JP3150213B2 - Remote maintenance device for fusion reactor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote maintenance device for exchanging a first wall protection tile by inserting the protection wall into a reactor through a maintenance port or the like in a fusion reactor.

[0002]

2. Description of the Related Art A large number of tens of thousands of tiles are mounted on the first wall facing the plasma of a fusion reactor, and when the furnace is shut down, a considerable number of the tiles need to be replaced. There is a possibility that the mounting positions of these tiles are considerably displaced as compared with the time of construction due to thermal deformation due to the operation of the furnace. Therefore, it is necessary to exchange tiles in accordance with the displacement of each tile.

On the other hand, in the conventional method, tiles are exchanged by master-slave control from a control room while watching a TV camera with two arms of a manipulator having a hand for holding a tile and a manipulator having a nutrunner. Alternatively, tile replacement has been performed while operating the manipulator under program control.

FIG. 3 is a diagram showing an example of the structure of a tile attachment portion in the prior art. In FIG. 3, 51 is a tile, 52 is a spring, 53 is a collet, 55 is a stud bolt, 56 is a first wall, and 57 is a nut. When fixing the tile 51 to the container 56, the stud bolt with the tip of the nut 57 attached to the first wall 56 is grasped by the manipulator (not shown) while monitoring the tile 51 with the nut 57 attached thereto by a not-shown TV camera. After fitting to the tile 55, the nut 57 is rotated by another manipulator (not shown) and tightened to attach the tile 51 to the first wall 56.

Conventionally, a compliance mechanism has been used as a mechanism for correcting a positional deviation due to a displacement or the like in fitting a bolt and a nut to easily execute the correction. 4 and 5 are diagrams showing an example thereof, in which RCC (Remo
This is a mechanism called “te Center Compliance”. 4 and 5, 61 is a link mechanism,
62 is a shaft and 63 is a hole. If the position of the shaft 62 and the hole 63 or the deviation between the position and the direction of both are small, the link is deformed as shown in FIGS. .

[0006]

As described above, also in the above-mentioned conventional technique, a manipulator or a TV camera or the like is inserted into a furnace from a maintenance port or the like during the construction or operation of the first wall of the fusion reactor, and remote control is performed. It was possible to attach the tiles by operation or to remove the thermally deformed tiles after operating the furnace. However, although the fusion reactor is shut down once a year for a period of about one to two months for periodic inspections, operations not directly related to tile replacement, such as opening or closing the furnace, are included during that time. The net period allowed for tile replacement is even shorter.

As described above, the number of tiles constituting the first wall of a fusion reactor is about tens of thousands, and the number of tiles to be replaced during one periodic inspection is considerable. But
According to the above-described conventional method, the time required to replace one tile may be about one hour in the case of master-slave control depending on the position, and it is not possible to complete the required tile replacement during the periodic inspection period. It was possible.

On the other hand, it is conceivable to employ a compliance mechanism for facilitating and automating the insertion of bolts and nuts (screw holes). However, the compliance mechanism is originally a mechanism suitable for downward operation, and is a fusion reactor. In the case where all directions must be dealt with, such as replacing the first wall armature tile, it was unsuitable for the following reasons.

That is, since the mechanism is deformed by the force acting on the shaft, the mechanism is deformed due to the weight of the shaft and the mechanism itself, for example, in a case other than downward, and it becomes difficult to align the hole with the shaft. In addition, since this displacement differs depending on the working direction, the control becomes very complicated. Also, the compliance mechanism has been unable to cope with a change in which the end of the shaft does not cover a part of the hole.

The present invention has been made in view of such circumstances, and has as its object to provide a remote maintenance device capable of quickly and reliably performing tile replacement with a simple configuration.

The above object is achieved by a remote maintenance device for a fusion reactor as set forth in the appended claims. That is, in the tile exchange device of the first wall of the fusion reactor,
A a projection of the two orthogonal slits light and arithmetic unit for processing the image captured with the imaging part of the reflected light, the measurement object
When two reflected lights of the projected slit light cross the hole
Visual sensor for measuring the center position of the hole to be measured and the direction of the central axis of the hole to be measured from the position on the captured image corresponding to the refraction position of the object, and fins for holding both side surfaces of the tile
A gripper with a gar attached to the tip and a tile on the container side
Bit that fits into the hole formed on the top of the bolt
To secure the rigidity integrally formed with a nut runner that rotates the bolt.
And tile replacement hand was includes a plurality freedom of the manipulator having a drive device, and a controller unit comprising,
When installing a tile, hold the tile with fingers
The tile replacement hand close to the tile
For mounting tiles pre-formed on the container side using
Measure the position and direction of the screw hole of the
Make sure that the bolts for attaching the tiles
Ensure that it is positioned correctly and the center axis of the hole and the bolt axis
Automatically moves tile exchange hand so that orientation matches
The nut is then engaged with the nutrunner and the bit is
Into the hole formed at the top of the
Attach the tile to the container side.
Remove the tile from the container side in the reverse order of installation.
And automatically remove them by program control
A remote maintenance device for a fusion reactor configured to be operated.
Can fit into recesses of tiles with recesses on both sides
Remote maintenance of the fusion reactor described with the protrusion provided on the finger
apparatus. The shape of the nut runner tip bit is hexagonal
Yes, hexagon socket head bolts used for tile mounting bolts
That rotates at a very low speed when inserted into the hexagonal hole of
5. A remote maintenance device for a nuclear fusion reactor according to the item 1.

