JP3392473B2 - Structure assembling / disassembling equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure assembling / disassembling apparatus.

[0002]

2. Description of the Related Art In a nuclear fusion reactor that carries out a DT reaction, the inside of the reactor after operation is activated, and therefore operations such as replacement and repair of internal structures must be performed by a remote device.

In FIG. 36, reference numeral 100 denotes a nuclear fusion reactor, which is a structure, including a structure 104 having a donut-shaped space with a D-shaped cross section having a diameter of 20 m on the outer peripheral side, and a structure 10.
It is composed of a diverter 101, which is a structural member that is radially installed on the ceiling and bottom of No. 4 with no gaps and has a length of 3 m or more, a width of about 1 m, and a weight of more than 1 ton, and has a high temperature inside the donut-shaped space. To confine the plasma of and to carry out a fusion reaction. Further, as shown in FIG. 36, the wall of the fusion reactor 100 is provided with an openable and closable maintenance port 111,
This maintenance port is closed during nuclear fusion and opened when replacing the diverter 101, etc.
1 can be carried out, and a device for exchanging the diverter 101 can be carried in and out. Conventionally, a large and heavy structural member such as the diverter 101 and the structural body 104 are provided with chamfers so that a positional deviation at the time of assembly can be allowed.

A maintenance port 111 is a route through which the diverter 101 can be carried in and out of the fusion reactor 100, and a device for exchanging the diverter 101 can be carried in and out.
However, it is not easy to replace the diverter 101 in the limited space in the furnace.

The assembling and disassembling apparatuses for structures such as fusion reactors that have been proposed so far are roughly classified into two types. As one of them (first conventional technology), as shown in FIG. 38, a cantilevered multi-joint arm 301 having a basic joint is provided outside the reactor from the maintenance port 111 through the fusion reactor 1.
It is inserted into the inside of 00 to install and remove the diverter. An assembly / disassembly device using this articulated arm 301 has already been used in Europe and America. However, the multi-joint arm 301 becomes large due to the increase in size of the fusion reactor and the increase in weight of the diverter to be handled, and it has a drawback that it is difficult to accurately position the tip of the articulated arm 301.

As another assembling / disassembling apparatus 0 for solving this problem, as shown in FIG. 39, a track 201 is laid inside the fusion reactor 100, and a vehicle 203 equipped with a manipulator 200 is installed along the track. Japanese Patent Application No. 3-40661 proposes an assembling / disassembling apparatus 0 (second prior art) in which the diverter 101 is installed / removed by running the vehicle as a vehicle. The assembling / disassembling apparatus 0 using this vehicle 203 is formed of a plurality of arc-shaped links 223 that are respectively connected by joints 222, and has a trajectory 201 that extends in a semicircular shape continuous in the furnace, and a trajectory that is arranged outside. 201
Orbit accommodating means 302 for accommodating the orbit accommodating means 3 and the orbit accommodating means 3 via two maintenance ports 111 facing each other.
02, the links 223 of the orbit 201 are sequentially fed into the fusion reactor, and the orbit 201 is moved by the traveling function of the vehicle 203 held by the support arm 303 at the tip.
Track arranging means 304 that extends concentrically inside the track 0 and supports the last link 223 of this track 201;
A track support device 22 that is inserted from another maintenance port 111 adjacent to the maintenance port 111 through which 1 moves in and out to support an intermediate portion of the track 201.
4 and the manipulator 2 for installing and removing the diverter
And a vehicle 203 or the like that is equipped with 00 and travels on a track 201.

As a track running system, Japanese Patent Application No. 5-65
Also in 005, as shown in FIG. 40, the fusion reactor 1
00 laying a track 201 inside the manipulator 20
Assembling / disassembling apparatus 0 (third prior art) is proposed in which a vehicle 203 carrying 0 is run along the track 201 to install / remove the diverter 101.
In the assembling / disassembling apparatus 0, the track 201, the track storage means 302, the track laying means 304, and the track support device 224.
Is the same as the assembling / disassembling apparatus 0 of Japanese Patent Application No. 3-40661, so detailed description will be omitted. The manipulator 200 is attached to the vehicle 203 traveling on the track 201 by the traveling mechanism 202, rotates with the rotating mechanism 205 around the track 201, and slides with respect to the rotating mechanism 205 by the slide mechanism 206, and is expanded by the expansion mechanism 207. An end effector 2 for holding the diverter 101 at the tip of the arm 208, which has an operating region capable of covering the entire area of the furnace.
The provision of 15 allows the diverter 101 to be replaced.

Assembling / disassembling apparatus 0 constructed as described above
Accesses the diverter 101 because the circular track 201 is supported at four points and has a high rigidity, and the vehicle 203 travels on the track 201 having a high rigidity with a single degree of freedom. It is characterized by good positioning accuracy.

[0009]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
In order to install the diverter 101 on the structure 104, installation accuracy of several mm is required. But,
The fusion reactor 10 is generated by heat and electromagnetic force generated during the fusion reaction.
There is a possibility that the whole 0 is deformed and the position of the diverter 101 is displaced. Therefore, the assembling / disassembling apparatus 0 described above has the following problems.

That is, the chamfering amount is limited, and when a positional deviation exceeding the chamfering amount occurs, the diverter 1
01 could not be installed.

Further, since there is no means for coping with the displacement of the fusion reactor 100, there is a possibility that the diverter 101 cannot be removed.

Further, when the diverter 101 is installed, the position of the diverter 101 is changed by chamfering during the process of inserting the diverter 101 into the structure 104.
Assemble and disassembler 0 and fusion reactor 100
There was a risk of damage due to excessive load applied to.

Furthermore, the diverter 1 is attached to the manipulator 200 while measuring the positions of a plurality of locations where the diverter 101 and the structure 104 approach each other by a plurality of TV cameras.
Although there is a method of removing and assembling 01, there was also a drawback that the TV camera was immediately broken and unusable due to the radiation in the reactor after the nuclear fusion reaction. In addition, a method of searching for the position of the diverter 101 or the installation location by groping while monitoring the torque when the manipulator 200 is generated can be considered, but since this method is premised on contact or collision, a heavy structure such as the diverter 101 is used. In this case, the diverter 101 and the structure 104 may be damaged.

Further, since the diverter 101 is large with a width of about 1 m and a length of about 3 m, there is a drawback that the position of the installation place cannot be detected by the end effector 215 because it is blocked by the diverter 101.

An object of the present invention is to prevent the assembly and disassembly device and the fusion reactor from being damaged by applying an excessive load even when the fusion reactor is deformed by heat or electromagnetic force and the position of the diverter is displaced. It is an object of the present invention to provide a technique capable of installing the diverter on the structure or removing the diverter from the structure without damaging the diverter and the structure due to contact between the diverter and the structure.

[0016]

A structure assembling / disassembling apparatus according to a first aspect of the present invention includes an end effector for gripping a structural member in a nuclear fusion reactor and a plurality of actuators.
A manipulator for assembling and disassembling the structural member by positioning the end effector three-dimensionally and the structure.
Attached to the member, and detect the characteristic structure of the location for installing the structural members and the structural member, or a sensor for detecting the distance between the end effector and the front Symbol structural member and said characteristic structure the before and Symbol structural member end
Installed between the effector and the sensor
Connector for sending and receiving to the end effector
If, from the detection value and the position of the manipulator before SL sensors, generation of the operation data of the manipulator, comprising a position data correction apparatus having a function to start and stop the operation of the manipulator, the operating position of the manipulator the It is characterized in that the position of the structural member to be gripped or the place where the structural member is installed is calculated based on the detection value of the sensor.

Further, the structure assembling / disassembling apparatus of the invention according to claim 2 is the structure assembling / disassembling apparatus according to claim 1.
The sensor is connected to the end effector and the structure.
It is characterized in that it is attached to a synthetic member.

Further, the structure assembling / disassembling apparatus according to a third aspect of the present invention is the structure as set forth in the first or second aspect.
Holds structural members in the fusion reactor in the assembly and disassembly device
3 with multiple end effectors and multiple actuators
Dimensionally positioning the end effector to provide the structure
It is equipped with a manipulator for assembling and disassembling members.
Absorbs the misalignment between the structural member and the place where this structural member is installed.
The three-dimensional gap that fits in is the grip of the end effector.
It is characterized in that it is formed between the holding portion and the structural member .

