JPS6063499A - Floor-surface decontaminating robot for nuclear power facility - Google Patents
Floor-surface decontaminating robot for nuclear power facilityInfo
- Publication number
- JPS6063499A JPS6063499A JP17084583A JP17084583A JPS6063499A JP S6063499 A JPS6063499 A JP S6063499A JP 17084583 A JP17084583 A JP 17084583A JP 17084583 A JP17084583 A JP 17084583A JP S6063499 A JPS6063499 A JP S6063499A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- decontamination
- floor
- cleaning
- robot
- 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.)
- Pending
Links
Landscapes
- Measurement Of Radiation (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
この発明は原子力施設におけるＪｌ！屋内床向の放射能
除染作業を遠隔操作によってマ１う床向除：４Ｉ！１」
ポットに関する。This invention is a Jl! Radioactive decontamination work on indoor floors can be carried out by remote control: 4I! 1"
Regarding pot.
頭記原子力施設で行われる放射能除染作業としては、原
子炉および一次系機器を中心に任じた各彌の放射能廃棄
物の除去、点検、修理などに使用された工具類の汚染除
去、不測の事故に伴う一次糸の蒸気、水の噴出による汚
染の除去の他に、施設の稼働に伴う機器、配管類からの
微少な放射性物質の洩れ、ないしは機器の点検時の洩れ
などに基因して放射能化した空気中の塵埃の沈降塩漬に
よる建屋内の床面ないしは床面に近い壁面下部域の汚染
除去などが対象となる。
上記のうち床面の汚染の要因は不確定であるため、その
除染作業は味繁に行う必要があり、月１回の実施が義務
付けられている。しかして床面の除染については、従来
は放射線作業従事者による手作業で行われているが、放
射線被曝の問題があることからその対策が大きな課題と
なっ”（いる。
−力、各稙産業分野でのロボットの普及化に伴い、原子
万骨ζ！ｆでも各棹ロボットの導入が実施されつつある
。また除染作業用として、放射能廃棄物収容用の特足の
タンクについて、その表面の放射能汚染を人手の直接作
業によらずに遠隔操作によって自動的に除染する除染ロ
ボットも開発されている。
しかしながら、施設の建屋内床面の除染作業については
、その対象となる区域がＪムくかっ複雑に入り組んでお
り、しかも事前に建屋内の汚染状況を把握し、その汚染
状況に応じて除染を行う必要があるなど、Ｆｉ：Ｉ記タ
ンク除染用ロボットのように定位置に据付けたまま所定
のプログラム動作で一連の除染作業が行えるものと比べ
て作業内容が複雑であり、この点がロボット導入化を図
る上での大きな障害となっている。すなわち前記の床面
除染作業の手順について、事前に床面の汚染状況を把握
するには、まず床面等のｒη染面を布２紙などで拭取る
ことにより汚染度のサンプル採集を行ういわゆるスミ千
作業を実施し、このサンプルを施設内でγ線の影響を受
けないホ・ノドセルした上でβ線の測定を行い、そのサ
ンプル採集場所と測定ｕＡｔから施設内の汚染マツプを
作製し、これを基に所定レベル以上の８堺につし）で床
面洗浄による除染作業を行う。さらに除染作業の終了後
にも、事前と同様なスミ千作業を行って除染の成果を確
認する必要がある。The radioactive decontamination work carried out at the nuclear facilities mentioned above includes the removal of radioactive waste from each site, mainly the reactor and primary equipment, and the decontamination of tools used for inspection, repair, etc. In addition to removing contamination caused by steam and water erupting from the primary yarn due to unforeseen accidents, we also remove contamination caused by minute leaks of radioactive materials from equipment and piping associated with facility operation, or leaks during equipment inspections. The target area is the removal of contamination from the floor surface of the building or the lower part of the wall near the floor surface due to sedimentation and salting of dust in the air that has become radioactive. Among the factors mentioned above, the causes of floor contamination are uncertain, so decontamination work must be carried out frequently, and must be carried out once a month. Conventionally, decontamination of floors has been done manually by radiation workers, but countermeasures have become a major issue due to the issue of radiation exposure. With the spread of robots in the industrial field, various types of robots are being introduced in Atomic Bones ζ!f.In addition, for decontamination work, special tanks for storing radioactive waste are being introduced. Decontamination robots have also been developed that automatically decontaminate surfaces with radioactive contamination by remote control without manual manual work. The area where the building is located is extremely complex, and it is necessary to grasp the contamination situation inside the building in advance and decontaminate it according to the contamination situation. Compared to the decontamination work that can be performed by a series of predetermined program operations while being installed in a fixed position, the work content is more complex, and this point is a major obstacle in the introduction of robots. Regarding the floor decontamination work procedure, in order to understand the contamination status of the floor surface in advance, first collect a sample of the degree of contamination by wiping the rη-stained surface such as the floor with two pieces of cloth. After carrying out 1,000 operations, this sample was processed into a cell that is not affected by γ rays in the facility, and then β rays were measured. A contamination map within the facility was created from the sample collection location and measurement uAt. Decontamination work will be carried out by cleaning the floor at a specified level or higher (8 Sakai) based on the above.Furthermore, after the decontamination work is completed, the same Sumisen work as before will be performed to confirm the results of decontamination. There is a need.
