured as follows. That is, as shown in FIGS. 15 and 16, guide rails 131 and 132 are provided on the inner surface of the upper wall of the cask 12 on both sides of the opening 111, and drive mechanisms 133 and 134 are provided on the guide rails 131 and 132. The door body 135 is movably supported via the. The door body 135 is formed in a box shape with the opening facing upward. A lifting mechanism 1 that moves the door body 135 up and down in cooperation with each other between the door body 135 and the drive mechanisms 133 and 134
36 and 137 are arranged. Further, a seal mechanism 138 for maintaining airtightness between the upper end surface and the inner surface of the upper wall of the cask 12 is attached to the upper end surface of the door body 135.

In the door body 135, a support mechanism 140 is provided via an elevating mechanism 139.
Is arranged. On the upper surface of the support mechanism 140, a plurality of rotary hooks 141 that are rotationally driven by a drive mechanism provided in the support mechanism 140 protrude. These rotary hooks 141 are selectively inserted into the hook holes 142 provided in the door body 123 of the transport cask 112 described above, and the rotation is controlled in this state so that the door body 123 is supported by the support mechanism 140. I have to.

Note that all of the control of the driving elements and the rotating elements described above is performed by a remote control device (not shown). In addition, TV cameras are installed in various places to facilitate control.

Next, an operation example in the case of exchanging the heat receiving plate 4 using the remote maintenance device configured as described above will be described.

Before the transfer cask 112 is placed, the opening 111 is secretly closed by the door body 135 of the door opening / closing mechanism 113. That is, the door body 135 is positioned below the opening 111 by the control of the drive mechanisms 133 and 134, and the door body 135 is raised to the position where the seal mechanism 138 exerts the sealing function by the control of the elevating mechanisms 136 and 137. is there.

When replacing the heat receiving plate 4, first, an empty transport cask 112 is placed so as to cover the opening 111 of the cask 12.
The transport cask 112 to be placed is empty but the door 1
23 is mounted, and the inside is maintained at a pressure substantially equal to that in the cask 12. Further, the sealing mechanism 124 exerts a sealing function depending on the device.

In this state, the lifting mechanism 139 of the door opening / closing mechanism 113 is controlled to raise the support mechanism 140 to a certain position, and the rotating hook 141 is inserted into the hook hole 142 provided in the door body 123. And
The door 123 is connected to the support mechanism 140 by rotating the rotary hook 141. Next, the pin 126 is removed, and then the support mechanism 1
40 is lowered, and the door body 135 is also lowered. At this time, sufficient airtightness is maintained by the sealing function of the sealing mechanism 124. Further, the door 123 is completely in the cask 12 by the above control. Next, the driving mechanism 13
3, 134 is moved in a direction away from below the opening 111 of the door body 135. As you can see from the above operation, the door body 135
Moves as shown by a broken arrow 151 in FIG. By such control, the state shown in FIG. 1 in which the inside of the transport cask 112 is completely communicated with the cask 12 is formed.

Next, the boom support mechanism 14 is advanced with the work table 22 contracted. With this advance, the articulated boom 13 also advances toward the vacuum vessel 2, and the working table 22 and the distal end side of the articulated boom 13 advance into the vacuum vessel 2 through the passage hole 99 of the rotation mechanism 91 and the maintenance inspection port 11. . By controlling the joints of the boom support mechanism 14 and the articulated boom 13, the articulated boom is controlled.
13 is advanced along the axis of the vacuum vessel 2. When the tip of the articulated boom 13 reaches a target position in the vacuum vessel 2, the workbench 22 is extended,
The table 25 of 22 is brought into contact with the end face of the target heat receiving plate 4. In this state, each holding mechanism 60 is operated to fix the heat receiving plate 4 to the worktable 22. After fixing, the cotter 5 is loosened and the work table 22 is contracted to remove the heat receiving plate 4.

After removing the heat receiving plate 4, the boom support mechanism 14 and the articulated boom 13 are controlled, and the articulated boom is
13 and the boom support mechanism 14 are retracted into the cask 12. Next, as shown in FIG. 1, the work table 22 is positioned directly below the opening 111, and then the work table 22 is extended to carry the removed heat receiving plate 4 into the transport cask 112. Then, after fixing the heat receiving plate 4 in the transport cask 112 with the cotter 121,
The connection between the gripping mechanisms 60 is released, and the work table 22 is contracted. Next, the door body 135 is moved to the position shown in FIGS. 15 and 16, and the door body 123 of the transport cask 112 is attached to the opening of the transport cask body 122 by an operation reverse to the above-described operation. When this operation is completed, the transport cask 112 is transported to the repair shop. At this time, the opening 111 of the cask 12 is
It is airtightly closed by 35. As can be seen from the above-described operation, the mounting of a new heat receiving plate 4 can be easily performed by the above-described procedure. Figure 17 shows the articulated boom
When the heat receiver 4 is successively exchanged using the work table 13 and the work table 22, the positional relationship of each element is schematically shown.

