Cable Feeding and Access Equipment

Abstract

To miniaturize a device and suppress damage on a cable in a cable supply device and an access apparatus.SOLUTION: A cable supply device includes: a first sheave which can be rotationally driven; a second sheave that is rotatable and can freely approach / separate from the first sheave; and a cable bear which can support the cable and is wound around the first and second sheaves. The cable bear includes: multiple cable blocks which are arranged in series with a gap; a connection cable which connects the multiple cable blocks in a freely bendable manner; a cable storage part which is provided in the multiple cable blocks; and a bend angle restriction part which restricts bend angles of the multiple cable blocks.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] FIELD OF THE DISCLOSURE The present disclosure relates to cable feeding and access devices. [Background technology]

[0002] For example, in a nuclear power plant, when the core fuel inside the reactor pressure vessel melts and solidifies together with the structures inside the reactor containment vessel, fuel debris is generated as radioactive waste. Therefore, radioactive waste such as fuel debris needs to be removed from the reactor containment vessel and treated. An example of a radioactive waste treatment device is described in Patent Document 1 below. The radioactive waste recovery device described in Patent Document 1 is arranged inside an enclosure and includes a working device and a guide device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-102502 Summary of the Invention [Problem to be solved by the invention]

[0004] In a conventional radioactive waste recovery device, a guide device moves a working device inside the containment vessel, and a processing device attached to the working device processes the radioactive waste. The radioactive waste recovery device must supply the working device with driving force (e.g., electricity, hydraulic pressure, etc.) to operate the processing device, and includes a cable supply device that supplies the Cableveyor (registered trademark). The cable supply device is disposed in the enclosure and is capable of reeling in and storing a cable of the required length, and must pay out the cable when the working device moves inside the radioactive waste. Therefore, it is necessary to reduce the size of the cable supply device and to prevent damage to the cable paid out from the enclosure.

[0005] The present disclosure is devised to solve the above-mentioned problems, and aims to provide a cable supply device and an access device that can reduce the size of the device and suppress damage to the cable. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, the cable supply device of the present disclosure comprises a first sheave that can be driven and rotated, a second sheave that is rotatable and can move toward and away from the first sheave, and a cable bear that can support a cable and is looped around the first sheave and the second sheave, and the cable bear has a plurality of cable blocks arranged in series with gaps between them, connecting ropes that connect the plurality of cable blocks in a bendable manner, a cable storage section provided in the plurality of cable blocks, and a bending angle limiting section that limits the bending angle of the plurality of cable blocks.

[0007] The access device of the present disclosure is an access device that accesses an object to be treated inside a reactor containment vessel through a penetration from outside the reactor containment vessel, and includes an alignment device that is movable horizontally outside the reactor containment vessel, a telescopic device that is supported by the alignment device and has multiple arms that are connected to each other so that they can move freely along the longitudinal direction, a cable supply device as described in claim 1, and a cable supported by the cable supply device and the telescopic device. [Effects of the Invention]

[0008] According to the cable supply device and access device of the present disclosure, it is possible to reduce the size of the device and also to suppress damage to the cable. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram showing the access device of this embodiment. [Figure 2] FIG. 2 is a perspective view of an access device. [Figure 3]FIG. 3 is a schematic diagram illustrating the operation of the access device. [Figure 4] FIG. 4 is a perspective view illustrating the cable feeding device of this embodiment. [Figure 5] FIG. 5 is a side view showing the cable feeding device. [Figure 6] FIG. 6 is a cross-sectional view taken along line VI-VI in FIG. 5, showing the drive pulley. [Figure 7] FIG. 7 is a cross-sectional view taken along line VII-VII in FIG. 6, showing the drive pulley. [Figure 8] FIG. 8 is a cross-sectional view taken along line VIII-VIII in FIG. 5, illustrating the first driven pulley. [Figure 9] FIG. 9 is a perspective view showing a cable bear. [Figure 10] FIG. 10 is a plan view showing the cable bear. [Figure 11] FIG. 11 is a side view showing the cable bear. [Figure 12] FIG. 12 is a schematic diagram of a linear cableveyor. [Figure 13] FIG. 13 is a schematic diagram of a bent cable bear. [Figure 14] FIG. 14 is a schematic diagram showing an operation state of the access device using a tool. [Figure 15] FIG. 15 is a schematic diagram of a boiling water reactor with an access device installed. [Figure 16] FIG. 16 is a horizontal schematic view of a boiling water reactor with access equipment installed. DETAILED DESCRIPTION OF THE INVENTION

[0010] Preferred embodiments of the present disclosure will be described in detail below with reference to the drawings. Note that the present disclosure is not limited to these embodiments, and when there are multiple embodiments, the present disclosure also includes configurations that combine the embodiments. Furthermore, the components in the embodiments include those that can be easily imagined by a person skilled in the art, those that are substantially identical, and those that are within the so-called equivalent range.

