JPS60164299A - Self-advancing type positioning and pushing-up device - Google Patents
Self-advancing type positioning and pushing-up deviceInfo
- Publication number
- JPS60164299A JPS60164299A JP59019394A JP1939484A JPS60164299A JP S60164299 A JPS60164299 A JP S60164299A JP 59019394 A JP59019394 A JP 59019394A JP 1939484 A JP1939484 A JP 1939484A JP S60164299 A JPS60164299 A JP S60164299A
- Authority
- JP
- Japan
- Prior art keywords
- lift
- vehicle frame
- self
- pushing
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明は原子炉の上部炉心構造物の制御棒案内管の支持
ピンを押し上げるのに好適な自走式位置決め及び押し上
げ装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a self-propelled positioning and pushing device suitable for pushing up support pins of control rod guide tubes in an upper core structure of a nuclear reactor.
原子力発電プラントの定期検査の際、クレーンにより原
子炉内から吊り上げられた上部炉心構造物(ロ)は第1
図に示すように原子炉キャビティ内の水中にスタンド@
)に載せて保管される。そして、上部炉心構造物(D)
の上部炉心板(1)の穴(1a)に第2図に示すように
先端が二つ割れになった制御棒案内管の支持ピン(2)
が押し込まれ、支持ピン(2)のスゾリ/ダ作用で保持
されている。この支持ピン(2)は定期的に検査され、
必要に応じて交換されるが、支持ピン(2)を検査また
は交換のために押し上げる作業は従来固定式のL彫工具
により行なわれていた。During a regular inspection of a nuclear power plant, the upper core structure (b) was lifted from the inside of the reactor by a crane.
Stand underwater in the reactor cavity as shown in the figure @
) and stored. And upper core structure (D)
As shown in Figure 2, there is a control rod guide tube support pin (2) with the tip split in two in the hole (1a) of the upper core plate (1).
is pushed in and held by the sliding/dacking action of the support pin (2). This support pin (2) is inspected regularly and
Although the support pin (2) is replaced as necessary, the work of pushing up the support pin (2) for inspection or replacement has conventionally been performed using a fixed L carving tool.
従って、固定式のL型工具の組立てに組立架台や広いス
ペース及び長時間を要するとともにこのL型工具が大き
いのでその取扱いに多くの労力を要するという問題があ
った。Therefore, there is a problem in that the fixed L-shaped tool requires an assembly stand, a large space, and a long time to assemble, and since the L-shaped tool is large, it requires a lot of labor to handle it.
本発明は上記問題点に対処するために発明されたもので
あって、その要旨とするところは、夫々駆動モータな具
えた少くとも6個の駆動輪、該駆動輪な操向自在に支持
した車枠、該車枠に回転自在に設けられ、駆動輪支持脚
の操向小歯車に噛み合った操向大歯車、上記車枠に弾性
的に支持され鉛直方向に延びたリフト、該リフトの上面
に調芯機構を介して設けられた台及び上記リフトの下面
に設けられた当板を有することを特徴とする自走式位置
決め及び押し上げ装置にある。The present invention was invented to solve the above problems, and the gist of the present invention is to provide at least six drive wheels, each of which is equipped with a drive motor, and to support the drive wheels so that they can be steered freely. a vehicle frame, a large steering gear rotatably provided on the vehicle frame and meshed with the small steering gear of the drive wheel support leg, a lift elastically supported by the vehicle frame and extending vertically, and a centering gear on the top surface of the lift. A self-propelled positioning and lifting device characterized by having a stand provided via a mechanism and a contact plate provided on the lower surface of the lift.
本発明においては、上記構成を具えているので、床面上
を自由に操向しながら自走して任意位置に停止し、床面
上に凹凸があっても台を調芯して被扛上物の下面に沿う
ように位置せしめて被扛上物をリフトによって押し上げ
ることができ、しかも被扛上物の反力を当板を介して床
面に伝達して押し上げ装置の損傷を防止できる。そして
、装置が小型でその組立に殆んど労力を要しないので押
し上げ作業を容易かつ迅速に行なうことが可能となる。Since the present invention has the above-mentioned configuration, it can run on its own while freely steering on the floor and stop at any position, and even if there are unevenness on the floor, it can align the stand and carry out the work. By positioning it along the underside of the upper object, the object can be lifted up by the lift, and the reaction force of the object being lifted can be transmitted to the floor via the contact plate, thereby preventing damage to the lifting device. . Furthermore, since the device is small and requires almost no effort to assemble, the lifting operation can be carried out easily and quickly.