この発明は上記した原子力施設内の床面除染作業に課せ
られた各種条件を満たした上で、保守員が放射線の被曝
を受けることなく遠隔操作で＆股肉における床面の汚染
度のサンプル採策、および床面の洗浄作業が円滑に行え
るようにした汎用性の高い新規な床面除染ロボットを提
供することを目的とする。This invention satisfies the various conditions imposed on floor decontamination work in nuclear facilities as described above, and allows maintenance personnel to remotely control and sample the contamination level of the floor surface at the crotch without being exposed to radiation. The purpose of the present invention is to provide a new, highly versatile floor decontamination robot that can smoothly perform floor surface cleaning work.
上記目的を達成するために、この発明は遠隔操。
作による操縦で施設内の床面上を走行する駆動車と、床
面の放射能汚染度のサンプル採集を行うスミ十機構を搭
載したスミ中車と、床面の放射能γＩｆ染の除染を行う
洗浄機構をｆｈ域した除染洗浄車とを各独立した車両と
して構成し、かつ車両連結手段を介してｉｉ１記ス鳳十
卓および除染洗浄車を選択的に駆動車へ連結し、これ等
で施設内床向のスミ千作業、並びに除染作業をｉｌＡ操
作で行うようにしたものである。In order to achieve the above object, this invention uses remote control. A driving vehicle that travels on the floor of the facility under the control of the operator, a Sumi medium vehicle equipped with the Sumiju mechanism that collects samples of the level of radioactive contamination on the floor, and decontamination of radioactive γIf contamination on the floor. a decontamination cleaning vehicle with a cleaning mechanism in the fh range, each configured as an independent vehicle, and selectively connecting the ii1 subscript Suho Jutaku and the decontamination cleaning vehicle to the drive vehicle via a vehicle connection means, With these, Sumisen work on the floor of the facility and decontamination work can be performed using ilA operation.
【発明の実施例）
以下この発明を図示実施例に基づいて詳述する。
各図のうち、第１図ないし第３図ば先述した駆動車とス
ミ中車ζを連結した組立構造、第４図ないし第７図は駆
動車と除染洗浄車との連結状態を示す異なる実施例の構
造を示すものである。
まず第１図ないし第３図においてＩＯは駆動車であり、
駆動モータにより駆動される動輪１１．補助車輪１２を
装備した車体１３には、動力供給用，各種信号伝達用の
ケーブル１４を巻き取るケーブルドラム１５、周囲監視
用テレビカメラ１６、照明灯１７、テレビカメラの首振
り駆動モータＩ８、および周囲構造物との距離を測定す
るレーザーないし超音波式センサ、並びに各種機構の信
号処理，自動運転を行うコントローラ等が搭載されζし
）る。力１力する駆動車ＩＯは放射線被曝の少なむ）場
所に置方）才したコンソール部に与えた指令に基づいて
遠隔操作式に１第縦されて施設内の床面上を自走Ｊる。
１１゛お動ノＪにはバッテリ、エンジンを搭載し、かつ
信号伝達を無線方式にして完配したケーブル１４を省略
Ｊ６，二ともｍｌ能である．また符号１９は後述せるス
ミ十車あるいは除染洗浄車と連結するための連結器であ
る．一方、符号２０は前記駆動車１０は連結して使用さ
れるスミ中車であり、その底部および側部に主車輪２工
および補助車輪２２を装備した車体２３には次記のスミ
十機構３０を搭載しており、かつ連結器２４を介して前
記駆動車１０へ着脱可能に連結されている。またスミ十
機構３０はスミャ用の未使用拭取４Ｊ供給ドラム３１、
汚染サンプル採集後の４１の巻取ドラム３２、ドラム３
１と３２の中間でスミャ用４１３３を床面Ａへこすり付
ける拭取ローラ３４、不要時に拭取ローラ３４を上カヘ
引き上げ後退させておくための昇降操作用駆動モータ３
５、サンプル採集後の４３３をドラム３２へ巻取る際に
布の各層間に一緒に挟め込むポリエチレンシート３６を
巻イラけたシ・−ト供給トラム３７、前記各ドラムの駆
動モータ３８、動力伝達ベルト３９、および前記拭取ロ
ーラ３４を床面Ａへ当てかったまま０１１後へ振り動か
すための偏心カム付き駆動モータ４０、各スミャ位置を
計測するエンコーダ４１等で構成されている。
上記の構成において、第１図および第２図に示すように
拭取ローラ３４を床面Ａへ向けた姿勢でスミ中車２０を