The structure assembling / disassembling apparatus according to the third aspect of the present invention is any one of the first to third aspects.
In assembly and disassembly apparatus serial mounting structure, said structural member, characterized in that it is a part of a diverter or diverter of a fusion reactor.

[0020]

In the structure assembling / disassembling apparatus of this operation,
Since the claws of the end effector are thinner than the gripping holes of the structural member and the mounting interval is wider than the width of the structural member, even if the structural member is displaced due to deformation of the structure, it can be gripped without interfering with the structural member. Further, even if the movement direction of the end effector is deviated, the structural member and the end effector can relatively move within the range of the gap , so that the protrusion of the structural member can be pulled out from the concave portion. Furthermore, since the tip of the protrusion of the structural member is thinner than the entrance of the recess of the structure, the tip of the protrusion enters the entrance of the recess, and even if the installation location or the direction of the recess is deviated due to the displacement of the structure, the end effector and Since the gap between the structural members absorbs the deviation, the assembling / disassembling apparatus and the structure can be installed without damaging the manipulator.

Further, in the structure assembling / disassembling apparatus of the present invention, the signal of the sensor when the end effector is moved by moving the manipulator close to the structural member or the installation place for removing the sensor attached to the end effector Then, the position data of the end effector is processed by the position data correction device, and the position and inclination of the structural member to be removed and the installation place are obtained. Also, the positional relationship between the grasped structural member and the end effector is obtained. Then, the position data correction device is made to create the operation data of the manipulator based on the position of the structural member to be removed or the installation location or the positional relationship between the grasped structural member and the end effector, and the position of the structural member to remove the end effector or the end effector. The structural member grasped in step 1 is accurately positioned at the position of the installation location, and the structural member is removed or installed at the installation location.

Furthermore, in the structure assembling / disassembling apparatus of the present invention, first, the structural member is gripped by the end effector, and the signal of the sensor provided on the structural member is transmitted and received through the connector provided with the end effector and the structural member. To do. Then, while moving the end effector, the signal of the sensor is processed by the position data correction device to search the position of the installation location, and the structural member is positioned at the installation location regardless of the positional relationship between the end effector and the grasped structural member. , Install structural members at the installation site.

According to the structure assembling / disassembling apparatus of the present invention,
The diverter, which is a structural member damaged by high-temperature plasma during nuclear fusion, can also be replaced automatically.

[0024]

EXAMPLE FIG. 37 is a perspective view for explaining the details of the diverter 101 of the fusion reactor 100 and the structure 104 around its installation site which are the objects of assembly and disassembly according to the example of the present invention. The diverter 101 includes a diverter plate 102 made of a heat resistant material and a support frame 103 for supporting and fixing the diverter plate 102. Further, on the back side of the support frame 103, protrusions 105 a, 105 b, 105 c, 105 d for fixing the diverter 101 to the structure 104 are attached. On both sides of the support frame 103, two gripping holes, which are gripped portions for gripping the diverter 101, are provided in total of four (106a, 106b,
106c, 106d) open. On the other hand, the structure 104
Are recesses 107a, 107b, 107c, 10 into which the protrusions 105a, 105b, 105c, 105d are fitted.
7d and rods 109a, 109b, 109c, 109
d approaches and lifts the diverter 101 to hold the grip hole 1
The jack mechanisms 108a, 108b, 108c are provided to expose 06a, 106b, 106c, 106d on the adjacent diverter 101 (not shown). Further, the tip ends of the projections 105a, 105b, 105c, 105d and the entrances of the recesses 107a, 107b, 107c, 107d are chamfered so that they are easily fitted to each other, and are gradually restrained and positioned as they are inserted. It has become.

The first embodiment of the present invention when the present invention is applied to the work of installing or removing the diverter 101 from the structure 104 by using the third prior art assembling / disassembling apparatus described below. An example will be described.

FIG. 1 is a diagram for explaining the outline of the configuration of the above embodiment. In FIG. 1, only the diverter 101 laid on the bottom of the fusion reactor 100 is shown, and the diverter 101 laid on the ceiling is omitted. Also, from the maintenance port 111 on the wall of the fusion reactor to the diverter 10
A tray 110 for loading and unloading 1 is loaded and unloaded. on the other hand,
The assembling / disassembling apparatus 0 includes a plurality of actuators and has a three-dimensional operating region. The assembling / disassembling apparatus 0 is deployed in a ring shape inside the fusion reactor 100 and runs on a track 201 supported at every 90 degrees, so that the fusion reactor 100 The manipulator 200 described in the third prior art, which has an end effector 215 that moves inside and has a claw that is narrower than a grip hole of a structural member and has a mounting interval that is wider than the width of the structural member, and the operation of the manipulator 200. And a controller 221 for controlling. That is, in the present embodiment, when the diverter 101 is gripped by the end effector 215, a gap is structurally created to absorb the deviation, and thus the diverter 101 is removed from the structure 104 without damaging the assembly / disassembly device 0. Or installing the diverter 101 on the structure 104. Details of the configuration of this embodiment will be described below.

As shown in FIG. 2, it is a diagram for explaining the structure of the manipulator 200 and the end effector 215 attached to the tip of the arm 208 thereof in this embodiment. In FIG. 2, the manipulator 200 has the same configuration as that of the third prior art assembling / disassembling apparatus 0, and therefore description thereof will be omitted. The end effector 215 is a swing mechanism 209.
The arm 208 is attached to the tip of the arm 208 so as to swing around the swing shaft 210, swing around the swing shaft 212 by the swing mechanism 211, and rotate around the rotary shaft 214 by the rotation mechanism 213. Also, the end effector 2
15 has four key-shaped claws attached, and the claw 216
a and the claw 216b are rotated around the rotary shafts 218a and b by the claw opening / closing mechanism 217a, and the claws 216c and 216d are rotated by the claw opening / closing mechanism 217b.
The grip hole 10 of the diverter 101 is rotated by rotating around 18d.
6a, 106b, 106c and 106d are provided with nails 21 respectively.
The tips of 6a, 216b, 216c, and 216d are inserted to grip the diverter 101. 3 is a cross-sectional view taken along a plane including the gripping holes 106a and 106c when the diverter 101 is gripped by the end effector 215, and FIG. 4 is a cross-sectional view taken along a plane including the gripping holes 106a and 106b. Claws 216a, 216b, 2
16c and 216d are gripping holes 106a, 106b and 106.
c, 106d, claws 216a, 216b, 216
The lengths of c and 216d are the holding holes 106a, 106b, 10 and 10.
Shorter than the depth of 6c and 106d, the claw 216a and the claw 216
c. The distance between the bases of the claw 216b and the claw 216d is wider than the width of the side surface of the diverter plate 102, and even if the position of the end effector 215 shifts, the end effector 215 can be gripped without interfering with the diverter 101.
The diverter 101 can move in the end effector 215 when 01 is gripped. Also,
Travel mechanism 202, rotation mechanism 205, slide mechanism 20
6, expansion / contraction mechanism 207, swinging mechanisms 209, 211, rotation mechanism 213, claw opening / closing mechanism 217 of end effector 215
The position detectors 219a to 219i for detecting the positions or postures of the mechanisms a and 217b (hereinafter collectively referred to as the operation mechanism 220) are provided inside the respective mechanisms. Then, as shown in FIG. 2, the manipulator 200 has a rotation axis 204 and an xm axis aligned with each other, and the central axis of the fusion reactor 100 (not shown) and the zm axis.
A coordinate system Om defined such that the axes are parallel to each other and the rotation axis 214 lies in the ym-zm plane is provided, and the end effector 215 has the swing axis 210 and the Xe axis aligned with each other and the rotation axis 214 and Ze. A coordinate system Oe is provided in which the axes coincide with each other and the Xe-Ye plane is set to be parallel to the palm of the end effector 215. The traveling mechanism 202, the rotation mechanism 205, the slide mechanism 206, the expansion mechanism 207, and the swing mechanism 209 are provided. , 21
1. The values θa to g of the position detectors 219a to 219g of the rotation mechanism 213 and the positional relationship between the mechanisms are solved by the well-known forward kinematic equation of the manipulator 200 to determine the coordinate system Om and the end of the manipulator 200. The relationship of the coordinate system Oe of the effector 215 is obtained.

