JPH037918B2 - - Google Patents

Description

Detailed Description of the Invention (Technical Field) The present invention involves gripping a cutting block produced by cutting and disassembling a nuclear reactor and transporting it to an unloading section, and gripping a stocker of a burning bar to attach and detach it to a cutting device. The present invention relates to a gripping device used for.

(Technical Background) To dismantle a nuclear reactor, it is necessary to dismantle and remove the radioactively contaminated inner concrete walls while completely isolating human bodies from atmospheric pollution.

For this purpose, a cutting device is operated by remote control to cut the concrete inner wall of the reactor. In addition, the cut block produced by the cutting must be carried out and removed using the same remote control.

Therefore, there is a need for a device that accurately grips the cutting block from the cut point even in the nuclear reactor by remote control and transports it to a predetermined unloading section. In addition, a gripping and conveying device is required to carry in and out the tools necessary for cutting work inside the furnace.

(Object of the Invention) The present invention was devised in view of the above-mentioned needs, and provides a method for raising and lowering a lower floor having a multi-articulated arm portion and a gripping portion using a main shaft as a guide in a nuclear reactor disassembly equipment. The purpose of the present invention is to provide a gripping device characterized by the following, and to perform nuclear reactor dismantling work safely and accurately by remote control.

(Summary of the Invention and Examples) Hereinafter, the gripping device of the present invention will be explained in detail with reference to the drawings.

FIG. 1 is a partially cutaway perspective view showing the operating state of a gripping device according to the present invention in a dismantling apparatus for a nuclear reactor 1. FIG.

To outline the dismantling equipment for the nuclear reactor 1, an enclosure 10 is built on the nuclear reactor 1, and the reactor 1 is hermetically sealed. And the upper side 11 of this enclosure 10
A gantry 20 and a lifting device 30 are provided, and a main shaft 40 is suspended within the reactor 1 via these. A cutting device 50 for cutting the inner wall of the reactor is provided at the lower end of the main shaft 40.

The gantry 20 , the lifting device 30 and the main shaft 40 serve as a support drive for the cutting device 50 . That is, as the lifting device 30 traverses, rises and falls, and rotates, the cutting device 50 is moved through the main shaft 40.
can be moved horizontally and vertically, and horizontal rotation is also possible, and telescopic movement is also provided by the actuating arm of the cutting device 50 itself.

The cutting device 50 is equipped with a cutting machine that injects and burns fuel using a burning bar to perforate the inner wall, and by making continuous perforations, the inner wall is cut into block-shaped cutting blocks.

The cut block is held by the gripping device 6 of the present invention.
0 and carried out to the outside via a carrying-out section provided in the enclosure 10, that is, a carrying-in/out lock device 70.

Furthermore, when the burning bars of the cutting device 50 are used up, an empty stocker is grasped and carried out by the loading/unloading lock device 70, and a stocker newly filled with burning bars is grasped and transported. It is attached to the cutting device 50.

FIG. 2 is an explanatory schematic diagram of the gripping device of the present invention.

That is, the gripping device 60
Diffusion shielding gate 21 arranged on the upper side 11 lower surface of
An upper floor 601 is provided through a fixing ring 22 and the like, and the main shaft 40 is supported approximately at the center of this upper floor 601 through a shaft scraper.

On the other hand, a lower floor 602 is provided below the upper floor 601. Sheave blocks 603, 603... provided on the lower surface of the upper floor 601.
and wires 604, 60 between sheave blocks 605, 605 provided on the upper surface of the lower floor 602.
4... and the winch w provided on the underside of the upper floor 601
... is hoisted up to raise and lower the lower floor 602.
When the lower floor 602 moves up and down, the main shaft 40 is installed in a loosely inserted state approximately at the center of the lower floor 602 in order to use the main shaft 40 as a guide for going up and down. On the other hand, a rotating portion 606 is fixed to the lower surface of the lower floor 602. In the turning section 606, the turning motor M uses the main shaft 40 as a reaction force to turn the multi-jointed arm section around the main shaft 40.

A first arm 607a of a first arm portion 607 extends from the rotating portion 606, a first motor m1 is fixed to the tip of the first arm 607a, and a first shaft 607b is attached below the motor m1. It is worn.

Furthermore, the first shaft 6 of the first arm portion 607
A second arm 608a of the second arm section 608 is stretched at the lower end of 07b, and a second motor m is connected to the tip of the second arm 608a.
2 is fixed. Moreover, the second shaft 608b is attached to the second motor m2 in the same manner as described above, and the drive arm 610 of the grip part 609 is attached to the lower end of the second shaft 608b.
is pivotally mounted via an elevation cylinder 611.
A gripping cylinder 61 is provided at the tip of the drive arm 610.
2,612..., the hand 6 is opened and closed.
13 is installed.

