JP6959565B2 - Remote processing equipment and remote processing method - Google Patents

Description

The present invention relates to a remote processing apparatus and a remote processing method.

In recent years, various devices have been proposed in order to realize machining in a narrow and inaccessible place (see, for example, Patent Document 1-2).

Japanese Unexamined Patent Publication No. 2003-94236 Japanese Unexamined Patent Publication No. 2006-15413

If you want to machine a specific rod in a narrow space where pipes and other rods gather, you have to pass a machining tool through the gap between the rods. Then, during machining, the tool is supported so that it can withstand the reaction force received from the rod-shaped body. In addition, as a narrow place where rod-shaped bodies gather, for example, a pressure tube type reactor as used in the advanced thermal reactor prototype reactor facility, a combustion chamber of a boiler where water pipes are densely packed, and spent nuclear fuel are stored. Examples include fuel racks for fuel pools and chemical plants with a large number of pipes.

However, when a tool is inserted into a narrow space where rod-shaped bodies gather, for example, with a long tool such as a robot arm, the tool is placed in such a long space so that the tool can withstand the reaction force received from the rod-shaped body during machining. It is difficult to support with the tools of. Therefore, the present application provides a remote processing device and a remote processing method that can withstand the reaction force received from the rod-shaped body even if the rod-shaped body is inserted into a narrow place where the rod-shaped body is densely processed and the specific rod-shaped body is machined.

In order to solve the above problems, in the present invention, a processing tool for processing a rod-shaped body is provided at the tip of an arm provided with a swing mechanism and a twisting mechanism, and a movable protruding member that can be taken in and out of the processing tool is provided. When processing a rod-shaped body with the processing tool, the protruding member is projected to come into contact with another rod-shaped body, and the reaction force is received by this.

Specifically, the present invention is a remote processing device that performs machining on a specific rod-shaped body of an aggregate in which rod-shaped bodies are assembled, and is a processing tool for processing the rod-shaped body and a first method of swinging the processing tool. An arm in which a machining tool is provided on the tip side via a swing mechanism, a first arm having a twisting mechanism that relatively twists the tip side and the opposite side, and a second arm that swings the first arm. A specific rod shape in which a second arm provided on the tip side of the first arm and a movable protruding member that can be taken in and out of the machining tool are projected from the machining tool via the swing mechanism of the machining tool, and the machining tool performs machining. It is provided with a reaction force receiving portion that supports a processing tool that is brought into contact with another rod-shaped body in the vicinity of the body and receives a reaction force from a specific rod-shaped body.

In such a remote processing device, for example, in a state where at least two or more arms are inserted into the gap of the rod-shaped body from the side of the aggregate, one of the arms is made parallel to the rod-shaped body and then swings. Since the machining tool can be made to swing or the machining tool provided at the tip of the arm can be swung, the machining tool can be arranged at an appropriate position in the assembly body. The machining tool is provided with a movable protruding member, and when machining is performed, the protruding member comes into contact with a rod-shaped body around the machining target to support the machining tool. As a result, the processing tool that receives the reaction force does not move and interfere with processing.

The machining tool, the first arm, and the second arm are inserted into the assembly from the side in a linearly extended state, and the first arm includes the first arm and the second arm. In the state where the connecting portion of the above is located in the assembly body, it is swung by the second swing mechanism so as to be parallel to the rod-shaped body, and the machining tool is set so that the swing direction of the first swing mechanism is directed to the specific rod-shaped body. After the orientation of the tip end side of the first arm is adjusted by the twisting mechanism, the first swing mechanism may swing so as to face a specific rod-shaped body. By moving the machining tool and each arm in this way, the machining tool is placed at an appropriate position in the assembly body, so that the rod-shaped body can be machined with the machining tool.

Further, the aggregate may be a rod-shaped body arranged vertically and horizontally with a gap between them. If the assembly is configured in this way, the machining tool and each arm can be inserted into the assembly from the side in a linear form, so that the machining tool can be easily arranged at a desired position. It becomes.

The present invention can also be grasped from the aspect of the method. For example, the present invention is a remote processing method for machining a specific rod-shaped body of an aggregate in which rod-shaped bodies are assembled, and the processing tool, the first arm and the second arm provided in the above-mentioned remote processing apparatus are provided. , Inserted into the assembly from the side in a linearly extended state, and the first arm is parallel to the rod-shaped body in a state where the connecting portion between the first arm and the second arm is located in the assembly. After swinging with the second swing mechanism so that the machining tool is adjusted by the twisting mechanism so that the swing direction of the first swing mechanism is directed to a specific rod-shaped body, the direction of the tip side of the first arm is adjusted. , It may swing by the first swing mechanism so as to face a specific rod-shaped body.