The controller 221 is the manipulator 20.
It has a mechanism for detecting the torque generated by the actuator of the zero operating mechanism 220 and a mechanism for operating the manipulator 200 in accordance with prestored data, controls the operation of the manipulator 200, and controls the end effector 21.
5 can be moved to any position, and claws 216a, 216b, 2
16c and 216d are opened and closed. Further, the relationship between the coordinate system Om of the manipulator 200 and the coordinate system Oe of the end effector 215 is calculated, and the end effector 215 is calculated.
It has a function to move the position of while interpolating on an arbitrary straight line.

The operation of the above embodiment will be described below in terms of items.

<Removal of diverter> First, the diverter 10
The operation of removing 1 will be described. FIG. 5 shows diverters 101 ', 10 adjacent to the diverter 101 to be removed.
1 ″ is a view showing a positional relationship of the jack mechanisms 108 a, 1
08b, 108c actuate to activate rods 109a, 109
Since b and 109c push out the diverter 101, the gripping holes 10 are formed above the surfaces of the diverter plates 102 'and 102 "of the adjacent diverters 101' and 101".
6a, 106b, 106c and 106d are exposed.
6 to 9 are diagrams for explaining the states in each scene when the diverter 101 is removed.

First, the manipulator 200 is operated to move the end effector 215 to a position A above the diverter 101 to be removed as shown in FIG. 6, and the palm of the end effector 215 is directed toward the diverter 101. This time,
The space in which the manipulator 200 can operate is the fusion reactor 10
Since it is limited to the inside of 0, the manipulator 200 is provided with a spatial margin such that the manipulator 200 does not hit the fusion reactor 101 over the entire path to the position A shown in FIG.

The end effector 215 is positioned at the second position D for gripping the diverter 101, and the pawl opening / closing mechanisms 217a and 217b are operated to operate the pawls 216a, 216b, and 216a.
216c and 216d are closed. Claws 216a, 216b,
216c, 216d and gripping holes 106a, 106b, 10
Since there is a gap between 6c and 106d, even if the position of the diverter 101 is displaced, the claw 216
a, 216b, 216c, and 216d are grip holes 1 respectively.
It can be inserted into 06a, 106b, 106c, and 106d, and the grip of the diverter 101 is completed. FIG. 7 is a view showing a state in which the diverter 101 has been gripped by the end effector 215 as viewed in the negative direction of the Xe axis of the coordinate system Oe.

Thirdly, the end effector 215 is moved in the plus direction of the Ze axis of the coordinate system Oe to move the diverter 101.
The protrusions 105a, 105b, 105c and 105d are pulled out from the recesses 107a, 107b, 107c and 107d. At this time, the movement direction of the end effector 215 and the projections 105a, 105b, 105 due to the displacement due to thermal deformation.
Even if the diverter 101 shifts during movement because the pull-out directions of c and 105d do not match, the claws 216a, 216b,
216c, 216d and gripping holes 106a, 106b, 10
Since the diverter 101 can be moved three-dimensionally in the end effector 215 by the gap between the 6c and 106d, the projections 105a and 105b of the diverter 101 can be moved without applying an unreasonable load to the assembling and disassembling apparatus 0 and the fusion reactor 100.
105c and 105d are recessed into 107a, 107b and 107
c, 107d can be pulled out. FIG. 8 is a diagram showing a state when the diverter 101 is completely pulled out, as viewed in the negative direction of the Xe axis of the coordinate system Oe.

Lastly, the diverter 101 gripped by the end effector 215 is placed on the tray 110, and the work for removing the diverter 101 is completed. FIG. 9 shows the situation of the end effector 215 and the diverter 101 when all the above procedures are completed.

The diverter 101 is removed from the structure 104 by the above operation.

<Diverter Installation> Next, the operation of installing the diverter 103 at the installation location U will be described in the order of the operation. FIG. 10 is a diagram for explaining the installation location U of the diverter 101 and its surroundings. As shown in FIG. 10, the jack mechanisms 108a, 108b, 108c of the installation location U are operating and the rod 1
Numerals 09a, 109b, and 109c project to hold the grip holes 106a, 106b, and 10 when the diverter 101 is placed.
6c, 106d are adjacent diverters 101 ', 10
It projects above the upper surface of the 1 "diverter plates 102 ', 102". 11 to 14 are diagrams for explaining the states in each scene when the diverter 101 is installed.

First, as shown in FIG. 11, tray 1
The diverter 101 mounted on the manipulator 200
The end effector 215 of the above is grasped. At this time, since both the tray 110 and the diverter 101 are accurately positioned, they can be easily gripped.

Secondly, the diverter 101 is carried to a position F above the installation location U shown in FIG. 12, and the end effector 215 is placed in a posture for installing the diverter 101 on the structure 104. At this time, since the space in which the manipulator 200 can operate is limited to the inside of the fusion reactor 100, the diverter 101 is provided over the entire path to the position F.
The manipulator 200 and the manipulator 200 are provided with a spatial margin so as not to hit the fusion reactor 100.

Third, without changing the attitude of the end effector 215, the diverter 101 is moved by a certain distance while linearly interpolating in the negative direction of Ze, and the projections 105a, 105
b, 105c, and 105d are recessed portions 107a and 10d, respectively.
7b, 107c, 107d. At this time, the position of the installation place U may be displaced due to the deformation of the structural member 104, or the direction of the recesses 107a, 107b, 107c, 107d and the moving direction of the end effector 215 may not match, but the projection 105a of the diverter 101, 105b,
The tips of 105c and 105d and the recess 107 of the structure 104
By the chamfering of the entrance of a, b, c, d, the projection 105
a, 105b, 105c, 105d are concave portions 107a, 1
07b, 107c, 107d can be easily entered and also pawls 216a, 216b, 216c, 216d.
Since the diverter 101 can move in the end effector 215 due to the gap between the holding holes 106a, 106b, 106c, and 106d, even if the moving direction is slightly deviated from the inserting direction, the assembling / disassembling apparatus 0 receives an unreasonable load. The projection 105a of the diverter 101 without being damaged by
105b, 105c, 105d are recessed 107a, 107
b, 107c, 107d. FIG. 13 shows the positions of the diverter 101 and the end effector 215 when the above steps are completed. Further, in this operation, the torque generated by the actuator of the operation mechanism 220 is monitored, and the load of the diverter 101 is applied to the structure 104.
The operation of the manipulator 200 may be terminated by recognizing that the operation has been moved to.

Finally, fourthly, the claw opening / closing mechanisms 217a, 21
7b is operated to move the claw 216 of the end effector 215.
a, 216b, 216c, 216d are opened, the end effector 215 is retracted, and the installation place is completed. FIG. 14 shows the positions of the diverter 101 and the end effector 215 when the above operations are completed.

By the above operation, the diverter 101 is installed in the installation place U.

As described above, according to the first embodiment, when the diverter 101 is held by the end effector 215, a gap is formed between the diverter 101 and the end effector 215, so that the positional deviation is absorbed and an unreasonable load is applied. The diverter 101 can be removed from the structure 104 without damaging the manipulator 200 or the diverter 101 can be removed.
There is an effect that it can be installed in 4.

FIG. 15 is a block diagram showing the structure of a structure assembling / disassembling apparatus 0 according to the second embodiment of the present invention. In this figure, a sensor 1 for measuring the distance of the diverter 101
Sensors 2a, 2 for measuring the distance between a, 1b, 1c and the diverter 101 held by the end effector 215.
b, 2c and the sensors 3a, 3b, 3c for measuring the distance between the diverter 101 and the installation place U, and the diverter 101
Sensors 4a and 4b for detecting the gripping holes 106a and 106b of
Sensors 1a, 1b, 1c, 2a, 2b, 2c, 3a, 3
b, 3c, 4a, 4b signals and the position data of the manipulator 200 at that time are fetched from the controller 221 and the relative distance and posture between the end effector 215 and the diverter 101 or the end effector 215 and the place U where the diverter 101 is installed. To correct the position of the manipulator 200, and to start and stop the operation of the manipulator 200, a position correction device 8 including a position data correction device 7, a manipulator 200 having a plurality of operation axes, and a manipulator 200 The controller 221 for controlling the operation. That is, in the present embodiment, the sensors 1a, 1b, 1c, 2a, 2
b, 2c, 3a, 3b, 3c, 4a, and 4b, the positions of the diverter 101 and the installation place U are obtained, and the end effector 215 is accurately positioned, so that the diverter 101 can be structured without damaging the manipulator 200. 104 and diverter 101 structure 1
It is installed in 04. Manipulator 20
Since 0 has the same configuration as that of the first embodiment, detailed description will be omitted.