FIG. 3 is a partially omitted cross-sectional view for explaining the grip portion 609 in more detail.

The drive arm 610 of the gripping section 609 is pivotally connected to the shaft 608b of the second arm section 608 via a pin p, and is configured to be pivotable in the vertical direction by an elevation cylinder 611. Drive arm 61
0 includes a shift cylinder 614 and a rotating motor m3.
is built in, and the hand 613 is shifted and rotated by this shift cylinder 614 and rotation motor m3. In addition, the hand 613 has an upper hand 613a and a lower hand 613b pivotally connected by a pin 613c, and the pin 613c is moved by driving the gripping cylinders 612, 612.
The hand 613 performs gripping and opening operations by opening and closing centering on the .

A description will be given of construction in which the gripping device 60 having the above-described configuration is used to grip a stocker of a cutting block and a lance bar and carry it in and out.

When the inner wall of the reactor 1 is cut to a predetermined size by the cutting device 50, the winch w provided on the upper floor 601 is driven to untie the wire 604, and the lower floor 602 is used as a guide with the main shaft 40. lower it and stop it at the specified position. Then, the swing motor M of the swing section 606 is rotated to place the multi-jointed arm section at the cutting position.

Next, as shown in the explanatory diagram of FIG.
1, move the hand 613 to face the cutting block 1c, move the shift cylinder 614, and move the hand 613 to face the cutting block 1c.
13 is extended and gripping cylinders 612, 612 are driven to grip the cutting block 1c.

FIGS. 5a and 5b are schematic plan views showing a state in which the cutting block 1c is gripped at the outer circumferential cutting location and the innermost circumferential cutting location, respectively.

When gripping the cutting block 1c on the outer periphery,
The first arm part 607 and the second arm part 608 are extended to form a substantially straight line, and the cutting block 1c is gripped by the hand 613. In addition, when gripping the cutting block 1c on the inner circumference, the turning motor M of the turning section 606 is turned to position the first arm section 607 at a predetermined angle with respect to the cutting block 1c, and the first motor m1 The second arm 608a and the second
The drive arms 610 are arranged at appropriate angles by the motor m2. In other words, with each arm portion closest to the main shaft 40, the hand 6
13 grips the cutting block 1c. In addition, when cutting around the outermost part of the furnace wall as shown in FIG. 5c, the cutting can be performed by moving the main shaft 40 itself.

That is, the main shaft 40 itself can be moved to the desired cutting block 1c side by moving the lifting device 30 laterally, and in this state, the cutting block 1c can be gripped in the same manner as described above. When the hand 613 grasps the cutting block 1c, the upper floor 601
The winch w provided on the lower surface of the lower floor 602 is driven to wind up the wires 604, 604...
raise itself. Then, as shown in Figure 6,
The lower floor 602 is stopped above the carry-in/out lock device 70, and in this state, the cutting block 1c is loaded into the carry-out container 72 of the transfer device 71. That is, the elevating cylinder 611 is driven and placed above the opening of the carrying out container 72, and the hand 61
When a predetermined number of cutting blocks 1c, 1c, .
The carrying out container 72 is sealed within this device and carried out to the outside.

Gripping the cutting block 1c from the inner wall of the reactor involves the action of peeling the cutting block 1c from the inner wall, so the reaction force of this action is transferred to the main shaft 40, and the main shaft 40 moves the outrigger to the cavity body. By making them come into contact with each other, it prevents deflection due to reaction force.

On the other hand, the gripping device 60 of the present invention is also used when attaching and detaching the burning bar stocker 52 to and from the cutting device 50.

In other words, as shown in the explanatory diagram of FIG.
2a is grasped with the hand 613 and removed.

That is, as shown in the plan view of FIG. 7b,
Even if the empty stocker 52a is placed directly below the main shaft, the turning motor M is turned in the same way as when gripping the cutting block on the inner circumference, and each motor of the first arm part 607 and the second arm part 608 is rotated. m
1 and m2 as appropriate, and then the elevation cylinder 611, shift cylinder 614, and rotation motor m
3, the empty stocker 52a can be completely gripped. Then, the lower floor 602 is raised using a winch w, and the empty stocker 52a is placed on the transfer device 71 of the carry-in/out lock device 70, as shown in the explanatory view of FIG. 8a. Next, as shown in the plan view of FIG. 8b, the new stocker 52b filled with burning bars is lowered to the cutting device 50 by the winch w while being held by the hand 613, and the swing motor M, the first arm part 607, The new stocker 52b is attached to the cutting machine 51 by appropriately driving the second arm portion 608 and the drive arm 610, respectively.