[0011] <Boiling water reactor> The nuclear reactor applied in this embodiment is a boiling water reactor (BWR) that uses light water as a reactor coolant and a neutron moderator and boils the light water in the reactor core to generate steam. However, the nuclear reactor is not limited to a boiling water reactor, and may be another type of nuclear reactor such as a pressurized water reactor (PWR).

[0012] FIG. 15 is a schematic diagram showing a boiling water reactor in which an access device is installed, and FIG. 16 is a horizontal schematic diagram showing a boiling water reactor in which an access device is installed.

[0013] As shown in Figures 15 and 16, a boiling water reactor 100 is configured by containing a reactor 102 in a reactor containment vessel 101. The reactor containment vessel 101 is installed in a reactor building 103 and is sealed by attaching a top cover 104 to its upper end. The reactor containment vessel 101 has a dry well 105 formed therein and multiple suppression chambers 106 in which suppression pools filled with cooling water are formed. The dry well 105 is connected to the suppression chambers 106 via a vent passage 107, and the tip of the vent passage 107 is immersed in the cooling water of the suppression pool.

[0014] The reactor building 103 supports the reactor containment vessel 101, and a plurality of shield plugs 108, which are divided into multiple parts and function as radiation shields, are placed above the top lid 104, and the reactor containment vessel 101 is kept airtight by the plurality of shield plugs 108.

[0015] The nuclear reactor 102 is composed of a reactor vessel 110 with an attached top lid 109, a core 111 loaded with a plurality of fuel assemblies containing nuclear fuel material, a steam separator 112, a steam dryer 113, and the like. In this case, the core 111, the steam separator 112, and the steam dryer 113 are disposed within the reactor vessel 110. A core shroud 114 is disposed within the reactor vessel 110 and surrounds the core 111. A plurality of fuel assemblies are loaded within the core 111, and each fuel assembly is supported at its lower end by a core support plate 115 and held at its upper end by an upper grid plate 116. The steam separator 112 is disposed above the upper grid plate 116, and the steam dryer 113 is disposed above the steam separator 112.

[0016] A plurality of control rods 117 are arranged so as to be inserted into the core 111 from below. The plurality of control rods 117 are arranged in control rod guide tubes (not shown) and are movable in the vertical direction, and are moved in and out between the fuel assemblies arranged inside the core 111 to control the reactor power. A control rod drive mechanism 118 is attached to the bottom head of the reactor vessel 110 and is connected to the control rods 117 in each control rod guide tube.

[0017] The reactor vessel 110 contains not only the aforementioned reactor core 111 but also a steam separator 112, a steam dryer 113, a core shroud 114, a core support plate 115, an upper grid plate 116, control rods 117, and the like, as core structures.

[0018] The reactor vessel 110 is installed on a cylindrical pedestal 120 that is provided on a concrete mat 119 that is provided at the bottom of the reactor containment vessel 101. A cylindrical gamma ray shield 121 is installed at the top end of the pedestal 120 and surrounds the outside of the reactor vessel 110.

[0019] Incidentally, in a nuclear power plant, when the core 111 inside the reactor vessel 110 melts, molten material such as molten fuel accumulates at the bottom of the reactor vessel 110, or the reactor vessel 110 also melts and falls onto the concrete mat 119. In this case, the reactor containment vessel 101 is cooled by supplying cooling water to the inside, and the molten material is cooled and solidified by storing the cooling water in the pedestal 120. The solidified molten material becomes a target for investigation and recovery as radioactive waste M.

[0020] The radioactive waste treatment device 130 is used to investigate and recover radioactive waste (debris) M inside the reactor containment vessel 101. The reactor building 103 has the reactor containment vessel 101 supporting the reactor 102 (reactor vessel 110) in the center, and a room 131 is provided outside the reactor containment vessel 101. The room 131 is a space that workers can safely enter without being exposed to radiation when the reactor 102 is operating normally. The room 131 is partitioned by concrete walls 132. The room 131 is provided with a work hole 134 that penetrates the concrete structural wall and communicates with the inside of the reactor containment vessel 101.

[0021] The radioactive waste treatment device 130 is installed in a room 131 in the reactor building 103. The radioactive waste treatment device 130 has an access device 10 and an enclosure 20. The enclosure 20 is connected to a work hole (penetration) 134 in the reactor containment vessel 101 via a communication pipe 135.

[0022] <Configuration of access device> FIG. 1 is a schematic diagram showing the access device of this embodiment, and FIG. 2 is a perspective view showing the access device.

[0023] 1 and 2, the access device 10 is used to access the radioactive waste M as the object to be treated inside the containment vessel 101 from the outside through a work hole 134 as a penetration. The access device 10 is a part that constitutes a radioactive waste treatment device 130.

[0024] The access device 10 includes an alignment device 11, a telescopic device 12, a tilt device 13, and a cable supply device 14. A tool 16 is attached to the tip of the tilt device 13 via a multi-axis manipulator 15. The tool 16 is replaceable depending on the type of work to be performed on the radioactive waste M. However, the access device 10 is not limited to this configuration, and another device may be provided in place of the tool 16 via the multi-axis manipulator 15.