FIG. 16 shows the sensors 1a, 1b, 1c, 2a,
It is a figure explaining the attachment position of 2b, 2c, 3a, 3b, 3c, 4a, and 4b. The sensors 1a, 1b, and 1c are non-contact type displacement sensors, which are attached to the end effector 215 so that the detection sensitivity direction faces the front of the palm of the end effector 215, and the end effector 215 is attached to the diverter 10.
Diverter plate 1 of diverter 101 when approaching 1
The distance between the surface of 02 and the palm of the end effector 215 is measured. The sensors 2a, 2b, 2c are non-contact type displacement sensors, and the four claws 216a, 216 of the end effector 215.
Three claws 216a, 21 of b, 216c, 216d
6b and 216c have detection sensitivity directions of nails 216a and 216.
It is attached so as to face the closing direction of b, 216c,
The side surface of the support frame 103 of the diverter 101 and the claw 216a,
The distances 216b and 216c are measured. Sensors 3a, 3
b and 3c are non-contact type distance sensors, which are three claws 216a, 216b of the four claws of the end effector 215,
216c has the detection sensitivity direction of the claws 216a, 216b, 21.
6c is attached so as to face the rotation radius direction of 6c, and the surface of the diverter plate 102 of the diverter 101 and the claws 216a,
The distances 216b and 216c are measured. Sensors 4a, 4
b is a non-contact type proximity switch, which is an end effector 21.
Of the four claws of No. 5, the two claws 216a and 216b that operate with the same drive mechanism have the detection sensitivity directions of the claws 216a and 216b.
The sensor 4 is attached so as to face the tip direction of 6b.
The support frame 10 of the diverter 101 is within the detection range of a and 4b.
When there is 3, the signal is turned on. As shown in FIG.
Claws 216a, 216b, 21 of the end effector 215
When 6c and 216d are closed, the sensors 1a, 1b, 1c and 2
Detection origins P1a, P1b, P1c, P2a, P2b, P2 of a, 2b, 2c, 3a, 3b, 3c, 4a, and 4b.
c, P3a, P3b, P3c, P4a, P4b are (X1a, Y1a, Z1a), (X1b, Y1) in the coordinate system Oe.
b, Z1b), (X1c, Y1c, Z1c), (X2
a, Y2a, Z2a), (X2b, Y2b, Z2b),
(X2c, Y2c, Z2c), (X3a, Y3a, Z3
a), (X3b, Y3b, Z3b), (X3c, Y3
c, Z3c), (X4a, Y4a, Z4a), (X4
b, Y4b, Z4b). Further, the length of the end effector 215 along the Xe axis from the origin of the coordinate system Oe is 1e1 and 1e2 in the positive direction.

The controller 221 exchanges the position data and operation data of the manipulator 200 with the controller 221 described in the first embodiment and the position data correction device 7, and according to an instruction from the position data correction device 7. A function for controlling the manipulator 200 is added.

The operation of the second embodiment will be described below in terms of items.

<Removal of diverter> First, diverter 10
The operation of removing 1 will be described. The positional relationship between the diverter 101 to be removed and the adjacent diverters 101 ′ and 101 ″ is the same as that of the first and fourth embodiments.
Here, as shown in FIG. 5, a coordinate system Od that matches the coordinate system Oe when the end effector 215 grips the diverter 101 is set in the diverter 101. Note that FIG.
7 to 22 are views for explaining the states in each scene when the diverter 101 is removed.

First, the end effector 215 is moved to above the diverter 101, and the palm of the end effector 215 is directed toward the diverter 101. This behavior is
Since it is the same as the first operation of the operation of removing the diverter in the embodiments relating to claims 1 and 4, detailed description thereof will be omitted. FIG. 17 shows the state when the above operation is completed in the coordinate system O
FIG. 18 is a view of the e viewed in the positive direction of the Xe axis.
It is the figure seen in the minus direction of the axis.

Secondly, the end effector 21 is located at a distance z1 'between the end effector 215 and the diverter 101 when the diverter 101 is gripped by using the sensors 1a, 1b, 1c.
5 and the diverter 101 are parallel to each other, that is, the Xe-Ye plane of the coordinate system Oe of the end effector 215 is aligned with the Xd-Yd plane of the coordinate system Od of the diverter 101. First, the end effector 215 is moved linearly in the direction of the diverter 101 without changing its posture. At the same time, the end effector 215 and the diverter plate 102 of the diverter 101 using the sensors 1a, 1b, and 1c.
Measured the distance of 11a1, 11b1, 11c1
Using the end effector 215 and the diverter plate 102
Z1 and the tilt angle α around the swing axes 210 and 212
1, β1 is obtained, the swinging mechanisms 209 and 211 are operated to set the inclination angles α1 and β1 to “0”, and the manipulator 200 is stopped when the distance z1 is a predetermined distance z1 ′. A specific control method will be described below.

The positions of the detection origins P1a, P1b and P1c of the sensors 1a, 1b and 1c shown in FIG. 16 and the measured values 11a.
The inclination angles α1 and β1 can be obtained from the equations (1) and (2) using 1, 11b1 and 11c1, respectively.

Α1 = tan ^-1 [{(Z1a-11a1)-(Z1b-11b1)} / (Y1a-Y1b)] = tan ^-1 [{(Z1a-11a1)-(Z1c-11c1)} / (Y1a -Y1c)] (1) β1 = tan ^-1 [{(Z1b-11b1)-(Z1c-11c1)} / (X1b-X1c)] (2) The distance z1 is the size of the end effector 215. In consideration of this, using the origin of the coordinate system Oe as a reference, the front length 1e1 and the rear length 1e2 in the Ye axis direction are used to obtain from the equation (3).

Z1 = min (z11, z12) z11> z12 → z1 = z12 z12> z11 → z1 = z11 where z11 = 11a1 + (1e1−Y1a) tan α1, z12 = 11a1− (1e1 + 1e2−Y1a) · tan α1 , (3) The position data correction device 7 uses the measured value 1 of the sensors 1a, b, c.
Substituting 1a1, 11b1, and 11c1 into the above equations (1) and (2), the tilt angles α1 and β1 are repeatedly obtained. And α
When 1 and β1 are not “0” respectively, the swing mechanism 20
9 and 211 are moved so that the inclination angles α1 and β1 are “0”. Further, the position data correction device 7 repeatedly calculates z1 using the equation (3), and the distance z1 is the predetermined distance z.
At the same time as 1 ', the operation of the manipulator 200 is stopped. FIG. 19 is a diagram showing the state when the above operation is finished, viewed in the positive direction of the Xe axis of the coordinate system Oe, and FIG. 20 is a diagram showing the same state in the negative direction of the Ze axis. The end effector 215 when gripping the diverter 101 in this state
And the end effector 2 at a distance z1 ′ between the diverter 101 and
15 and the diverter 101 are parallel to each other. That is, the Xe-Ye plane of the coordinate system Oe and the Xd-Yd of the coordinate system Od.
The planes are coincident.

Thirdly, by using the sensors 4a and 4b, the end of the claws 216a and 216b of the end effector 215 is provided with a grip hole 1 provided on the side surface of the support frame 103 of the diverter 101.
It is positioned at the entrance of 06a and 106b. Then, the tips of the claws 216a and 216b have gripping holes 106a and 106b.
End effector 215 when it matches the entrance of the
The coordinate system Oe and the coordinate system Od of the diverter 101 are used to match the coordinate system Oe with the coordinate system Od.

First, the claw 2 attached to the sensors 4a and 4b
When the vehicle 203 is moved in a certain direction of 16a and 216b to close the pawls 216a and 216b, the diverter 10
1 and the end effector 21
After moving 5 in the minus direction of the Ye axis of the coordinate system Oe, the pawl opening / closing mechanism 217a is driven to close the pawls 216a and 216b. Then, as shown in FIG. 21, the operation of the manipulator 200 is controlled so that the end effector 215 is moved to position the tips of the claws 216a and 216b at the positions where the signals of the sensors 4a and 4b are changed from off to on. The tips of the claws 216a and 216b are aligned with the side surface of the support frame 103.