In the above-described example, the heat receiving plate 4 mounted on the ceiling side of the vacuum vessel 2 is replaced. However, when the heat receiving plate 4 mounted on the bottom is replaced, the following is performed. That is, the slightly extended worktable 22 is inserted into the passage hole 99 of the rotation mechanism 91.
In this state, the pad 100 is made to protrude, and the workbench 22 and the distal end of the articulated boom 13 are sandwiched. Next, the rotating frame 97 is rotated 180 degrees. When rotated in this manner, the worktable 22 is in a form that can expand and contract downward. Therefore,
The heat receiving plate 4 mounted on the bottom of the vacuum vessel 2 can be replaced.

As is clear from the movement of the articulated boom 13 described above,
In the vacuum vessel 2, the articulated boom 13 can be moved both clockwise and counterclockwise around the maintenance inspection port 11. Further, as described above, the rotating mechanism 91 is
Since the 22 can be rotated around the longitudinal axis of the articulated boom 13, not only the heat receiving plate 4 located on the ceiling side but also the heat receiving plate 4 located on the bottom can be repaired. Therefore, if the articulated boom 13 having a length capable of covering 180 degrees of the circumference in the vacuum vessel 2 is used, all the heat receiving plates can be repaired by one remote maintenance device. Also, the circumference of 90
In the case of using the articulated boom 13 long enough to cover the degree, all the heat-resistant walls can be repaired by symmetrically arranging the two remote maintenance devices, and the vacuum vessel 2 is enlarged. Even if it does, it can respond sufficiently.

The present invention is not limited to the embodiments described above. That is, in the above-described embodiment, the heat receiving plate is replaced on the work table 22, but the work table may support a manipulator for exchanging a heat-resistant tile, for example. Also in this case, by using the transport cask, the manipulator can be attached to and detached from the work table without breaking the vacuum state. Further, an image guide may be used instead of the TV camera as the visual device. In addition, various modifications can be made without departing from the spirit of the present invention.

[Effects of the Invention] As described above, according to the present invention, even if the vacuum vessel is enlarged, it is possible to cover the whole area in the vacuum vessel without complicating the configuration, A remote maintenance device can be provided.

[Brief description of the drawings]

1 is a schematic longitudinal sectional view of a remote maintenance device for a fusion reactor according to one embodiment of the present invention, FIG. 2 is a schematic internal plan view of the remote maintenance device, and FIG. FIG. 4 is a partial side view showing the mounting structure of the installed boom support mechanism to the rail, FIG. 4 is a view taken along the line AA in FIG. 3, and FIG. 5 is incorporated in the remote maintenance device. FIG. 6 is a front view showing only the base of the work table, FIG. 7 is a top view of the work table, and FIG. 8 is a state in which the work table is contracted. FIG. 9 is a vertical sectional view of the work table, FIG. 10 is a view of the work table cut along the line BB in FIG. 9 and viewed in the direction of the arrow, and FIG. 11 is the work table. FIG. 12 is a longitudinal sectional view of a main part in the gripping device, FIG. 13 is a side view of a rotating mechanism incorporated in the remote maintenance device, 14 Figure is a view seen in the arrow direction along the line C-C in FIG. 13 of the same rotating mechanism, FIG. 15 is a vertical sectional view of the door opening and closing mechanism incorporated in the remote maintenance system, 16
The figure shows the door opening / closing mechanism cut along the line DD in FIG. 15 and is viewed in the direction of the arrow, and FIG. 17 is a view schematically showing an operation example of the remote maintenance device. 1 ... fusion reactor, 2 ... vacuum vessel, 3 ... heat-resistant wall, 4 ...
… Heat receiving plate, 5, 121… cock, 10 …… remote maintenance device, 1
1 ... Maintenance access port, 12 ... Cask, 13 ... Articulated boom, 14 ... Boom support mechanism, 15 ... Rail, 22 ... Work table, 25 ... Table, 60 ... Grip mechanism, 91 ... ... Rotating mechanism, 111 ... Opening, 112 ... Transport cask, 113 ... Door opening / closing mechanism.

Claims (4)

(57) [Claims] 1. A multi-joint boom which is connected to a vacuum vessel of a nuclear fusion reactor and is provided with a plurality of joints rotatable in a horizontal direction. A boom support mechanism that movably supports the articulated boom along a rail disposed in the cask; and a boom support mechanism that is attached to a distal end of the articulated boom and expands and contracts in a direction orthogonal to a longitudinal direction of the articulated boom. A free work table,
A gripping mechanism provided on the worktable, a rotation mechanism for selectively rotating the worktable around a longitudinal axis of the articulated boom, at least the articulated boom, the boom support mechanism, the worktable, A remote maintenance device for a fusion reactor, comprising: a gripping mechanism; and a control device for remotely controlling the rotation mechanism. 2. The remote maintenance device for a nuclear fusion reactor according to claim 1, wherein the gripping mechanism is capable of gripping at least one of a structure in the vacuum vessel and a working manipulator. 3. The remote maintenance device for a fusion reactor according to claim 1, wherein the work table has at least one visual device for grasping a situation. 4. The cask is provided with a connection port for connecting a transport cask to a ceiling portion and a door for opening and closing the connection port, and a door in the cask that opens and closes by interlocking the door and the door of the transport cask. The remote maintenance device for a fusion reactor according to claim 1, further comprising an opening / closing mechanism.