以下、本発明を第6図ないし第7図に示す1実施例を参
照しながら具体的に説明する。The present invention will be specifically explained below with reference to one embodiment shown in FIGS. 6 and 7.
′ 第6図な(・し第4図において、(13)は夫々駆
動モータtm具えた駆動輪、(4)は駆動輪(13)を
操向自在に支持した車枠、(3)は車枠(4)に回転自
在に設けられた操向大歯車で駆動輪支持脚(9)の操向
小歯車(10)に噛み合っている。(18)は車枠(4
)に弾性的に支持され鉛直方向に延びたリフト、(24
)はリフト(18)の上面に調芯機構(23)(25)
を介して設けられた台、(33)はす7 ) (18)
の下面に設けられた当板てて車枠(4)に回転自在に軸
支された6ケのシーツ(5)の性腺に形成されたv字溝
と係合している。そしてこの操向大歯車(珈まモータ(
6)により駆動される歯車(7)と噛合して回転駆動さ
れる。歯車(7)が固定された軸には回転角検出器(8
)が取付けられている。駆動輪支持脚(9)は支持金具
(11)を介して車枠(4)に取付けられ、操向小歯車
(10)は頂部ナラ) (12)にて駆動輪支持脚(9
)に固定されている。駆動輪支持脚(9)の下端は第5
図に明らかなように2股とされその間に駆動@(13)
が取り付けられる。駆動輪(13)の車軸の片方にはそ
一タ(14)が、また、他方には位置検出器(15)が
取り付けられている。' In Fig. 4, (13) is a drive wheel each equipped with a drive motor tm, (4) is a vehicle frame that supports the drive wheel (13) in a freely steerable manner, and (3) is a vehicle frame ( The steering gear (18) is rotatably provided on the wheel frame (4) and meshes with the steering gear (10) of the drive wheel support leg (9).
) elastically supported by a vertically extending lift, (24
) is the alignment mechanism (23) (25) on the top of the lift (18).
(33) Lotus 7) (18)
The contact plate provided on the lower surface of the vehicle engages with V-shaped grooves formed in the gonads of six sheets (5) rotatably supported on the vehicle frame (4). And this steering gear (Kama motor)
6) and is rotationally driven by meshing with the gear (7) driven by the gear (7). A rotation angle detector (8) is mounted on the shaft to which the gear (7) is fixed.
) is installed. The drive wheel support leg (9) is attached to the vehicle frame (4) via the support metal fitting (11), and the steering pinion (10) is attached to the drive wheel support leg (9) at the top of the wheel (12).
) is fixed. The lower end of the drive wheel support leg (9) is the fifth
As is clear from the figure, it has two branches and is driven between them @(13)
can be installed. A rotor (14) is attached to one of the axles of the drive wheel (13), and a position detector (15) is attached to the other.
リフト(18)のピストン(19)は第6図に明らかな
ように流体出入口(20)及び(21)から呪圧油を給
排することによりシリンダ(18りの上下端板に固定さ
れた案内棒(22り及び(22h)によって案内されな
がら上下動する。流体出入口(21)からの圧油は案内
棒(22りの中を通りその上部の穴からリフト(18)
のシリンダ(18α)内に入る。ピストン(19)の先
端部に固定された支持軸(23)によってプレート(2
5)が取り付けられ、この支持軸(23)の頂部球面上
に載置された台(24)をプレー) (25)と連結す
ることにより台(24)をり7 ト(18)の上面に自
動調芯可能に取り付げて(′−る。リフ) (18)の
下端は第7図に明らかなように内箱(35C)内に収容
されて1冗され、内箱(35C)はその外壁に(支)定
された4ケの四−2(34α)を介して外箱(35A)
内に収容されてY−Y方向に相対移動自在に支持され、
外箱(35b)はブラケット(35りに固定された4り
のローラ(34A)を介してX−x方向に相対移動自在
に支持されている。そしてブラケット(35α)は車枠
(4)に固定された支持金物(30)に植設されて受け
台(29)及びプラタン) (354)を貫通して伸び
るロット” (38)に巻回されたコイルばね(31)
及び(32)を介して支持金物(3の上に支持される。As shown in Figure 6, the piston (19) of the lift (18) is a guide fixed to the upper and lower end plates of the cylinder (18) by supplying and discharging pressure oil from the fluid inlets and outlets (20) and (21). It moves up and down while being guided by the rods (22 and (22h). Pressure oil from the fluid inlet and outlet (21) passes through the guide rod (22) and lifts (18) from the hole at the top of the guide rod (22).