Next, as shown in FIG. 22, the support frame 103
The tips of the claws 216a and 216b are moved along the side surface of the. At this time, the position data correction device 7 uses the grip hole 106a,
The side surfaces of the support frame 103 are interrupted at the entrance of 106b, and the claws 216a, 216a and
Move the tip of 6b. FIG. 23 is a diagram showing a state in which the signals of the sensors 4a and 4b are turned off and the tips of the claws 216a and 216b are stopped, as viewed in the negative direction of the Ze coordinate axis of the coordinate system Oe, and Xd-Yd of the coordinate system Od of the diverter 101. The plane and the Xe-Ye plane of the end effector 215 coincide with each other, and the detection origins P4a and P4b of the sensors 4a and 4b attached to the tips of the claws 216a and 216b are the grip holes 106.
It coincides with the points p4a1 and p4b1 at the entrances of a and b. Here, the position of the point p4a1 in the coordinate system Od of the diverter 101 is (xda, yda, zda), and the point p4
If the position of b1 is (xdb, ydb, zdb), the Xe component xe1 and the Ye component ye1 of the position D of the origin of the coordinate system Od viewed from the coordinate system Oe, the Xe axis around the Ze axis, and the Xd.
The angle γ1 formed by the axes is expressed by the following equations (4), (5) and (6).
Can be obtained using.

Γ1 = tan ^-1 [(X4a-X4b) / (Y4a-Y4b)] + tan ^-1 [(xda-xdb) / (yda-ydb)] (4) xe1 = X4a-xda.cos βe ＋ yda ・ sin βe ＝ X4b −xdb ・ cos βe ＋ ydb ・ sin βe …… (5) ye1 ＝ Y4a −xda ・ sin βe −yda ・ cos βe ＝ Y4b −xdb ・ sin βe −ydb ・ cos βe …… (6 ) Since the positions of the points p4a1 and p4b1 in the coordinate system Od and the positions of the detection origins P4a and P4b in the coordinate system Oe are unchanged, xe1, ye1 and γ1 can be calculated in advance. Therefore, the position data correction device 7 uses the procedure described above to
After the tips of 16a and 16b reach the entrances of the grip holes 106a and 106b, the pawl opening / closing mechanism 217a is operated to temporarily release the pawl 21.
Open 6a and 6b, and obtain xe1, ye1, γ from the above formula
The end effector 215 is moved by 1 to move the coordinate system Oe.
To the coordinate system Od.

With the above operation, the coordinate system Oe of the end effector 215 coincides with the coordinate system Od of the diverter 101, and the end effector 215 is ready to hold the diverter 101. After that, the diverter 101 is gripped by the end effector 215 as in the first embodiment, and the structure 104 is obtained.
From the recesses 107a, b, c, d of the projections 105a, b,
The c and d are pulled out, the diverter 101 is placed on the tray 110, and the removal work is completed.

The diverter 101 can be removed from the structure 104 by the above operation. <Installation of diverter> Next, the operation of installing the diverter 101 will be described.

First, a method of obtaining the position of the installation place U by the sensors 3a, 3b, 3c will be described. Now, the installation place U and its surroundings are the same as those in the embodiments according to claims 1 and 4, as shown in FIG.
Is shown. Since the structure 104 is exposed at the installation location U, steps 112 'and 112 "are provided between the diverters 101' and 101" on both sides, respectively. Further, a concave portion into which the protrusion of the diverter 101 is inserted is exposed. The position of the installation place U is obtained by measuring the positions of the structurally characteristic parts of the fusion reactor 100. Here, a manipulator 200 (not shown)
When the diverter 101 is mounted on the jack mechanisms 108a, 108b, 108c of the installation location U by the end effector 215 of the above, a coordinate system Ou that matches the coordinate system Oe of the end effector 215
Is set at the installation location U.

First, the pawl opening / closing mechanism 217 is installed above the installation location.
a and 217b to operate the claws 216a, 216b, 21
6c and 216d are closed and the sensors 3a, 3b and 3c are directed to the installation location U. Then, the end effector 215 is reciprocated above the installation location U along the Xe axis of the coordinate system Oe. Then, when the sensors 3a and 3b cross over the step 112 'between the diverter 101' and the installation location U, the sensor 3a, 3b is not shown in FIG.
4 changes in the measured values as shown in S3a1 and S3b1
Further, when the sensor 3c crosses over the step 112 "between the diverter 101" and the installation location U, the sensor 3c moves to S3c in FIG.
The changes in the measured values as shown in 1 are shown respectively. First, based on this measurement data, Xu-Yu of the coordinate system Ou of the installation location U
A rotation angle α2 around the Xe axis and a rotation angle β2 around the Ye axis of the plane are obtained. α2 and β2 are end effectors 21
A diverter 101 'obtained by extrapolating (extrapolating) the measured value when 5 is moved by an arbitrary distance 1Xe1 or the data when measuring the distance to the diverters 101', 101 "and the structure 104. , 101 ″ and structure 104
And distances 13a1, 13b1, 13c1 (or 13
a1 ′, 13b1 ′, 13c1 ′), the equations (7) and (8) are used to determine, and the rocking mechanisms 209 and 211 are operated to operate the Xu-Yu plane of the coordinate system Ou of the installation location U and the end effector 215. The Xe-Ye plane of the coordinate system Oe is parallel.

Α 2 = tan ^-1 [{(13a1-Z3a)-(13b1-Z3b)} / (Y3a-Y3b)] = tan ^-1 [{(13a1'-Z3a)-(13b1'-Z3b)} / (Y3a-Y3b)] (7) β2 = tan ^-1 [{(13a1-Z3a)-(13c1-Z3c)} / (Y3a-Y3c)] = tan ^-1 [{(13a1'-Z3a)- (13c1′−Z3c)} / (Y3a−Y3c)] (8) Next, the rotation angle γ of the Xu axis with respect to the Xe axis around the Ze axis.
2 and the distance z2 in the Ze-axis direction are obtained, and the Xe-axis and the Xu-axis are made parallel. The end effector 215 is returned to its original position without changing its posture, and the end effector 215 is reciprocated above the installation location U along the Xe axis of the coordinate system Oe. Then, the sensor 3a causes the step 11 to move when the end effector moves by 1Xea2 as shown in S3a2 of FIG.
Across the sky over 2 ', the measured values are from 13a2 to 13a2'
Changes to. Further, the sensor 3b crosses over the step 112 'when the end effector moves by 1Xeb2 as shown in S3b2 of FIG. 11b, and the measured value is 13b2.
To 13b2 '. 27 and 28 are schematic views of the situation when the sensors 3a and 3b are directly above the step 112 ', as viewed in the negative direction of the Ze axis of the end effector. As shown in FIG. 12a, the change rate of the width of the diverter 101 is ΔWw1 = tanδ, and the position of the edge portion of the step 112 ′ in the coordinate system Ou in the Zu axis direction is zd.
Then, the rotation angle γ2 and the distance z2 are expressed by the following equation (9),
It is calculated from (10), and the rotation mechanism 213 is operated to operate X.
The e-axis and the Xu-axis are made parallel.

Γ2 = tan ^-1 [{(X3a + 1Xea2)-(X3b + 1Xeb2)} / (Y3a-Y3b)]-δ (9) Z2 = zd-13a2 + Z3a = zd-13b2 + Z3b (10) Next, The distance x2 of the Yu-Zu plane with respect to the Ye-Ze plane in the Xe-axis direction is obtained. The end effector 215 is returned to its original position without changing its posture, and the end effector 215 is reciprocated above the installation location U along the Xe axis of the coordinate system Oe. Then, the sensor 3a shows a change in the measured value as shown in S3a3 of FIG. 26, and it can be seen that the sensor 3a has crossed over the step 112 'when moved by 1Xea3, and the sensor 3c shows the change in the measured value as shown in S3c3. Shows,
It can be seen that when it moved by 1Xec3, it crossed the sky over the step 112 ". Already, Xe axis and Xu axis, and Ye axis and Y
u axis, Ze axis and Zu axis are parallel, so distance x2
Is calculated by the equation (11). x2 = (X3a + 1Xea3 + X3c
+ 1Xec3) / 2 …… (11)
Next, the distance y2 in the Ye axis direction of the Xu-Zu plane with respect to the Xe-Ze plane is obtained. First, in consideration of the mounting position of the sensor 3a and the position of the recess 107a, the end effector 21
5 is moved in the Xe axis direction without changing the posture, the end effector 215 is moved along the Ye axis, and the sensor 3a is passed over the recess 107a. Then, the sensor 3a shows a change in the measured value reflecting the concave portion 107a as shown in S3a4 of FIG. In FIG. 29, the positions yGf and 13a at which the signal of the sensor 3a changes from 13a3 to 13a3 '
The intermediate yGc of the position yGb changed from 3 ′ to 13a3 is the position when the sensor 3a passes over the center of the recess 107a. Considering the mounting position of the sensor 3a, the distance y
2 is obtained from the equation (12).