駆動車１０へ連結し、遠隔操作により駆動車１０を施設
内の床面上を走行さ一ヒながらスミャ機構３０を作動さ
せれば、ドラム３１から繰り出された幅寸法Ｗのスミャ
用布３３が拭取ローラ３４を通過する過程で床面Ａ上の
塵を拭き取り、その後にポリエチレンシート３６と一緒
に重ねてドラム３２へ巻き取られる。同時にサンプル採
用位置がエンコーダ４１により針側してＩ；ｃ！録され
る。また第３図のようにスミ十車２０を第２図の姿勢か
ら９０度横転し、この車両姿勢で連結器２４を駆動車側
の連結器工９へ連結すると、今迄遊んでいた補助車輪２
２が床面Ａに接して走行し、拭取ローラ３４に張架され
た布３３、つまりスミ十作業面が床面Ａから９０度向き
の異ス（る建屋内壁向ＢのＦ部に対向するよつになる。
この状態で駆動車１０を壁面Ｂに沿って走１ｊさせ扛は
、布３３が壁面Ｂに当接してこの部分のスミ千作業が行
えることになる。このようにしてＡ１＋ｉ設内Ｋ ＋４
のスミ千作業が終了すれば、ａ、要に応して駆動車１０
との連結を外し、車輪２１．２２を利用し−（人力によ
りスミ中車２０をホントセル内へ移す。次にここでサン
プル採集後の布をドラム３２とともに外し、４を繰出し
ながら各部のβ線量の計測を行い、これにエンニＪ−ダ
４１で得たサンプル採集場所の記録データと突き合わせ
て施設内各地点の放射能汚染度を表す汚染マツプを作製
する。なお施設内・・、の搬入、搬出に際して、狭い通
路では適宜連結器１９．２４を外して駆動患１０とスミ
十車２０とを分割して移動し、また階段等では必要に応
じてリフタを用いて昇降移送される。
次に上記したスミ千作業のコニ程に続く床面の除染を行
う除染洗浄車の構成を第４図ないし第（３図について述
べる。すなわち第４図の実施例にボした除染洗浄車５０
ば、その車体上に洗浄部６０．洗浄ｔＪＦ ｒ＆回収部
゛ｌＯ９洗浄排液の拭取回収部８０からなる洗浄機構を
搭載して構成され”ζいる。まず、除染洗浄車５０の車
体はその底部、側部に取イ」けた主車輪５１．補助車輪
５２、および後端には第１図で述べたと同様な連結器５
３を備えている。洗浄部６０は床面をこするブラシ６１
、ブラシ６１に連結した回転駆動モータ６２、不要時に
ブラシ６１を床面から引き上げるように駆動モータ６２
と一緒にブラシ６１を昇降操作する駆動モータ６３、洗
浄液供給ノズルを前記ブラシ６１へ向けて開口した洗浄
液タンク６４、洗浄液供給弁６５などからなる。洗浄排
液回収部７０ばｉ；Ｊ記洗浄部６０の後部に位置し、Ｉ
ｄｊ水タ水タンクフタンク７１に接続した真空ポンプ７
２、タンク７１から一ト方へ引き出した吸水パイプ？３
，７４ 、吸水パイプ７３の先端にスライド９能に取付
けた吸込ノズル７５、吸込ノズル７５を昇降移動操作す
る駆動モータ７６などから構成されている。また洗浄排
液拭取部８０はボＪ記吸込ノズル７５の背後に構成され
、排液拭取布８１の供給ドラム８２および巻取ドラム８
３、ドラム８２と８３の中１…位置で４８４を床面に押
（＝Ｊける拭取ローフ）＋４、拭取ローラ８４を昇降移
動操作する駆動モータ８５、ｔ＃、渣絞りローフ８６、
および排油受１１１１１１’／などからなり、完配した
峻水パイプ７４の先端が排油受１１１１８°ｌの上向に
開口している。
上記の構成で除染洗浄車５０を駆動車１０−＼連結して
床面上を遠隔操作により走行させつつ洗浄機構を作動さ
せれば、洗浄液の供給とブラシ６１の回転動作により床
面Ａの洗浄が行われ、放射能汚染された塵をふくむ洗浄
排液は吸込ノズル７５を通して捕水タンク７Ｉへ吸引回
収される。さらに排水拭取布８１が床面Ａの残存排液を
きれいに拭き取る。４１８工が含んだ排液は絞りローラ
８６によっ″（受１１１８７へ滴下し、ここから吸水パ
イプ７４を経て捕水タンク７１に回収される。なお排水
拭取るの代わりにゴム製プレートで床面上の残液を擾き
簗めて吸引１１１１収させるように構成してもよい。ま
た除染洗浄車５０を第６図のようにその車両姿勢を９０
度横転さ・Ｕ゛ζ駆動車１０に連結して走行運転を行う
ことにより、ブラシ６１を施設建屋の壁面Ｂへ向けて壁
面Ｉ３の床而Ａに近いトｇＢ域を洗浄することができる
。この場合には補助車輪５２が床面Ａに接して除染車５
００走行車輪として働く。
第７は第４図に不した実施例の排〆１に拭取部を省略し
た簡易形除染洗浄車の実ｈｌＩ！例であり、その洗浄部
６０および洗浄拮１＆回収！？＋＋７ｏは第４図の実施
例と殆どｌｉ′＋Ｊ様である。この実施例の除染洗浄車
を採用する場合には、必要に応じてスミャ車側に洗浄排
水拭取部をセットしておくのがよい。なお第７図の実施
例では、復数のブラシ６１をｄＩＪ方から見て左右にラ
ップさせて配置し、ブラシ間にすき間の生じないような
配慮が施されている。
上記第４図ないし第７図の除染洗浄車５ｏも第１図で述
べたスミ中車と同様に駆動車ＩＯに対して着脱可能であ
って、施設内の狭い通路などを移動して運ぶ際には連結
を外して適宜分割して移送できる。なお除染洗浄車５０
による除染作業が終了すれば、再びスミ十車を駆動車に
連結し、除染後の状態確認のためのスミ十運転が行われ
る。
【発明の効果】
Ｆ：述のようにこの発明によれば、駆動ル、スミ中車、
除染洗浄車を各独立Ｌ７た車両として楢成し一連結手段
を介し−（スく中車、除染洗浄車を選択的に駆動車へ連
結して遠［！作により運転を行つように構成したことに
より、駆動車を共ｉｌｌに用い′（施設内における床内
のスミャ作業および除染洗浄作業を人手作業によらずに
放射線被曝のおそれのない遠隔操作力式によって行うこ
とができる。しかも駆動車、スミ中車、除染洗浄車の三
分割構成により、現在の原子力発電所のように施設内ｊ
ｌＴｉ路が狭く複雑に入り組んでいる場所でも８易に１
股大して運転使用することができるなど、各４ｔｉ原子
力施設への適用が可能な汎用性のある床面除染ロボット