With the above-mentioned remote processing device and remote processing method, even if a specific rod-shaped body is machined by inserting it into a narrow place where the rod-shaped bodies are densely packed, it can withstand the reaction force received from the rod-shaped body.

FIG. 1 is a diagram showing a sampling device according to an embodiment. FIG. 2 is a diagram showing details of each part of the sampling device. FIG. 3 is a diagram showing a feasible operation of the sampling device. FIG. 4 is a diagram showing an example of an application object of the sampling device. FIG. 5 is an overall configuration diagram showing the internal structure of the reactor from the side. FIG. 6 is a partially enlarged view showing the internal structure of the reactor from above. FIG. 7 is a diagram showing an operation example of the sampling device when collecting a sample of the control rod guide tube. FIG. 8 is a diagram showing a processing tool in a state where the sample is ready to be collected. FIG. 9 is a diagram showing an operation example of the sampling device when collecting a sample of the vibration isolator. FIG. 10 is a diagram showing a processing tool in a state where the sample is ready to be collected.

Hereinafter, embodiments of the present invention will be described. The embodiments shown below are one aspect of the present invention, and the technical scope of the present invention is not limited to the following aspects.

FIG. 1 is a diagram showing a sampling device according to an embodiment. The sampling device 1 is a remote processing device that performs machining on a specific rod-shaped body in which rod-shaped bodies are assembled, and as shown in FIG. 1, a processing tool 2 and an arm 3 (“first” in the present application). It is provided with an arm (an example of an "arm") and an arm 4 (an example of a “second arm” referred to in the present application). The sampling device 1 is remotely controlled through an operation panel operated by an operator. The processing tool 2 may be provided with an imaging means for displaying the state of the vicinity of the processing tool 2 on the monitor of the operator.

FIG. 2 is a diagram showing details of each part of the sampling device 1. The processing tool 2 for forming the tip portion of the sampling device 1 includes a body 20, a blade 21, a stopper 22, a reaction force receiver 23 (an example of the “reaction force receiver” in the present application), and a shaft 24 (referred to in the present application). It is an example of a "first swing mechanism"). The body 20 is provided at the tip of the arm 3 via the shaft 24. Drive devices are connected to the body 20, and the body 20 can be swung by remote control within a range of about 90 degrees around the shaft 24. The body 20 has a built-in mechanism for rotationally driving the blade 21 to move the blade 21 and the reaction force receiver 23 in and out. The blade 21 is a rotary cutting blade, and exhibits, for example, a function of cutting a rod-shaped body and accommodating a sample cut out by cutting. The stopper 22 is a member that plays a role of suppressing excessive biting of the cutting tool 21 into the rod-shaped body during cutting, and keeps the positional relationship between the cutting tool 21 and the rod-shaped body appropriately by coming into contact with the rod-shaped body to be cut. .. The reaction force receiver 23 is a member that is evenly arranged at 90 degree intervals along the circumferential direction on the outer peripheral surface of the body 20, and protrudes or retracts from the outer peripheral surface of the body 20 by remote control. The reaction force receiver 23 is a member that comes into contact with the structure at the place where the sampling device 1 is used so that the processing tool 2 does not move due to the reaction force received from the rod-shaped body when the cutting tool 21 cuts the rod-shaped body. The amount of protrusion and the location of protrusion are designed according to the dimensions of the structure. The machining tool 2 includes a shaft 24, and it is the body 20 that rotates about the shaft 24, not the shaft 24. However, for convenience of explanation, the body 20 rotates about the shaft 24 in the following. This may be expressed as the rotation of the processing tool 2.

Further, the arm 3 provided with the processing tool 2 at the tip includes an arm body 31, a shaft 32, and a cylinder 33. The arm body 31 is a rod-shaped body extending from the tip of the arm 4 via a shaft 32 (an example of the “first swing mechanism” referred to in the present application). The arm body 31 has a built-in mechanism for expanding and contracting the arm body 31 in the longitudinal direction, and can be expanded and contracted by remote control. Further, the arm body 31 has a built-in mechanism for relatively twisting the tip side on which the processing tool 2 is provided and the side on which the arm 4 is provided, and can be twisted by remote control. Further, the arm body 31 can be rotated in a range of 90 degrees around the shaft 32 by a cylinder 33 that is expanded and contracted by remote control. The arm 3 includes a shaft 32 and a cylinder 33 in addition to the arm body 31, and it is the arm body 31 that rotates about the shaft 32, not the shaft 32 or the cylinder 33. In the above, the rotation of the arm body 31 around the shaft 32 may be expressed as the rotation of the arm 3.