Y2 = yGc-Y3c (12) The position data correction device 7 collects the position of the end effector 215 and the measured values of the sensors 3a, b, c while operating the manipulator 200 according to the above procedure, and the above formula ( 7), (8), (9), (10), (11), (1
2) to obtain α2, β2, γ2, z2, x2, y2 and sequentially correct the posture of the end effector 215 to determine the position of the end effector 215 and x2, y2, z2.
The position of the coordinate system Ou of the installation location U is obtained from the.

By the above operation, the accurate position of the coordinate system Ou set in the installation place U is found. In addition, the above operation is performed by the nail
Since 16a, 216b, 216c, and 216d are closed, the diverter 101 is attached to the end effector 215.
It can also be done after gripping. The operation of correcting the attitude of the end effector 215 by obtaining α2, β2, γ2, z2, and x2 among the above operations is the diverter 10 adjacent to the diverter 101 to be removed as shown in FIG.
Since there is a step between 1 ′ and 101 ″, it is also effective in the operation of removing the diverter 101.

The diverter 101 is connected to the end effector 21.
When it is gripped and lifted by 5, the claws 216a, 216b, 2
16c, 216d and gripping holes 106a, 106b, 106
Since there is a gap between c and 106d, Ze of the coordinate system Oe
Although it is biased and constrained by gravity in the minus direction of the axis, it moves in the Xe-Ye plane. Therefore, the sensor 2
The position of the diverter 101 with respect to the end effector 215 is obtained using a, 2b, and 2c, and the end effector 2
The position of 15 is corrected accordingly and the diverter 101 is installed. Below, the relative position of the diverter 101 with respect to the end effector 215, that is, the position W of the diverter 101 in the coordinate system Oe of the end effector 215 (hereinafter,
A method of detecting the position W) will be described.

FIG. 30 shows the relationship between the support frame 103 in the coordinate system Oe of the end effector 215 and the detection origins P2a, P2b, P2c of the sensors 2a, 2b, 2c, and the measured data 12a1, 12b1, 12c1. is there. In FIG. 30, the measurement data 12a1 is Xe between the measurement origin P2a of the sensor 2a and the side surface of the support frame 103.
Indicates the distance in the direction. Similarly, 12b1 and 12c1 are X between the measurement origins P2b and P2c and the side surface of the support frame 103, respectively.
Indicates the distance in the e direction. The position W of the diverter 101 can be obtained from the mounting positions of the sensors 2a, b, c, the geometrical shape of the support frame 103, and the measurement data 12a1, 12b1, 12c1. Components (X2a, Y2a), (X2b, Y2b) (X in the Xe-Ye plane of the positions of the sensors 2a, 2b, 2c in the coordinate system Oe of the end effector 215.
2c, Y2c), and the change rate ΔWw of the width of the support frame 103.
2 = tan ζ, the width W0 of the support frame 103 in the middle of the gripping holes 106a and 106b, and the xe component xe of the position W
W, ye component yeW, and βe component βeW are expressed by the following equation (1
It can be calculated from 3), (14) and (15).

ΒeW = tan ⁻¹ [{(X2b + 12b1) − (X2a + 12a1)} / (Y2a−Y2b)] + ζ …… (13) xeW = {(X2c−12c1) cos (βeW + ζ) / (2 · cos ζ ) + (Y2c-Y2a) sin (βeW + ζ) / (2 ・ cos ζ) + (X2a ＋ 12a1) cos (βeW−ζ) / (2 ・ cos ζ)} ・ cos βeW + {W0 / (2 ・ △ Ww2)- (X2c-12c1) cos (βeW ＋ ζ) / (2 ・ sin ζ) − (Y2c−Y2a) sin (βeW ＋ ζ) / (2 ・ sin ζ) ＋ (X2a ＋ 12a1) cos (βeW−ζ) / (2 ・ sin ζ) } ・ Sin βeW …… (14) yeW ＝ Y2a ＋ {(X2c-12c1) cos (βeW ＋ ζ) ／ (2 ・ cos ζ) ＋ (Y2c−Y2a) sin (βeW ＋ ζ) ／ (2 ・ cos ζ) ＋ (X2a + 12a1 ) cos (βeW−ζ) / (2 ・ cos ζ)} ・ sin βeW − {W0 / (2 ・ △ Ww2) − (X2c-12c1) cos (βeW + ζ) / (2 ・ sin ζ) − (Y2c−Y2a ) sin (βeW ＋ ζ) / (2 ・ sin ζ) ＋ (X2a ＋ 12a1) cos (βeW−ζ) / (2 ・ sin ζ)} ・ cos βeW …… (15) The position data correction device 7 includes the sensors 2a, b, The measured values 12a1, 12b1, 12c1 of c are taken in and the above formula (1
XeW / yeW / βe from 3), (14) and (15)
Ask for W.

As described above, the sensors 3a, 3b,
The position of the coordinate system Ou of the installation location U can be known using 3c,
The end effector 21 using the sensors 2a, 2b, 2c
The position W of the diverter 101 when grasped at 5 can be known. The diverter 101 can be installed at the installation place U by operating the manipulator 200 using these results.

According to the second embodiment, the following effects can be obtained.

(1) The diverter 10 for removing the end effector 215 by measuring the position of a characteristic portion of the diverter 101 using the sensors 1a, 1b, 1c, 4a, 4b while moving the end effector 215.
The end effector 215 can be accurately positioned at the position where 1 is gripped, and the diverter 101 can be removed.

(2) Using the sensors 3a, 3b, 3c while moving the end effector 215, the edges 112 ', 1' of the diverters 101 ', 101 "on both sides of the installation location U are used.
By measuring the position and distance of 12 ″ and the position of the recess 107a of the installation place U, the position and inclination of the installation place U can be obtained. Further, the fusion reactor 100 can be removed in a direction other than the radial direction. It is possible to obtain the position and orientation of the diverter 101. (3) The position of the support frame 103 of the diverter 101 held by the sensors 2a, 2b, and 2c is measured, so that the diverter 101 with respect to the end effector 215 is measured.
The position of can be calculated.

(4) The diverter 101 is installed by operating the manipulator 200 using the position of the installation place U and the position of the diverter 101 with respect to the end effector 215 obtained by the effects of the above (2) and (3). Can be installed in U.

(5) Since the end effector 215 moves close to the diverter 101 to be removed and the installation place U, the sensors 1a, 1b, 1c, 2a, 2b, 2c, 3
Even if the sensors a, 3b, and 3c have a narrow measurement range, the positions of the diverter 101 and the installation place U to be removed can be obtained.

(6) The sensors 1a, 1b, 1c, 2a are collected by collecting the measurement values or detection values of the sensors while moving the end effector 215 or combining the detection results or measurement values of a plurality of sensors. 2b, 2c,
Even if the functions of 3a, 3b, 3c, 4a, and 4b are poor, the positions of the diverter 101 and the installation place U to be removed can be obtained.

FIG. 31 is a block diagram for explaining the configuration of the third embodiment of the present invention. As shown in FIG. 31, this embodiment is different from the second embodiment in that the sensors 2a, 2b, 2
c, 3a, 3b, 3c, instead of the structure 1 of the installation location U
The sensors 5a, 5b, 5c and 5d for detecting the concave portions 107a, 107b, 107c and 107d of No. 04 are connected to the diverter 1.
The sensor 5 is provided between the end effector 215 and the end effector 215.
The connector 6a for transmitting and receiving the signals a, 5b, 5c, 5d and the sensors 5a, 5 for engaging with the connector 6a.
It has a configuration in which a connector 6b for securing a route for transmitting the signals b, 5c and 5d to the position data correction device 7 is added.