を提供することができる。[Embodiments of the Invention] The present invention will be described in detail below based on illustrated embodiments. Among the figures, Figures 1 to 3 show the assembly structure in which the drive car and the inner car ζ are connected, and Figures 4 to 7 show the connection state of the drive car and the decontamination cleaning car. It shows the structure of an example. First of all, in Figures 1 to 3, IO is a driving vehicle,
Driving wheels 11 driven by a drive motor. The vehicle body 13 equipped with the auxiliary wheels 12 includes a cable drum 15 for winding cables 14 for power supply and various signal transmissions, a television camera 16 for surrounding monitoring, a lighting lamp 17, a swing drive motor I8 for the television camera, and It is equipped with a laser or ultrasonic sensor that measures the distance to surrounding structures, as well as a controller that processes signals for various mechanisms and performs automatic operation. The drive vehicle IO, which generates a single force, is placed in a location with low radiation exposure.Based on commands given to the high-performance console, it is remotely controlled in the first vertical position and moves on its own on the floor within the facility. . 11゛The moving J is equipped with a battery and an engine, and the cable 14 is completely distributed by using a wireless method for signal transmission.J6, both of which are ML functions. Also, reference numeral 19 is a connector for connecting with a Sumiju vehicle or a decontamination cleaning vehicle, which will be described later. On the other hand, reference numeral 20 denotes a sumi-medium car which is used in conjunction with the drive car 10, and a car body 23 equipped with two main wheels and an auxiliary wheel 22 on the bottom and sides is equipped with the following sumiju mechanism 30. , and is detachably connected to the drive vehicle 10 via a coupler 24. In addition, the Sumiju mechanism 30 includes an unused wiping 4J supply drum 31 for smearing,
41 winding drum 32, drum 3 after contaminated sample collection
A wiping roller 34 that rubs the smear 4133 on the floor surface A between the rollers 1 and 32, and a drive motor 3 for raising and lowering the wiping roller 34 to lift it up and back when it is not needed.