Further, the arm 4 provided with the arm 3 at the tip includes an arm body 40, a clamp cylinder 41, and a protrusion 42. Like the arm body 31, the arm body 40 is a stretchable rod-shaped body having a built-in mechanism for expanding and contracting the arm body 40 in the longitudinal direction by remote control. Further, the arm body 40 includes a clamp cylinder 41 that holds the posture of the entire sampling device 1 by pressing the inner peripheral surface of the tube into which the arm body 40 is inserted. The clamp cylinder 41 protrudes or retracts from the outer peripheral surface of the arm body 40 by remote control. The protrusion 42 is a protrusion that protrudes from the protruding direction of the clamp cylinder 41 in a direction inclined by 120 degrees around the central axis of the arm body 40, and the clamp cylinder 41 presses the inner peripheral surface of the pipe into which the arm body 40 is inserted. When doing so, it comes into contact with the inner peripheral surface.

FIG. 3 is a diagram showing a feasible operation of the sampling device 1. As shown in FIG. 3 (1), the sampling device 1 can expand and contract the arm 3 and the arm 4. Further, as shown in FIG. 3 (2), the sampling device 1 can twist the arm 3. Further, in the sampling device 1, as shown in FIG. 3 (3), the processing tool 2 rotates around the shaft 24, and the arm 3 is centered around the shaft 32.
Can be bent at the shaft 24 and the shaft 32 by rotating. Since the sampling device 1 can realize such an operation, for example, as illustrated below, the sampling device 1 can be inserted into a narrow place where rod-shaped bodies are densely packed, and a specific rod-shaped body can be machined.

FIG. 4 is a diagram showing an example of an application object of the sampling device 1. The sampling device 1 can be used, for example, when sampling from the reactor 100 of the Advanced Thermal Reactor prototype reactor facility Fugen in Fukui Prefecture, Japan. Advanced Thermal Reactor Prototype Reactor Facility Fugen's reactor 100 is a pressure tube type reactor, and as shown in FIG. 4, a shield 102U that blocks radiation emitted by a nuclear reaction in the core tank 101 and the core tank 101. , 102S, 102B. In the shield 102S, a helium pipe 102SP of a helium circulation system that circulates helium gas supplied into the reactor 100 inside and outside the reactor 100 during normal operation of the reactor 100 physically enters the inside of the reactor 100. It is provided as one of the accessible routes to. The radiation dose in the reactor 100 that has been used for many years is relatively high. Therefore, it is required to collect a sample of the structure in the reactor 100 used for evaluating the radioactivity inventory of the reactor 100 to be dismantled while suppressing the exposure dose of the operator as much as possible.

FIG. 5 is an overall configuration diagram showing the internal structure of the reactor 100 from the side. Further, FIG. 6 is a partially enlarged view showing the internal structure of the reactor 100 from above. The reactor 100 has a structure in which a calandria tank 103 whose inside is filled with heavy water and helium during operation is covered with shields 102U, 102S, 102B from the outside. The core tank 101 is erected in the calandria tank 103. Further, the reactor 100 has a structure in which 224 pressure pipes 105, each loaded with a fuel assembly, penetrate the central portion of the reactor 100 up and down. As can be seen from FIG. 6, the pressure pipes 105 are regularly arranged vertically and horizontally with a gap between them. The pressure pipe 105 is inserted through the Kalandria pipe 104 and forms a double pipe structure together with the Kalandria pipe 104. In addition to the calandria pipe 104 and the pressure pipe 105, 49 control rod guide pipes 106 for guiding the control rods inserted into and removed from the reactor 100 are provided in the center of the reactor 100. The control rod guide pipes 106 are arranged in the gaps of the Calandria pipes 104, and are discretely arranged at appropriate locations in the center of the reactor 100. Further, in the central portion of the reactor 100, neutron detector guide tubes 108 for guiding the neutron detector used as the nuclear instrument are discretely arranged at appropriate positions. The calandria pipe 104 and the control rod guide pipe 106 are fixed from the side in the vicinity of the central portion in the vertical direction by a pipe plate-shaped vibration isolator 107 horizontally arranged in the core tank 101.