into the cylinder (18α). The support shaft (23) fixed to the tip of the piston (19) allows the plate (2
5) is attached, and by connecting the table (24) placed on the top spherical surface of this support shaft (23) with the plate (25), the table (24) can be placed on the top surface of the beam (18). The lower end of (18), which is attached so as to be self-aligning, is accommodated in the inner box (35C) as shown in Figure 7, and the inner box (35C) is The outer box (35A) is connected to the outer box (35A) through the four 4-2 (34α)
is housed within and supported so as to be relatively movable in the Y-Y direction,
The outer box (35b) is supported so as to be relatively movable in the X-x direction via four rollers (34A) fixed to the bracket (35).The bracket (35α) is fixed to the vehicle frame (4). A coil spring (31) is wound around a rod (38) which is installed in the supporting hardware (30) and extends through the pedestal (29) and the platen (354).
and (32) are supported on the support hardware (3).
、かくして、す7 ) (18)は内箱(35C)、外
箱(35A)、ブラケット(35a)、目−2(34α
)(34す、コイルばね(31)(32)、支持金物e
のを介して車枠(4)に弾性的に支持されている。受は
台(29)の中央下面には球面(29α)が突設され、
この上に当板(33)が係合して傾転自在とされている
。シリンダ(18りの下部端板(18b) 。, thus, Su7) (18) includes the inner box (35C), outer box (35A), bracket (35a), and eye-2 (34α).
) (34, coil springs (31) (32), support hardware e
It is elastically supported by the vehicle frame (4) through the. The receiver has a spherical surface (29α) protruding from the center lower surface of the stand (29),
A contact plate (33) is engaged on top of this so that it can be freely tilted and rotated. Lower end plate (18b) of cylinder (18).
内に収容されたピン(27)の上面に圧油を供給し、コ
イルばね(28)に抗してピン(27)を押し下げその
下端を受け台(29)に係止することによってリフト(
18)を受け台(29)に錠止することができる。台(
2)の上面には上部炉心板(1)の穴(1り内に進入し
て制御棒案内管の支持ピン(2)を押し上げる押し上げ
工具(26)が固定され、かつ、上部炉心板<1)の下
面に突設されたガイドピン(37)と嵌合するスリーブ
(36)が取り付けられている。(17)は旋回台(1
6)を介して車枠(4)に取り付けられた工業用テレビ
ジョンカメラである。Pressure oil is supplied to the upper surface of the pin (27) housed within the pin (27), and the pin (27) is pushed down against the coil spring (28) and its lower end is locked to the pedestal (29), thereby lifting the lift (
18) The cradle (29) can be locked. stand (
2) A push-up tool (26) that enters into the hole (1) of the upper core plate (1) and pushes up the support pin (2) of the control rod guide tube is fixed on the upper surface of the upper core plate (1). ) is fitted with a sleeve (36) that fits into a guide pin (37) protruding from the lower surface of the housing. (17) is the swivel base (1
6) is an industrial television camera attached to the vehicle frame (4).
しかして、支持ピン(2)の交換のために支持ピン(2
)を押し上げる場合には、この押し上げ装置を原子炉キ
ャビティの底に降し、遠隔操縦によって走行させ、スタ
ンド(6)に載置されて保管されている上部炉心構造物
の)の下に進入させる。この場合、各操向小歯車(10
)は操向大歯車(3)と噛み合い、3ケの駆動輪(13
)は全て同じ方向を向いているので各モータ(14)を
同時に起動することにより押し上げ装置は直進する。こ
の際、位置検出器(15)から発信されるノξルスを検
知して走行距離をコンピュータにより計算することによ
り、走行位置を検出できる。モータ(6)により歯車(
7)を回転し、それに噛み合った操向大歯車(3)を介
して6ケの操向小歯車(10)を回転させることで、各
駆動輪(13)を同じ方向へ方向転換することができる
。その時、回転角検出器(8)からのパルスにより操向
角度を検出できる。また駆動輪(13)の一つを止め、
他の二つを動かせば小回り旋回ができる。旋回台(16
)により工業用テレビジョンカメラ(17)を上下又は
左右に旋回させることにより押し上げ装置の動き及びそ
の周辺を監視することができる。なお、押し上げ装置の
走行時にはピン(27)を押し下げてリフトα樽を受け
台(29)に錠止することによりX−X方向及びY−Y
方向について中立の位置に保持しておく。Therefore, in order to replace the support pin (2),
), this lifting device is lowered to the bottom of the reactor cavity, moved by remote control, and entered under ) of the upper core structure stored on stand (6). . In this case, each steering pinion (10
) meshes with the steering gear (3), and the three driving wheels (13) mesh with the steering gear (3).