5. A sheet supply tram 37 wrapped with a polyethylene sheet 36 that is sandwiched between each layer of cloth when winding the sample 433 onto the drum 32, a drive motor 38 for each of the drums, and a power transmission belt. 39, a drive motor 40 with an eccentric cam for swinging the wiping roller 34 backward while it is in contact with the floor surface A, an encoder 41 for measuring each smear position, and the like. In the above configuration, as shown in FIGS. 1 and 2, the cleaning roller 20 is connected to the drive vehicle 10 with the wiping roller 34 facing the floor surface A, and the drive vehicle 10 is moved inside the facility by remote control. If the smearing mechanism 30 is operated while traveling on the floor surface A, the smearing cloth 33 with a width W drawn out from the drum 31 will remove dust on the floor surface A while passing through the wiping roller 34. It is then wiped off and then rolled up onto the drum 32 together with a polyethylene sheet 36. At the same time, the sample adoption position is set to the needle side by the encoder 41 and I;c! will be recorded. In addition, as shown in Fig. 3, when the Sumijyakusha 20 is rolled over 90 degrees from the attitude shown in Fig. 2, and the coupler 24 is connected to the coupler 9 on the driving vehicle side in this vehicle attitude, the auxiliary wheels that have been idle until now are 2
2 runs in contact with the floor surface A, and the cloth 33 stretched over the wiping roller 34, that is, the work surface of Sumi-Ji is facing the F part of the wall B in the building, which is oriented 90 degrees from the floor surface A. In this state, when the driving wheel 10 is run 1j along the wall surface B, the cloth 33 comes into contact with the wall surface B, and the summing operation can be performed in this area.In this way, A1+i Facility K +4
When the Sumi thousand work is completed, a.
Using the wheels 21 and 22, move the sumi-carrying wheel 20 into the real cell using human power. Next, remove the cloth after sample collection along with the drum 32, and measure the β-ray dose of each part while feeding out the sample. A contamination map showing the degree of radioactive contamination at each point within the facility will be created by comparing this with recorded data of sample collection locations obtained from Enni J-41. When carrying out, in narrow passages, the couplers 19 and 24 are removed as appropriate, and the drive unit 10 and the sumi-juguru 20 are separated and moved, and in stairs, etc., lifters are used to move up and down as necessary.Next, The configuration of the decontamination cleaning vehicle that decontaminates the floor surface following the above-mentioned Sumisen work is shown in Figures 4 to 3 (described below with reference to Figure 3. That is, the decontamination cleaning vehicle 50 shown in the embodiment shown in Figure 4 will be described).