The calandria pipe 104, the pressure pipe 105, and the control rod guide pipe 106 are all examples of the "rod-shaped body" referred to in the present application. Further, since the calandria pipe 104, the pressure pipe 105, and the control rod guide pipe 106 are all gathered at the central portion of the reactor 100, they form a form corresponding to an example of the “aggregate” referred to in the present application.

The sampling device 1 is inserted into the reactor 100 having such a structure from the side, and a part of the control rod guide tube 106 can be sampled as a sample. That is, the sampling device 1 is inserted into the reactor 100 from the helium pipe 102SP. Then, the processing tool 2 is brought close to the specific control rod guide pipe 106 while passing through the gap of the calandria pipe 104, the control rod guide pipe 106 is cut, and a part of the control rod guide pipe 106 is collected as a sample. After collecting the sample, the sampling device 1 is pulled out from the helium pipe 102SP.

As is clear from the structure of the reactor 100 shown in FIGS. 4 and 5, even if the sampling device 1 is inserted from the helium pipe 102SP, the core tank 101 becomes an obstacle and the processing tool 2 of the sampling device 1 Cannot be brought close to the control rod guide pipe 106. Therefore, when using the sampling device 1, a device having a laser cutting device attached to the tip of the rod-shaped body is inserted from the helium pipe 102SP, and a hole having a size that allows the sampling device 1 to pass is pre-drilled in the core tank 101. After the work is performed, the sampling device 1 is started to be used. Hereinafter, an operation example of the sampling device 1 will be described.

FIG. 7 is a diagram showing an operation example of the sampling device 1 when collecting a sample of the control rod guide tube 106. The distance between the Calandria tubes 104 aligned in the reactor 100 is narrower than the longitudinal length of the tool 2 provided at the tip of the sampling device 1. Therefore, the posture of the tool 2 inserted in the gap of each Kalandria tube 104 cannot be freely moved. Therefore, the sampling device 1 is operated by an operator, for example, as follows.

For example, when the sample of the control rod guide tube 106 is taken out from the reactor 100 by using the sampling device 1, the sampling device 1 is inserted into the reactor 100 from the helium pipe 102SP (see FIG. 7 (1)). .. Then, when it is desired to take out the sample of the control rod guide pipe 106 from above the place where the helium pipe 102SP is provided, the clamp cylinder 41 is projected, the arm 4 is fixed to the helium pipe 102SP, and then the shaft 32 is attached. Rotate the arm 3 90 degrees to the center, turn the tip of the arm 3 upward, and stand the arm 3 vertically (see FIG. 7 (2A)). Then, after appropriately adjusting the twist angle of the arm 3, the machining tool 2 is rotated 90 degrees around the shaft 24 so that the tip of the machining tool 2 is turned sideways toward the control rod guide tube 106 (FIG. 7 (2B). )). When the tip of the machining tool 2 faces the control rod guide tube 106, the stopper 22 provided at the tip of the machining tool 2 comes into contact with the control rod guide tube 106.

Further, when it is desired to take out the sample of the control rod guide pipe 106 at the same height as the place where the helium pipe 102SP is provided, after inserting the sampling device 1 into the reactor 100 from the helium pipe 102SP (FIG. 7). (Refer to (1)), adjust the twist angle of the arm 3 appropriately, rotate the machining tool 2 90 degrees around the shaft 24, and turn the tip of the machining tool 2 upward or downward (FIG. 7 (3A). reference). Then, the arm 3 is twisted 90 degrees so that the tip of the machining tool 2 is turned sideways toward the control rod guide tube 106 (see FIG. 7 (3B)). When the tip of the machining tool 2 faces the control rod guide tube 106, the stopper 22 provided at the tip of the machining tool 2 comes into contact with the control rod guide tube 106.