) are all facing the same direction, so by starting each motor (14) at the same time, the lifting device moves straight. At this time, the traveling position can be detected by detecting the noll ξ transmitted from the position detector (15) and calculating the traveling distance by computer. The gear (
7), and by rotating the six small steering gears (10) via the large steering gear (3) meshed with it, the direction of each drive wheel (13) can be changed in the same direction. can. At that time, the steering angle can be detected by pulses from the rotation angle detector (8). Also stop one of the drive wheels (13),
By moving the other two, you can make small turns. Swivel stand (16
), the movement of the lifting device and its surroundings can be monitored by rotating the industrial television camera (17) up and down or left and right. In addition, when the lifting device is running, the pin (27) is pushed down and the lift α barrel is locked to the receiving base (29).
Hold it in a neutral position with respect to direction.
押し上げ装置が上部炉心構造物(D)の下に進入し停止
したとき、その停止位置に誤差があるときは、ピン(2
7)を上昇させて内箱(35c)及び外箱(35りをロ
ーラ(34り及び(34b)を介してX−X方向並びに
Y−Y方向に移動させることによりリフトα樽を正規の
位置に位置決めできる。また、押し上げ装置が停止した
とき、原子炉キャビティの床面の凹凸により台(24)
が傾斜したときは、台(24)を支持軸(23)の頂部
球面上において転動させて水平にすることができる。次
いで、流体出入口(20)からリフ) (18)に圧油
を供給し、ピストン(19)を案内棒(22α)、(2
2”)に沿って上昇させ、台(24)に取り付けられた
スリーブ(36)をガイドピン(37)に嵌合させると
、押し上げ工具(26)は上部炉心板(1)の穴(1α
)と自動調芯され、穴(1り内に円滑に進入して、制御
棒案内管の支持ピン(2)を押し上げる。すると、支持
ピン(2)押し上げ反力により、コイルばね(31)及
び(32)が下方に押し下げられ、ブラケット(35α
)・外箱(35A)・内箱(35C)及び受け台(29
)を介して当板(33)がキャビティの床面に接地する
。尚、受は台(29)の中央下面に突設された球面(2
9り上に当板(33)が係合されているので床面に凸凹
があっても当板(33)は床面に沿って接地する。When the push-up device enters under the upper core structure (D) and stops, if there is an error in the stopping position, the pin (2
7) and move the inner box (35c) and outer box (35) in the X-X direction and Y-Y direction via the rollers (34 and (34b)) to move the lift α barrel to the normal position. In addition, when the lifting device stops, the unevenness of the floor of the reactor cavity causes the platform (24) to
When the table (24) is tilted, the table (24) can be made horizontal by rolling on the top spherical surface of the support shaft (23). Next, pressure oil is supplied from the fluid inlet/outlet (20) to the rift (18), and the piston (19) is moved between the guide rods (22α) and (2
When the sleeve (36) attached to the stand (24) is fitted into the guide pin (37), the push-up tool (26) is raised along the hole (1α) in the upper core plate (1).
) and smoothly enters the hole (1) to push up the support pin (2) of the control rod guide tube.Then, the reaction force pushing up the support pin (2) causes the coil spring (31) and (32) is pushed down and the bracket (35α
)・Outer box (35A)・Inner box (35C) and cradle (29
), the contact plate (33) is grounded to the floor surface of the cavity. The receiver is a spherical surface (2) protruding from the center lower surface of the stand (29).
Since the abutting plate (33) is engaged with the upper part of the base plate, the abutting plate (33) is grounded along the floor surface even if the floor surface is uneven.
しかして、上記実施例装置は、コンパクトでスペースを
取らないとともに、サイトに於ける組立作業が殆どない
ため作業時間の短縮及び能率の向上に効果がある。また
、自走式であるため走行範囲が自由になり、任意の場所
へ走行できる。また、装置の停止位置の誤差が吸収され
るので、スリーブ(36)のガイドピン(37)への挿
入を円滑に行うことができる。押上げ時の反力はキャビ
ティの床面で受けるので、装置に過大な力が加わりこれ
を損傷することがない。Therefore, the apparatus of the above embodiment is compact and does not take up much space, and since there is almost no assembly work at the site, it is effective in shortening working time and improving efficiency. Additionally, since it is self-propelled, it has a flexible range of travel and can travel to any location. Further, since errors in the stopping position of the device are absorbed, the sleeve (36) can be smoothly inserted into the guide pin (37). Since the reaction force at the time of pushing up is received by the floor of the cavity, excessive force is not applied to the device and damages it.