For example, there is a cleaning section 60 on the vehicle body. The decontamination cleaning vehicle 50 is equipped with a cleaning mechanism consisting of a wiping and recovery section 80 for cleaning waste liquid. Main wheel 51. Auxiliary wheels 52, and a coupler 5 at the rear end similar to that described in FIG.
It has 3. The cleaning section 60 includes a brush 61 that scrubs the floor surface.
, a rotary drive motor 62 connected to the brush 61, and a drive motor 62 that lifts the brush 61 from the floor when not needed.
It also includes a drive motor 63 that raises and lowers the brush 61, a cleaning liquid tank 64 with a cleaning liquid supply nozzle opened toward the brush 61, a cleaning liquid supply valve 65, and the like. Washing waste liquid collection section 70bai; located at the rear of the washing section 60 marked J;
Vacuum pump 7 connected to dj water tank 71
2. Water suction pipe pulled out from tank 71 in one direction? 3
, 74, a suction nozzle 75 attached to the tip of the water suction pipe 73 in a sliding manner, a drive motor 76 for moving the suction nozzle 75 up and down, and the like. Further, the washing drain liquid wiping section 80 is configured behind the suction nozzle 75 shown in box J, and includes a supply drum 82 and a winding drum 8 for the drain liquid wiping cloth 81.
3. Push 484 onto the floor at position 1 in the drums 82 and 83 (=J-wiping loaf) +4, drive motor 85 for moving the wiping roller 84 up and down, t#, residue squeezing loaf 86,
and a drain oil receiver 111111'/, etc., and the distal end of the fully arranged steep water pipe 74 opens upwards at the drain oil receiver 11118°l. With the above configuration, if the decontamination cleaning vehicle 50 is connected to the drive vehicle 10-\ and runs on the floor surface by remote control while operating the cleaning mechanism, the cleaning mechanism can be operated by supplying cleaning liquid and rotating the brush 61 to clean the floor surface A. After cleaning is performed, the cleaning liquid containing radioactively contaminated dust is sucked and collected through the suction nozzle 75 into the water collection tank 7I. Furthermore, the drainage wiping cloth 81 wipes off the remaining drainage liquid on the floor surface A. The waste water contained in the water is dripped by the squeezing roller 86 to the receiver 11187, from where it is collected in the water collection tank 71 via the water absorption pipe 74.Instead of wiping the water, it is wiped off the floor with a rubber plate. It may be configured so that the remaining liquid on the top is scooped out and collected by suction 1111.Also, the decontamination cleaning vehicle 50 may be configured to have a vehicle attitude of 90° as shown in FIG.
By driving the brush 61 in conjunction with the overturned vehicle 10, it is possible to direct the brush 61 toward the wall B of the facility building and clean the area close to the bed A on the wall I3. In this case, the auxiliary wheels 52 are in contact with the floor surface A of the decontamination vehicle 5.
00 works as a running wheel. 7th is an actual example of a simple decontamination cleaning vehicle in which the wiping part is omitted from the exhaust 1 of the embodiment not shown in FIG. 4! For example, the cleaning part 60 and the cleaning part 1 & recovery! ? ++7o is almost similar to the embodiment of FIG. 4 and li'+J. When employing the decontamination cleaning vehicle of this embodiment, it is preferable to set a cleaning drainage wiping section on the smear vehicle side as necessary. In the embodiment shown in FIG. 7, a plurality of brushes 61 are arranged so as to overlap left and right when viewed from the dIJ direction, so that there are no gaps between the brushes. The decontamination cleaning vehicle 5o shown in Figures 4 to 7 above can also be attached to and detached from the drive vehicle IO in the same manner as the Sumi car described in Figure 1, and is transported through narrow passages within the facility. If necessary, it can be uncoupled and divided as appropriate for transport. Furthermore, decontamination cleaning vehicle 50
Once the decontamination work is completed, the Sumiju vehicle is connected to the drive vehicle again and Sumiju operation is carried out to check the status after decontamination. [Effects of the Invention] F: As mentioned above, according to the present invention, the drive wheel, the sumi car,
The decontamination and cleaning vehicles are arranged as independent L7 vehicles, and the intermediate vehicle and decontamination and cleaning vehicle are selectively connected to the drive vehicle through a connecting means to drive them remotely. With this configuration, the driving vehicle can be used for both illumination (smearing and decontamination cleaning work on the floor within the facility can be done by remote control without the risk of radiation exposure, without manual labor). .In addition, the three-part structure of the driving vehicle, the cleaning vehicle, and the decontamination cleaning vehicle enables the facility to be operated in a manner similar to current nuclear power plants.