[0012]

1 and 2 show an embodiment according to the present invention. FIG. 1 is a front view of a tile exchange hand, and FIG. 2 is a side view of the same tile exchange hand. 1 and 2, 1
Is a visual sensor, 2 is a nutrunner, 3 is a gripper, 4 is a floating unit, 5 is a bracket, 6 is a finger, 7 is a gripper mount, 8 is a finger, 9 is a tile, 10 is a bolt, and 11 is a bit at the tip of the nutrunner. is there.

When the tile 9 is attached to the first wall, the tile 9 is first held by the finger 6 attached to the tip of the gripper 3. The tile 9 is generally made of graphite or the like, and its surface is slippery. Therefore, a concave portion is usually formed on both side surfaces of the tile 9, while a convex portion is formed on the surface of the finger 6 in contact with the tile 9, and when the tile 9 is clamped, the upper concave portion and the convex portion are fitted to each other. This prevents the finger 6 from falling off.

Next, the tile replacement hand is brought closer to the tile mounting portion, and the position and direction of the screw holes of the bolts 10 formed in advance on the container side are measured by the visual sensor 1 constituting a part of the tile replacement hand. . The visual sensor 1 was invented and filed by the inventors of the present invention and filed in Japanese Patent Application Laid-Open No. 2-82106.
Oh those having the same functions as those described in JP
Image of the slit light projected and reflected on the measurement object
3D position of measurement object from position on image captured by camera
Is measured. At least three points are found
If the shape of the circle and the plane containing the circle are determined,
When two slit lights cross the screw hole, the slit light
Since there are four refraction positions, at least three of these
By using, the center position of the circle and the flat
The direction of the center axis of the circle, which is the normal to the surface, can be obtained.
Therefore, two slit lights orthogonal to the hole to be measured
Project, and check that each slit light passes through the hole to be measured.
Image from diagonally above, two slit lights cross the screw hole
The center position and the center axis direction of the target hole are accurately obtained from the slit light position on the captured image corresponding to the refraction position at the time of performing .

Based on the above measurement results, the tile replacement hand is automatically moved so that the bolt 10 for mounting the tile 9 is accurately positioned on the mounting hole and the axial direction of the bolt matches the axial direction of the bolt. . In this state, it is engaged with the nut runner 2 constituting the tile exchange hand, and the bolt 1
Rotate the bit 11 fitted in the hexagonal hole formed at the top of 0, and attach the tile 9 to the container side.

When replacing the tile 9 after the operation of the furnace,
First, a tile replacement hand is inserted from a maintenance port or the like, and is positioned near a tile to be removed. Next, the orthogonal slit light is projected from the visual sensor 1 into the hexagonal hole formed on the top of the bolt 10 in the same manner as when the tile is attached.
From the refraction position when the slit light on the image captured by the V camera crosses the hexagonal hole , the refraction position is regarded as a point on the circumference.
Then, the center position and the center axis direction of the hexagonal hole at the top of the bolt 10 are accurately obtained.

Based on the result, the bit engaged with the nut runner of the tile changing hand is automatically removed so that the bit is located on the hexagonal hole of the bolt 10 of the tile 9 to be removed and the axial direction of the hexagonal hole matches the bit. To move the tile exchange hand. At this time, fitting the concave portion formed on the tile 9 and the convex portion formed on the finger 6 is the same as when the tile 9 is attached.

Next, the bit 1 attached to the nut runner 2
1 is pushed to the bolt 10 side while rotating at a low speed.
Both the tip of the bit 11 and the top of the hexagonal hole of the bolt 10 are slightly chamfered in advance. Thereby, the leading end of the bit 11 is smoothly fitted into the hexagonal hole. After that, when the bolt 10 is rotated in a removing direction, the bolt 10 is detached from the screw hole of the bolt 10 formed on the container side.

After confirming that the bolt 10 has come off from the bolt hole, the tile replacement hand is moved to store the removed tile 9 in a predetermined container or the like, and when the removal of the predetermined amount is completed, the tile 9 is taken out of the furnace. I do.

The above-mentioned tile installation and removal are all automatically performed by the control device based on a preset program.