FIG. 8 is a diagram showing a processing tool 2 in a state in which a sample is ready to be collected. For example, when the sample of the control rod guide tube 106 is taken out at the same height as the place where the helium pipe 102SP is provided, the sampling device 1 finally has the form shown in FIG. 7 (3B). As shown in FIG. 8, the machining tool 2 is in a state of being supported by an arm 3 extending laterally. After the machining tool 2 is arranged in such a state that the tip is directed toward the control rod guide pipe 106, the reaction force receiver 23 is projected from the outer peripheral surface of the body 20. Since the protruding amount and protruding portion of the reaction force receiver 23 are designed according to the dimensions of the control rod guide pipe 106 and the calandria pipe 104 around the control rod guide pipe 106, the reaction force receiver protruding from the outer peripheral surface of the body 20 23 comes into contact with the outer peripheral surface of the Calandria tube 104. Since the stopper 22 at the tip of the machining tool 2 is in contact with the control rod guide pipe 106, the reaction force receiver 23 protrudes from the outer peripheral surface of the body 20, so that the machining tool 2 protrudes to both the left and right sides of the machining tool 2. It is supported at three points by two reaction force receivers 23 that come into contact with the calandria pipe 104 and a stopper 22 that comes into contact with the control rod guide pipe 106, and is in a fixed state. In this state, the drive device of the blade 21 operates, and the control rod guide pipe 106 is cut while the blade 21 rotates, so that the sample of the control rod guide pipe 106 is taken out. Even if the machining tool 2 receives a reaction force from the control rod guide pipe 106 due to the cutting of the cutting tool 21, the reaction force receiver 23 fixes the machining tool 2 against the reaction force, so that the cutting by the cutting tool 21 is stable. It is done in.

After the cutting of the control rod guide tube 106 by the blade 21 is completed and the sample of the control rod guide tube 106 is housed in the blade 21, the reaction force receiver 23 retracts from the outer peripheral surface of the body 20, and FIG. 7 is used. The sampling device 1 is withdrawn from the reactor 100 in the reverse procedure of the above.

For example, when the sample of the control rod guide tube 106 is taken out from above the place where the helium pipe 102SP is provided, the sampling device 1 has the form shown in FIG. 7 (2B). The machining tool 2 is supported by the arm 3 in a vertically standing state, which is slightly different from that in FIG. 8, but the positional relationship between the control rod guide pipe 106 and the calandria pipe 104 and the machining tool 2 is It is basically the same, and the fixed state of the machining tool 2 when the cutting tool 21 cuts the control rod guide pipe 106 is also the same as described above.

Even if the sampling device 1 is inserted into the narrow reactor 100 in which the calandria pipes 104 are densely packed and the specific control rod guide pipe 106 is machined in this way, the reaction force received from the control rod guide pipe 106 is received. It is possible to stably perform cutting with the cutting tool 21.

In this embodiment, cutting with a cutting tool 21 is illustrated as an example of machining, but the sampling device 1 may perform machining other than cutting. Machining other than cutting includes, for example, grinding, pressing, welding, electric discharge machining, laser machining, and various other types of machining.

By the way, the sampling device 1 is not limited to the form of taking out the sample of the control rod guide tube 106. The sampling device 1 can be used, for example, for taking out a sample from the anti-vibration plate 107 by changing a part of the form.

FIG. 9 is a diagram showing an operation example of the sampling device 1 when collecting a sample of the vibration isolator 107. When taking out the sample of the anti-vibration plate 107, a processing tool 2'in which the dimensions of the processing tool 2 are modified so as to match the height from the anti-vibration plate 107 to the helium pipe 102SP is prepared. When the sample of the vibration isolator 107 is taken out from the reactor 100 by using the sampling device 1, the sampling device 1 is inserted into the reactor 100 from the helium pipe 102SP (see FIG. 9 (1)). Then, after appropriately adjusting the twist angle of the arm 3, the machining tool 2'is rotated 90 degrees around the shaft 24 so that the tip of the machining tool 2'is directed downward toward the vibration isolator 107 (FIG. 8 (FIG. 8). See 2)). When the tip of the machining tool 2'directs toward the anti-vibration plate 107, the stopper 22 provided at the tip of the machining tool 2'comes into contact with the anti-vibration plate 107.

FIG. 10 is a diagram showing a processing tool 2'in a state in which a sample is ready to be collected. When the sample of the anti-vibration plate 107 is taken out, the sampling device 1 finally has the form shown in FIG. 9 (2), so that the processing tool 2'extends sideways as shown in FIG. The arm 3 is in a state of being supported by the anti-vibration plate 107 in which the stopper 22 is in contact with the arm 3. When the reaction force receiver 23 is projected from the outer peripheral surface of the body 20 in this state, the reaction force receiver 23 comes into contact with the outer peripheral surface of the calandria tube 104, and the machining tool 2'is fixed. In this state, the driving device of the blade 21 operates, and the vibration-proof plate 107 is cut while the blade 21 rotates, so that the sample of the vibration-proof plate 107 is taken out. Even if the machining tool 2'receives a reaction force from the anti-vibration plate 107 due to the cutting of the cutting tool 21, the reaction force receiver 23 fixes the machining tool 2'against the reaction force, so that the cutting by the cutting tool 21 is stable. Is done.