Even in places where the lTi tract is narrow and complicated, it is easy to 1.
It is possible to provide a versatile floor decontamination robot that can be operated and used at scale, and can be applied to each 4ti nuclear facility.
第１図ないし第７図はこの発明の実施例をボ３−もので
、第１図は駆動車とスミ中車との連結状態を示ず…１面
側視図、第２１３！！ｌおよび第３図はそれぞれ第１図
の異なる使用状態を示す正向図、第４七イ１は駆動車と
除染車との連結状態を示す要部断内側視図、第５図およ
び第６図はそれぞれ第４図の異なる使用状態を示す正向
図、第゛１図は第４図とは異なる除染洗浄車の実施例の
要部Ｗｔ向側視図である。
（（１駆動車、 目−走灯動輪、 １９一連結器、２０
− スミ十車、 ２ノ一主車輪、 ２２−補助車輪、２
４−・一連結器、３０−スミャ礪構、５０−・−除染洗
浄車、５１−・−主車輪、 ５２−補助車輪、 ５３−
・一連結器、６０・−洗浄部、 ’１０−洗浄排液回収
部、８０− 洗浄排液拭取部、八−床内、Ｂ−・壁面。
第２ｒｆＪ 才３閏1 to 7 show an embodiment of the present invention, and FIG. 1 does not show the state of connection between the driving wheel and the inner wheel...1 side side view, No. 213! ! 1 and 3 are respectively front views showing different usage states of FIG. 6 is a front view showing a different usage state from FIG. 4, and FIG. 1 is a side view of a principal part of an embodiment of the decontamination cleaning vehicle different from that shown in FIG. 4 in the direction Wt. ((1 drive vehicle, eye-running light drive wheel, 19 series connector, 20
- Sumi Juguruma, 2 No. 1 main wheel, 22-auxiliary wheel, 2
4--Connector, 30-Smear tank, 50--Decontamination cleaning vehicle, 51--Main wheels, 52-Auxiliary wheels, 53-
- Series connector, 60 - Cleaning section, '10 - Washing liquid collection section, 80 - Washing liquid wiping section, 8 - Inside the floor, B - Wall surface. 2nd RFJ Sai 3 Leap
Claims (1)
動車と、床面の放射能汚染度のサンプル採集を行うスミ
ャ機構を搭載したスミ中車と、床面の放射能汚染を除染
する洗浄機構を搭載した除染洗浄車とを各独立した車両
として構成し、かつ車両連結手段により前記スミ中車お
よび除染洗浄車を選ＪＲ的に駆動車へ連結して床面のス
ミャおよび除染を行うよう構成したことを特徴とする原
子力施設用の床面除染ロボット。 ２、特許請求の範囲第１項記載のロボットにおいて、ス
ミ中車および除染洗浄車は、それぞれの車両姿勢を９０
度横転させた姿勢で駆動車との連結および走行を可能に
する連結手段および補助車輪を備えていることを特徴と
する原子力施設用の床面除染ロボット。[Scope of Claims] J) A driving vehicle that is self-propelled on the floor of the facility by remote control, a smearing vehicle equipped with a smear mechanism for collecting samples of the level of radioactive contamination on the floor, and a floor A decontamination cleaning vehicle equipped with a cleaning mechanism for decontaminating radioactive surfaces is configured as an independent vehicle, and a vehicle connection means selects the above-mentioned Suminaka vehicle and decontamination cleaning vehicle and connects it to a JR driving vehicle. A floor decontamination robot for a nuclear facility, characterized in that it is configured to connect to perform smearing and decontamination of a floor surface. 2. In the robot according to claim 1, the vehicle posture of the cleaning vehicle and the decontamination cleaning vehicle is 90 degrees.