Note that the stocker 52 is placed on the transfer device 71 in the same position as it was attached to the cutting machine 51, and is also attached to the cutting machine 51 in the same position as it was placed on the transfer device 71. For example, if the stocker 52 is placed on the transfer device 71 with its longitudinal direction horizontal and the stocker 52 is mounted with its longitudinal direction vertical, the stocker 52 is gripped with the hand 613 and the stocker 52 is placed on the transfer device 71 with its longitudinal direction horizontal, and the stocker 52 is held with the hand 613 and the stocker 52 is placed on the transfer device 71 with its longitudinal direction horizontal. You can change your posture from horizontal to vertical.

Furthermore, the gripping device 60 of the present invention may be attached to the main shaft 40.
It is also possible to link the process of raising and lowering the transfer device 71 using the guide as a guide and the process of moving the transfer device 71 in and out from the loading/unloading lock device 70 or to perform them in parallel. Furthermore, while the gripping device 60 is in operation,
By keeping other equipment and equipment in the reactor stationary in their original positions and positions, we prevent them from coming into contact with each other.

(Effects of the Invention) As explained above, in the gripping device of the present invention, the lower floor having the multi-articulated arm portion and the gripping portion moves up and down accurately using the main shaft as a guide, so it can grip the cutting block extremely efficiently. In addition to being able to transport the burning bar to the unloading section, it also becomes easy to replenish the stocker of the burning bar in the cutting device without providing any additional means. By operating the gripping device by remote control in this way, there is no need to worry about radioactive contamination, and the nuclear reactor dismantling work itself can be carried out extremely efficiently.

[Brief explanation of the drawing]

FIG. 1 is a partially cutaway perspective view illustrating the operating state of a gripping device in a nuclear reactor disassembly equipment, FIG. 2 is a schematic explanatory diagram of the gripping device according to the present invention, and FIG. 4 is an explanatory diagram of the state in which the cutting block is gripped, and FIGS. 5 a, b, and c are sectional views with parts omitted. FIG. Figure 6 is an explanatory diagram of the state in which the cutting block is dropped into the carry-out container, Figure 7a is an explanatory diagram of the state in which the stocker is removed from or attached to the cutting device, and Figure 7b is an explanatory diagram of the state in which the stocker is removed from or attached to the cutting device.
8A is an explanatory plan view thereof, FIG. 8A is an explanatory view of the stocker being placed on or gripped from the transfer device, and FIG. 1... Nuclear reactor, 10... Enclosure, 11
... Upper side of enclosure, 20 ... Gantry, 30 ... Lifting device, 40 ... Main shaft, 50 ... Cutting device, 60 ... Gripping device, 70
... Loading and unloading lock device, 601 ... Upper floor,
602...Lower floor, 606...Swivel part, 60
7...first arm part, 607a...first arm,
607b...First shaft, 608...Second arm portion, 608a...Second arm, 608b...Second shaft, 609...Gripping portion, 610...Drive arm, 613...Hand.

Claims (1)

[Claims] 1. A nuclear reactor is provided with an enclosure, a main shaft is suspended within the reactor via a lifting device provided on the upper side of the enclosure, and a cutting device is provided at the lower end of the main shaft. What is claimed is: 1. A gripping device for a nuclear reactor dismantling device, characterized in that a lower floor having a multi-articulated arm portion and a gripping portion is raised and lowered using the main shaft as a guide. 2. The gripping device according to claim 1, wherein the lower floor is raised and lowered by a lifting device for an upper floor that supports a main shaft. 3. Claim 1, characterized in that the lower floor has a pivoting section for pivoting the multi-articulated arm section and the gripping section around the main shaft.
Gripping device as described in Section 1. 4. The multi-articulated arm section includes a first arm section consisting of a first motor that is fixed to the first arm and rotates the first shaft, and a second motor that is fixed to the second arm and rotates the second shaft. The gripping device according to claim 1, characterized in that the gripping device is formed by a second arm portion. 5. The gripping device according to claim 1, wherein the gripping portion can adjust an angle in the vertical direction by an elevation cylinder. 6. The gripping device according to claim 1, wherein the gripping portion allows the hand to extend, contract, and rotate using a built-in shift cylinder and a rotary motor.