なお、上記実施例においては、制御棒案内管の支持ピン
を押し上げる場合について説明したが、工業用テレビジ
ョンカメラによる目視検査にこの装置を用いることがで
き、また、台(24)に代えて超音波検査器を取り付け
ることにより超音波検査をすることができる。In the above embodiment, the case where the support pin of the control rod guide tube is pushed up was explained, but this device can also be used for visual inspection with an industrial television camera, and can also be used in place of the stand (24). Ultrasonic testing can be performed by attaching a sonicator.
また、この装置は上部炉心構造の制御棒案内管の支持ピ
ン以外の重量物の押し上げにも用いることがで趙る。This device can also be used to push up heavy objects other than support pins for control rod guide tubes in the upper core structure.
以上本発明を実施例について説明したが、勿論本発明は
このような実施例にだけ局限されるものではなく、本発
明の精神を逸脱しない範囲内で種々の設計の改変を施し
うるものである。Although the present invention has been described above with reference to embodiments, it goes without saying that the present invention is not limited to such embodiments, and that various design modifications can be made without departing from the spirit of the present invention. .
第1図は原子炉の上部炉心構造物の原子炉キャビティ内
における保管状況を示す正面図、第2図は第1図の1部
拡大断面図である。第6図ないし第7図は本発明の1実
施例を示し、第6図は第4図の1−mlに沿って見た平
面図、第4図は第6図のN−N線に沿って部分的に破断
して示す側面図、第5図は第3図のV−V線に沿って見
た部分的側面図、第6図は第4図の部分的拡大図、第7
図は第6図の■−■線に沿う矢視図である。
駆動モータ・・・(14)、駆動輪・・・(13)、車
枠・・・(4)、駆動輪支持脚・・・(9)、操向小歯
車・・・(10)、操向大歯車・・・(3)、リフト・
・・(18)、台・・・(24)、調芯機構・・・(2
3)、 (25)、当板・・・(33)。
第4図
第5図FIG. 1 is a front view showing the state of storage of an upper core structure of a nuclear reactor in a reactor cavity, and FIG. 2 is an enlarged sectional view of a portion of FIG. 1. 6 and 7 show one embodiment of the present invention, FIG. 6 is a plan view taken along 1-ml in FIG. 4, and FIG. 4 is a plan view taken along line NN in FIG. 6. 5 is a partial side view taken along line V-V in FIG. 3, FIG. 6 is a partially enlarged view of FIG. 4, and FIG.
The figure is a view taken along the line ■-■ in FIG. 6. Drive motor...(14), Drive wheel...(13), Vehicle frame...(4), Drive wheel support leg...(9), Steering small gear...(10), Steering Large gear...(3), lift...
... (18), stand ... (24), alignment mechanism ... (2
3), (25), Toban...(33). Figure 4 Figure 5
Claims (1)
輪な操向自在に支持した車枠、該車枠に回転自在に設け
られ、駆動輪支持脚の操向小歯車に噛み合った操向大歯
車、上記車枠に弾性的に支持され鉛直方向に延びたリフ
ト、核り7トの上面に調芯機構を介して設けられた台及
び上記リフトの下面に設けられた当板を有することを特
徴とする自走式位置決め及び押し上げ装置。at least six drive wheels each equipped with a drive motor; a vehicle frame supporting the drive wheels so as to be freely steerable; a steering wheel rotatably mounted on the vehicle frame and meshing with a steering small gear of the drive wheel support leg; A gear, a lift elastically supported by the wheel frame and extending vertically, a stand provided on the upper surface of the core via an alignment mechanism, and a stop plate provided on the lower surface of the lift. A self-propelled positioning and lifting device.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59019394A JPS60164299A (en) | 1984-02-07 | 1984-02-07 | Self-advancing type positioning and pushing-up device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59019394A JPS60164299A (en) | 1984-02-07 | 1984-02-07 | Self-advancing type positioning and pushing-up device |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS60164299A true JPS60164299A (en) | 1985-08-27 |
JPH04237B2 JPH04237B2 (en) | 1992-01-06 |
Family
ID=11998063
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP59019394A Granted JPS60164299A (en) | 1984-02-07 | 1984-02-07 | Self-advancing type positioning and pushing-up device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS60164299A (en) |
-
1984
- 1984-02-07 JP JP59019394A patent/JPS60164299A/en active Granted
Also Published As
Publication number | Publication date |
---|---|
JPH04237B2 (en) | 1992-01-06 |
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