A floor decontamination robot for a nuclear facility, characterized in that it is equipped with a connecting means and auxiliary wheels that enable it to connect with a drive vehicle and travel in an overturned position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17084583A JPS6063499A (en) | 1983-09-16 | 1983-09-16 | Floor-surface decontaminating robot for nuclear power facility |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17084583A JPS6063499A (en) | 1983-09-16 | 1983-09-16 | Floor-surface decontaminating robot for nuclear power facility |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6063499A true JPS6063499A (en) | 1985-04-11 |
Family
ID=15912389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP17084583A Pending JPS6063499A (en) | 1983-09-16 | 1983-09-16 | Floor-surface decontaminating robot for nuclear power facility |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6063499A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62297795A (en) * | 1986-06-17 | 1987-12-24 | 中部電力株式会社 | Structure of sampling section in washing sampling decontaminator for floor of nuclear power facility |
| JPS62297793A (en) * | 1986-06-17 | 1987-12-24 | 中部電力株式会社 | Washing and sampling decontaminator for floor in nuclear reactor facility |
| JP2014020900A (en) * | 2012-07-18 | 2014-02-03 | Ihi Construction Machinery Ltd | Self-propelled dosimetry device |
| JP2014062735A (en) * | 2011-10-25 | 2014-04-10 | Suyama Kiyoshi | Decontamination method for buildings, soil, or plants contaminated with radioactive materials |
| US9250353B2 (en) * | 2014-01-07 | 2016-02-02 | Lawrence Livermore National Security, Llc | Nuclear radiation cleanup and uranium prospecting |
| WO2019064861A1 (en) * | 2017-09-28 | 2019-04-04 | パナソニックＩｐマネジメント株式会社 | Detection device |
| JP2020091213A (en) * | 2018-12-06 | 2020-06-11 | 日立Ｇｅニュークリア・エナジー株式会社 | Surface contamination density measurement system |
| JPWO2019064862A1 (en) * | 2017-09-28 | 2020-09-10 | パナソニックＩｐマネジメント株式会社 | Collection device and detection device |
| JP2020165837A (en) * | 2019-03-29 | 2020-10-08 | 三菱重工業株式会社 | Decontamination device and method |
-
1983
- 1983-09-16 JP JP17084583A patent/JPS6063499A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62297795A (en) * | 1986-06-17 | 1987-12-24 | 中部電力株式会社 | Structure of sampling section in washing sampling decontaminator for floor of nuclear power facility |
| JPS62297793A (en) * | 1986-06-17 | 1987-12-24 | 中部電力株式会社 | Washing and sampling decontaminator for floor in nuclear reactor facility |
| JP2014062735A (en) * | 2011-10-25 | 2014-04-10 | Suyama Kiyoshi | Decontamination method for buildings, soil, or plants contaminated with radioactive materials |
| JP2014020900A (en) * | 2012-07-18 | 2014-02-03 | Ihi Construction Machinery Ltd | Self-propelled dosimetry device |
| US9250353B2 (en) * | 2014-01-07 | 2016-02-02 | Lawrence Livermore National Security, Llc | Nuclear radiation cleanup and uranium prospecting |
| US9533334B2 (en) | 2014-01-07 | 2017-01-03 | Lawrence Livermore National Security, Llc | Nuclear radiation cleanup and uranium prospecting |
| WO2019064861A1 (en) * | 2017-09-28 | 2019-04-04 | パナソニックＩｐマネジメント株式会社 | Detection device |
| JPWO2019064862A1 (en) * | 2017-09-28 | 2020-09-10 | パナソニックＩｐマネジメント株式会社 | Collection device and detection device |
| JPWO2019064861A1 (en) * | 2017-09-28 | 2020-09-10 | パナソニックＩｐマネジメント株式会社 | Detection device |
| US11412903B2 (en) | 2017-09-28 | 2022-08-16 | Panasonic Intellectual Property Management Co., Ltd. | Detection device |
| US20220338689A1 (en) * | 2017-09-28 | 2022-10-27 | Panasonic Intellectual Property Management Co., Ltd. | Detection device |
| US11918171B2 (en) | 2017-09-28 | 2024-03-05 | Panasonic Intellectual Property Management Co., Ltd. | Detection device |
| JP2020091213A (en) * | 2018-12-06 | 2020-06-11 | 日立Ｇｅニュークリア・エナジー株式会社 | Surface contamination density measurement system |
| JP2020165837A (en) * | 2019-03-29 | 2020-10-08 | 三菱重工業株式会社 | Decontamination device and method |
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