After the cutting of the anti-vibration plate 107 by the blade 21 is completed and the sample of the anti-vibration plate 107 is housed in the blade 21, the reaction force receiver 23 is pulled in from the outer peripheral surface of the body 20, and using FIG. The sampling device 1 is withdrawn from the reactor 100 in the reverse procedure of the above.

The sampling device 1 withstands the reaction force received from the vibration isolator 107 even if it is inserted into the narrow reactor 100 in which the calandria pipes 104 are densely packed and the specific vibration isolator 107 is machined in this way. Cutting with the cutting tool 21 can be performed stably.

Further, in the sampling device 1, in addition to the control rod guide pipe 106 and the vibration isolation plate 107, the core tank 101, the calandria pipe 104, the pressure pipe 105, and the like can be obtained by appropriately changing a part of the sample collecting device 1. It is also possible to use it for taking out a sample of each part of the reactor 100 of the above. When the sampling device 1 is applied to sampling the core tank 101, for example, a mechanism for adsorbing the processing tool 2 to the core tank 101 by a suction method is provided at the tip of the processing tool 2 as a reaction force receiver, and the processing tool 2 is provided. The reaction force received by the sample may be withstood by the adsorption force. The reaction force receiver by the suction method can be applied not only to the core tank 101 but also to a flat plate such as a vibration isolation plate 107.

1 ・ ・ Sampling device: 2,2'・ ・ Processing tool: 3,4 ・ ・ Arm: 20 ・ ・ Body: 21 ・ ・ Blade: 22 ・ ・ Stopper: 23 ・ ・ Reaction force receiver: 24 ・ ・ Axis: 31 ・ ・ Arm body: 32 ・ ・ Axis: 33 ・ Cylinder: 40 ・ ・ Arm body: 41 ・ ・ Clamp cylinder: 42 ・ ・ Protrusion: 100 ・ ・ Reactor: 101 ・ ・ Core tank: 102U, 102S, 102B ・・ Shield: 102SP ・ ・ Helium piping: 103 ・ ・ Calandria tank: 104 ・ ・ Calandria tube: 105 ・ ・ Pressure rod: 106 ・ ・ Control rod guide tube: 107 ・ ・ Anti-vibration plate: 108 ・ ・ Neutron detector Information pipe

Claims (4)

It is a remote processing device that performs machining on a specific rod-shaped body of an aggregate in which rod-shaped bodies are assembled.
A processing tool for processing the rod-shaped body and
An arm provided on the tip side of the machining tool via a first swing mechanism for swinging the machining tool, and a first arm having a twisting mechanism for relatively twisting the tip side and the opposite side. ,
A second arm provided with the first arm on the tip side via a second swing mechanism for swinging the first arm, and
A movable protruding member that can be taken in and out of the machining tool is projected from the machining tool, and is brought into contact with another bar in the vicinity of the particular rod to be machined by the machining tool, and the movable protrusion member is brought into contact with the other rod that is machined from the specific rod. A reaction force receiving portion for supporting the processing tool that receives the reaction force is provided.
Remote processing equipment. The processing tool, the first arm, and the second arm are inserted into the assembly from the side in a linearly extended state.
The first arm is swung by the second swing mechanism so as to be parallel to the rod-shaped body in a state where the connecting portion between the first arm and the second arm is located in the assembly. ,
In the processing tool, the direction of the tip end side of the first arm is adjusted by the twisting mechanism so that the swing direction of the first swing mechanism is directed to the specific rod-shaped body, and then the specific rod-shaped body is subjected to the twisting mechanism. It is swung by the first swing mechanism so as to face toward it.
The remote processing apparatus according to claim 1. The aggregate is a rod-shaped body arranged vertically and horizontally with a gap between them.
The remote processing apparatus according to claim 1 or 2. It is a remote processing method that performs machining on a specific rod-shaped body of an aggregate in which rod-shaped bodies are assembled.
The processing tool, the first arm, and the second arm included in the remote processing apparatus according to any one of claims 1 to 3 are inserted into the assembly from the side in a linearly extended state. ,
The first arm is swung by the second swing mechanism so as to be parallel to the rod-shaped body in a state where the connecting portion between the first arm and the second arm is located in the assembly body. ,
After the twisting mechanism adjusts the direction of the tip end side of the first arm of the processing tool so that the swing direction of the first swing mechanism is directed toward the specific rod-shaped body, the processing tool of the specific rod-shaped body is adjusted. Swing with the first swing mechanism so as to face toward
Remote processing method.

Images