FIG. 32 shows the end effector 2 of this embodiment.
It is the perspective view which looked at the diverter 101 grasped by 15 from the slanting bottom. The sensors 5a, 5b, 5c, 5d are non-contact type proximity sensors, and the protrusions 105a, 105b, 105c, 1
Each of them is attached to the tip of 05d, and turns on a signal when the substantial part of the structure 104 approaches within the detection range. Further, the connector 6a is mounted in the grip hole 106d, and the signals of the sensors 5a, 5b, 5c, 5d pass through the inside of the diverter 101 and are connected to the connector 6a. On the other hand, the connector 6b is connected to the end effector 21.
5 is provided at the tip of the claw 216d. And FIG.
As shown in FIG. 3, by inserting the claw 215d into the grip hole 106d, the connector 6a and the connector 6b are connected to each other, so that signals can be exchanged. The floating mechanism 113 prevents the connector 6a from coming off the connector 6b even if the position of the claw 216d is displaced.

The operation of the third embodiment will be described in the following sections.

<Removal of diverter> When removing the diverter, the end effector 215 is placed at a position where the diverter 101 is gripped while the positions are corrected using the sensors 1a, 1b, 1c and the sensors 4a, 4b as in the second embodiment. Position and perform. The details are the same as those in the second embodiment, so the description thereof will be omitted.

<Installation of diverter> Now, it is assumed that no diverter 101 is placed on the structure 104 as shown in FIG. And the jack mechanism 1 of the structure 104
08a, 108b, 108c, 108a ', 108
b ', 108c', 108a ", 108b", 108
c ″ is not operating and rods 109a, 109b, 10
9c, 109a ', 109b', 109c ', 109
The a ", 109b", and 109c "do not protrude from the surface of the structure 104. In this state, the present embodiment operates as follows.

First, as in the second embodiment, the tray 110 is used.
The diverter 101 placed on the above is gripped by the end effector 215. Then, the connector 6b of the end effector and the connector 6a of the diverter 101 are connected, and the sensors 5a, 5b, 5c, 5d operate.

Second, the diverter 101 is installed at the installation location U.
Move to the sky above, and the protrusions 105a, 105b, 105c,
105d is approached toward the substantial part of the structure 104. At this time, the position data correction device 7 detects the sensors 5a, 5
The operation of the manipulator 200 is controlled so that the tips of the protrusions 105a, 105b, 105c, 105d are positioned at the positions where the signals of b, 5c, 5d are turned from off to the tips of the protrusions 105a, 105b, 105c, 105d. Are aligned with the surface of the structure 104.

Third, the projections 105a, 105b, 105c, 105 without changing the attitude of the end effector 215.
The surface of the structure 104 is scanned with the tip of d, and the recess 107
a, 107b, 107c, 107d to the sensors 5a, 5
b, 5c, 5d, and the protrusions 105a, 10 at the entrance are detected.
Position 5b, 105c, and 105d. First, the position of the Oe coordinate system in the Ye axis direction is changed little by little, and the signals of the sensors 5a, 5b, 5c, and 5d are collected while moving in the Xe axis direction. Then, the protrusions 105a, 105b, 105
The tips of 105c and 105d are recessed portions 107a and 107b,
Sensor 5 when crossing the entrances of 107c and 107d
Since the signals a, 5b, 5c, and 5d are turned off, FIG.
The data shown in Fig. 35 is obtained, and the sensor 5i (i
It can be seen that the center point p5i of the rectangular portion Ti where the signals a, b, c, d) are off is the center of the recess 107i. Therefore, the position data correction device 7 controls the operation of the manipulator 200 to position the protrusions 105a, 105b, 105c, 105d at the points p5a, 5b, 5c, 5d.

As described above, the sensors 5a, 5b,
5c and 5d are used to form the recesses 107a and 107 of the installation location U.
The tips of the protrusions 105a, 105b, 105c, 105d of the diverter 101 can be positioned at the entrances of the b, 107c, 107d, and the jack mechanisms 108a, 108b, 10
8c and 108d are operated to activate rods 109a and 109b,
The diverter 101 can be installed in the installation place U by lowering the diverter 101 to the installation place U after the 109c and 109d are taken out. In addition, the end effector 21
Even if 5 is smaller than the diverter 101, the position of the installation place U can be measured without being blocked by the diverter 101.

As described above, according to the third embodiment, the diverter 1 held by the end effector 215 is used.
The sensors 5a, 5b, 5c, and 5d attached to the ends of the projections 105a, 105b, 105c, and 105d of No. 01 detect the recesses 107a, b, c, and d of the structure 104, so that they can be installed without being blocked by the diverter 101. Place U
The position of the projection 105 can be measured regardless of the positional relationship between the end effector 215 and the gripped diverter 101.
a, 105b, 105c, 105d as recesses 107a, 1
Can be positioned at the entrance of 07b, 107c, 107d,
The diverter 101 can be installed on the structure 104.

In the third embodiment, the sensor 5a,
5b, 5c, and 5d are distance sensors. Then, the structure assembling / disassembling apparatus having the effect of the second embodiment in addition to the effect of the third embodiment can be obtained.

[0086]

The structure assembling / disassembling apparatus of the present invention has the following effects.

By making a structure in which a gap is formed between the structural members when they are gripped by the end effector,
There is an effect that the positional deviation of the structural member or the installation place is absorbed, and the structural member is removed from the structure or the diverter is installed in the structure without applying an excessive load to the manipulator.

Further, by attaching the sensor to the end effector, the positional relationship between the end effector and the grasped structural member can be obtained, and even if the sensor has a narrow measurement range, the manipulator is operated to install the sensor on the structural member or the installation. A sensor can be brought close to a place to detect a characteristic part and measure its position and inclination. In addition, even if the sensor has a poor function, by removing the measured values and detected values of the sensor while operating the manipulator, or combining the detected results and measured values of multiple sensors, the structural member and The location of the installation location can be calculated. As a result, by accurately aligning the position / tilt / movement direction of the end effector with the structural member, it is possible to grasp and pull out, or install the structural member precisely to the position / tilt of the installation place.

Further, the sensor is provided on the structural member, the connector for transmitting and receiving the sensor signal is provided to the structural member and the end effector, and the characteristic member of the structure is searched by the sensor, whereby the structural member is shielded. It is possible to measure the position of the installation place without having to do so and to position the structural member at the installation place regardless of the positional relationship between the end effector and the grasped structural member.

Furthermore, the diverter, which is a structural member damaged by high temperature plasma during nuclear fusion, can be automatically replaced.

[Brief description of drawings]

FIG. 1 is a diagram illustrating a schematic configuration of a first embodiment of the present invention.

FIG. 2 is a perspective view of the end effector 215 of the first embodiment.

FIG. 3 is a front view when the diverter 101 is gripped by the end effector 215.

FIG. 4 is a side view when the diverter 101 is held by the end effector 215.

FIG. 5 is a view showing a positional relationship between the diverters 101 ′ and 101 ″ adjacent to the diverter 101 in the operation of removing the diverter 101 of the first embodiment.

FIG. 6 is a side view in the first stage of the operation of removing the diverter of the first embodiment.

FIG. 7 is a side view in the second stage of the operation.

FIG. 8 is a side view in the third stage of the operation.

FIG. 9 is a side view in the fourth stage of the operation.

FIG. 10 is a perspective view for explaining the situation of the place where the diverter 101 is installed and its surroundings in the operation of installing the diverter 101 of the first embodiment.

FIG. 11 is a side view in the first stage of the operation of installing the diverter 101 of the first embodiment.

FIG. 12 is a side view showing the second stage of the operation of installing the diverter 101 of the first embodiment.

FIG. 13 is a side view showing the third stage of the operation of installing the diverter 101 of the first embodiment.

FIG. 14 is a side view showing the fourth stage of the operation of installing the diverter 101 of the first embodiment.

FIG. 15 is a block diagram showing a schematic configuration of a second embodiment of the present invention.

FIG. 16 is a diagram showing the sensors 1a to 1c and 2a of the second embodiment.
2c, 3a to 3c, and 4a to 4c.

FIG. 17 is a side view of the first stage of the operation when removing the diverter 101 according to the second embodiment.

FIG. 18 is a front view of the first stage of the operation when removing the diverter 101 according to the second embodiment.

FIG. 19 is a side view of the second stage of the operation when removing the diverter 101 according to the second embodiment.

FIG. 20 is a front view of the second stage of the operation when removing the diverter 101 according to the second embodiment.

FIG. 21 is a front view of the third stage of the operation when removing the diverter 101 according to the second embodiment.

FIG. 22 is a side view of the third stage of the operation when removing the diverter 101 according to the second embodiment.