[0021]

As described above, according to the present invention, as described in the above embodiment, the following effects can be obtained. The three-dimensional position measurement visual sensor can measure the position of the screw hole and the center axis direction, and even if the installation position etc. is largely displaced due to thermal deformation, etc., install and remove the tile by correcting the displacement. Becomes possible. The work such as the measurement of the position, the movement of the tile exchange hand, the feedback of the visual sensor, and the like can all be automatically performed by the program control, so that the time required for the tile exchange can be significantly reduced. Since the manipulator has a single arm, high-level control such as dual-arm cooperative control becomes unnecessary, and the construction cost can be reduced. The tiles are always mounted and removed while being held by the rigid tile exchange hand, so that even when working in the horizontal or upward position, the tiles and bolts are not positioned as in the case of the compliance mechanism in the prior art. Work can be performed accurately and quickly without displacement.

[Brief description of the drawings]

FIG. 1 is a front view of a tile exchange hand in a remote maintenance device according to the present invention.

FIG. 2 is a side view of a tile changing hand in the remote maintenance device according to the present invention.

FIG. 3 is a diagram showing an example of a structure of a tile attachment portion in the related art.

FIG. 4 is a diagram of a mechanism for correcting misalignment and performing fitting in the related art.

FIG. 5 is a diagram of a mechanism for correcting misalignment and performing fitting in the related art.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Visual sensor 2 Nut runner 3 Gripper 4 Floating unit 5 Bracket 6 Finger 7 Gripper mount 8 Finger 9 Tile 10 Bolt 11 Bit 51 Tile 52 Spring 53 Collet 55 Stud bolt 56 First wall 57 Nut 61 Link mechanism 62 Shaft 63 hole

──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Hideaki Morishita 2-4-2, Minamisuna, Koto-ku, Tokyo Kawasaki Heavy Industries, Ltd. Tokyo Design Office (72) Inventor Yasuo Nakano 1-1-1, Kawasakicho, Akashi-shi, Hyogo Prefecture Kawasaki Heavy Industries, Ltd.Akashi Technical Research Institute Co., Ltd. (72) Inventor Takashi Kuboyama 1-1, Kawasaki-cho, Akashi City, Hyogo Prefecture Kawasaki Heavy Industries, Ltd.Akashi Technical Research Institute Co., Ltd. (72) Inventor Kiyoshi Shibanuma, Nakamachi, Naka-machi, Naka-gun, Ibaraki Prefecture 801-1 Inside the Naka Research Laboratory of the Japan Atomic Energy Research Institute (72) Inventor Satoshi Kadodate 801-1 Mukaiyama Nakamachi, Naka-gun, Ibaraki Prefecture Inside the Naka Research Laboratory of the Japan Atomic Energy Research Institute (72) Inventor Kiyoshi Oka Naka-machi, Naka-gun, Ibaraki Prefecture No. 801, Mukoyama, Oji 1 Inside the Naka Research Laboratory, Japan Atomic Energy Research Institute (72) Inventor Takuya Teramon 80, Mukaiyama, Nakamachi, Naka-gun, Naka-gun, Ibaraki Prefecture Address 1 of 1 Japan Atomic Energy Research Institute Naka the laboratory (56) Reference Patent flat 2-85794 (JP, A) JP flat 3-12586 (JP, A) (58 ) investigated the field (Int.Cl. ⁷ , DB name) G21B 1/00

Claims (3)

(57) [Claims] 1. A tile exchange device for a first wall of a fusion reactor.
Te, and an arithmetic unit for processing the image captured with the imaging part of the reflected light and the projection portion of the orthogonal two slit light, the measurement object
When two reflected lights of the projected slit light cross the hole
Visual sensor for measuring the center position of the hole to be measured and the direction of the central axis of the hole to be measured from the position on the captured image corresponding to the refraction position of the object, and fins for holding both side surfaces of the tile
A gripper with a gar attached to the tip and a tile on the container side
Bit that fits into the hole formed on the top of the bolt
To secure the rigidity integrally formed with a nut runner that rotates the bolt.
A multi-degree-of-freedom manipulator having a driving device, and a control device . When the tile is mounted , the control device holds the tile with fingers.
The tile replacement hand close to the tile
For mounting tiles pre-formed on the container side using
The position and direction of the threaded hole and measurements, on the basis of the measurement results, the bolts attaching the tiles
It is located exactly on the hole to be mounted and the center of the hole
The bolt is automatically turned so that the axial direction matches the axial direction of the bolt.
Move the hand to exchange the oil, and in this state, insert the bit
The tool is inserted into the hole formed in the top and
The tiles on the container side, and remove the tiles in the reverse order
Remove the tiles from the container side, carried out automatically by the program control their operation
A remote maintenance device for a fusion reactor, wherein the remote maintenance device is configured to be operated. 2. A concave portion of a tile having concave portions formed on both sides.
The finger is provided with a convex portion that can be fitted to the finger .
The remote maintenance device for a fusion reactor according to claim 1. 3. The shape of the bit at the tip of the nut runner is hexagonal.
In the form, with hexagonal holes to be used to tile Installing bolted
It is to a very slow speed rotation when inserted into the hexagonal hole of the bolt
The fusion reactor according to claim 1 or 2, characterized in that:
Remote maintenance equipment.