FIG. 23 is a view showing a claw 2 of the end effector 216 in the operation of removing the diverter 101 of the second embodiment.
16a and 216b are provided at the grip hole 10 of the diverter 101.
The figure which looked at the state positioned at the entrance of 6a, 106b from the end effector side in the minus direction of the Ze coordinate axis of coordinate system Oe.

FIG. 24 is a diagram showing the relationship between the measured value 13a of the sensor 3a and the position x of the vehicle 203 in the operation of installing the diverter 101 of the second embodiment.

FIG. 25 is a diagram showing the relationship between the position x of the vehicle 203 and the measured value 13b of the sensor 3b in the operation of installing the diverter 101 of the second embodiment.

FIG. 26 is a diagram showing the relationship between the position x of the vehicle 203 and the measured value 13c of the sensor 3c in the operation of installing the diverter 101 of the second embodiment.

FIG. 27 is a coordinate diagram of the end effector 215 when the detection origin P3a of the sensor 3a is directly above the edge E1 on the diverter 101 'side adjacent to the diverter 101 in the operation of installing the diverter 101 in the second embodiment. The figure which looked at the positional relationship of the system Oe and the diverter 101 from the end effector 215 to the minus direction of the Ze coordinate axis of the coordinate system Oe.

28 is a coordinate of the end effector 215 when the detection origin P3b of the sensor 3a is directly above the edge E1 on the diverter 101 'side adjacent to the diverter 101 in the operation of installing the diverter 101 in the second embodiment. FIG. The figure which looked at the positional relationship of the system Oe and the diverter 101 from the end effector 215 to the minus direction of the Ze coordinate axis of the coordinate system Oe.

FIG. 29 is a view showing Y of the end effector 215 in the operation of installing the diverter 101 of the second embodiment.
The figure which shows the relationship of the measured value 13a of the sensor 3a with respect to the position y of the e-axis direction.

FIG. 30 is a diagram illustrating an operation of installing the diverter 101 of the second embodiment, in which the detection origins P2a to P2c of the support frame 103 and the sensors 2a to 2c in the coordinate system Oe of the end effector 215, and the measurement data 1 are obtained.
The figure which shows the relationship of 2a1-12c1.

FIG. 31 is a block diagram showing a schematic configuration of a third embodiment of the present invention.

FIG. 32 is a perspective view showing the diverter 101 gripped by the end effector 215 of the third embodiment as seen obliquely from below.

FIG. 33 is a view showing a case where the claw 216d of the third embodiment is used for gripping the hole 10;
Sectional drawing when inserting in 6d.

FIG. 34 is a view for explaining the situation of the installation location of the diverter 101 and its surroundings in the operation of installing the diverter of the third embodiment.

FIG. 35 shows the signal state of the sensor 5i (i = a · b · c · d) when the end effector 215 operates above the installation place U in the operation of installing the diverter of the third embodiment. FIG.

FIG. 36 is a schematic diagram showing the overall configuration of a nuclear fusion reactor.

FIG. 37 is an enlarged perspective view showing a diverter and its surroundings in the fusion reactor.

FIG. 38 is a view for explaining an example of a conventional structure assembling / disassembling apparatus.

FIG. 39 is a view for explaining another example of a structure assembling / disassembling apparatus according to a conventional technique.

FIG. 40 is a view for explaining still another example of the structure assembling / disassembling apparatus according to the prior art.

[Explanation of symbols]

0 ......... Structure assembling / disassembling device 1a, 1b, 1c ... Sensor 2a, 2b, 2c ... Sensor 3a, 3b, 3c ... Sensor 4a, 4b ... Sensor 5a, 5b, 5c, 5d ... Sensor 6a, 6b ... Connector 7 ... Position data correction device 8 ... Position correction device 100 ... Fusion reactors 101, 101 ', 101 "... Diverters 102, 102', 102" ... Diverter plate 103 ... Support frame 104 ... Structures 105a, 105b, 105c, 105d, 105
a ', 105b', 105c ', 105d', 105
a ″, 105b ″, 105c ″, 105d ″ ... Protrusions 106a, 106b, 106c, 106d ... Gripping holes 107a, 107b, 107c, 107d ... Recesses 108a, 108b, 108c, 108a ′, 108
b ', 108c', 108a ", 108b", 108
c ″ ... Jack mechanism 109a, 109b, 109c, 109a ′, 109
b ', 109c', 109a ", 109b", 109
c "... rod 110 ... tray 111 ... maintenance ports 112 ', 112" ... step 113 ... floating mechanism 200 ... manipulator 201 ... track 202 ... traveling mechanism 203 ... vehicle 204 Center of track 205 Rotation mechanism 206 Slide mechanism 207 Extension mechanism 208 Arm 209 Swing mechanism 210 Swing shaft 211 Swing mechanism 212 ...... Rotating shaft 213 ...... Rotation mechanism 214 ...... Rotary shaft 215 ...... End effectors 216a, 216b, 216c, 216d ... Claws 217a, 217b ... Claw opening / closing mechanisms 218a, 218b ... Rotation shafts 219a-219i ... Position detector 220 ... Operating mechanism 221 ... Controller 222 ... Joint 223 ... Arc link 224 ... Road support device 301 .... Multi-joint arm 302 .... Track storage means 303 .... Support arm 304 .... Track laying means U .... Installation location of diverter 101 Om .... Coordinate system Oe of manipulator 200. Coordinate system Od of end effector 215 ... Coordinate system Ou of diverter 101 ... Coordinate system θa to θi of installation location U ... Signals of position detectors 219a to 219i

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Satoshi Kakudate 801-1, Mukayama, Naka-machi, Naka-gun, Naka-gun, Ibaraki Prefecture Japan Nuclear Research Institute (72) Naokazu Kanamori 801-1, Mukayama, Naka-machi, Naka-gun, Ibaraki Japan In-house (72) Inventor Masataka Hotta 801-1 Mukayama, Naka-machi, Naka-gun, Naka-gun, Ibaraki Japan Atomic Energy Research Institute (72) Inventor Kiyoshi Oka 801-1 Mukai-yama, Naka-machi, Naka-gun, Naka-gun, Ibaraki Prefecture (72) Invention Eisuke Tada 801-1, Mukayama, Naka-machi, Naka-cho, Naka-gun, Ibaraki Prefecture (72) Inventor, Japan Atomic Energy Research Institute (72) Yasuhiro Matsumoto 1st Toshiba-cho, Fuchu-shi, Tokyo Tokyo Fuchu factory (72) Inventor Shin Murakami Tokyo-Fuchu No. 1 in Toshiba Town, Fuchu factory, Toshiba (72) Inventor Tadashi Munakata No. 1 in Toshiba Town, Fuchu, Tokyo Tokyo, Fuchu factory (56) ) Reference JP-A-4-300180 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B25J 3/00-3/04 B25J 9/10-9/22 B25J 13/00 -13/08 B25J 19/02-19/06 G21B 1/00

Claims (4)

(57) [Claims] 1. An end effector for gripping a structural member in a fusion reactor, a manipulator for three-dimensionally positioning the end effector by a plurality of actuators to assemble and disassemble the structural member, and the structural member. A sensor attached to detect the structural member or a characteristic structural portion of the place where the structural member is installed, or a sensor to detect a distance between the end effector and the structural member or the characteristic structural portion; A connector provided between a member and the end effector for transmitting and receiving the detection value of the sensor to and from the end effector, and generation of operation data of the manipulator from the detection value of the sensor and the position of the manipulator. A position data correction device having a function of starting and stopping the operation of the manipulator, An apparatus for assembling and disassembling a structure, wherein a position of the structural member to be gripped or a position where the structural member is installed is calculated based on an operation position of a manipulator and a detection value of the sensor. 2. The sensor and the end effector
The device according to claim 1, wherein the device is attached to the component member.
Assembly and disassembly device structure creation described. 3. An end effector for gripping a structural member in a fusion reactor, and a manipulator for assembling and disassembling the structural member by positioning the end effector three-dimensionally by a plurality of actuators. The three-dimensional gap that absorbs the positional deviation from the place where the structural member is installed is formed between the grip portion of the end effector and the structural member. Assembly and disassembly equipment for structures. Wherein said structural member, assembly and disassembly device according to any one Kouki mounting structure of claim 1 to claim 3, characterized in that a part of the diverter or diverter of a fusion reactor.