[0025] The access device 10 is disposed inside the enclosure 20. The enclosure 20 is installed on the floor G of a room 131 outside the reactor containment vessel 101. The enclosure 20 forms an airtight space isolated from the room 131, which is the external space. Workers can perform work by remotely operating the enclosure 20 from outside, or by using a manipulator to operate various pieces of equipment disposed inside.

[0026] The enclosure 20 includes a storage section 21 and a gate section 22. The storage section 21 has a hollow rectangular parallelepiped shape and is provided with an entrance section (not shown) that can be opened and closed by an opening / closing door. Various types of equipment can be carried in and out of the storage section 21 through the entrance section. The gate section 22 is provided at one longitudinal end of the storage section 21. The gate section 22 can connect and block communication between the storage section 21 and a communication pipe 135. One end of the gate section 22 is connected to the storage section 21, and the other end is provided with an opening 23. A first opening / closing door 24 is provided on the storage section 21 side of the gate section 22, and a second opening / closing door 25 is provided on the opening 23 side. When the first opening / closing door 24 and the second opening / closing door 25 are opened, the storage section 21 is connected to the communication pipe 135 via the gate section 22 and to the containment vessel 101 via the work hole 134. On the other hand, when the first opening / closing door 24 and the second opening / closing door 25 are closed, the gate section 22 of the accommodation section 21 is blocked, and communication with the communication pipe 135, the work hole 134, and the containment vessel 101 is blocked.

[0027] The alignment device 11 is disposed inside the enclosure 20. The alignment device 11 is disposed so as to be freely movable along the horizontal direction. The alignment device 11 has a rail portion 31, a traction portion 32, and an adjustment mechanism 33.

[0028] The rail portion 31 is laid on the floor surface G inside the enclosure 20. The rail portion 31 is arranged so as to be parallel to the communicating pipe 135 and the working hole 134 and to be aligned in a straight line with the communicating pipe 135 and the working hole 134 in a plan view. The traction portion 32 is movably supported by the rail portion 31. A base end portion of the telescopic device 12 is connected to the traction portion 32. By moving on the rail portion 31, the traction portion 32 can move in a direction to carry the telescopic device 12 out of the enclosure 20 and in a direction to carry the telescopic device 12 into the enclosure 20. The adjustment mechanism 33 can adjust the position of the base end portion of the telescopic device 12 relative to the traction portion 32 in the vertical direction and in the horizontal direction (width direction) perpendicular to the moving direction of the traction portion 32.

[0029] The telescopic device 12 is supported by the alignment device 11. The telescopic device 12 can be moved in the longitudinal direction of the rail portion 31 by the alignment device 11. The telescopic device 12 has a plurality of (three in this embodiment) arms 34, 35, 36 connected to each other so as to be movable along the longitudinal direction. However, the number of arms is not limited to three, and any plurality of arms may be used. The base end of the base arm 34 is connected to the traction unit 32 of the alignment device 11. The intermediate arm 35 is movably supported by the base arm 34. The distal arm 36 is movably supported by the intermediate arm 35. For example, the arm 34 has a rectangular cross-sectional shape, and the arms 35, 36 have U-shaped cross-sectional shapes, and the arms 35, 36 are arranged so as to overlap the arm 34.

[0030] The tilt device 13 is connected to the tip end of the telescopic device 12. The tilt device 13 has a tilt arm 37. The base end of the tilt arm 37 is connected to the tip end of the tip arm 36 so as to be freely rotatable up and down. The tilt arm 37 can change the angle of the vertical direction relative to the horizontal direction of the tip arm 36. In other words, the base end of the tilt arm 37 is rotatably supported by the tip arm 36, and the tip end moves down under its own weight, so that the angle can be changed.

[0031] A multi-axis manipulator 15 is connected to the tip of the tilt device 13. The multi-axis manipulator 15 is, for example, a seven-axis drive, but is not limited to this configuration. A tool 16 can be attached to the tip of the multi-axis manipulator 15. The tool 16 is, for example, a cutting tool, a grinding tool, a cutting tool, etc., but is not limited to this configuration.

[0032] The cable supply device 14 has a top plate rail portion 40, a housing portion 41, a drive sheave (first sheave) 42, a first driven sheave (second sheave) 43, a second driven sheave (second sheave) 44, and a cable bear 45.

[0033] The top plate rail portion 40 is disposed inside the enclosure 20. The top plate rail portion 40 is fixed to the ceiling portion of the enclosure 20. The housing portion 41 is supported on the ceiling rail portion 40 so as to be freely movable along the longitudinal direction. The drive sheave 42 is disposed on the front side (right side in Figure 1) of the housing portion 41. The drive sheave 42 is supported on the housing portion 41 and is capable of being driven to rotate. The first driven sheave 43 is disposed on the rear side (left side in Figure 1) of the housing portion 41. The first driven sheave 43 is supported on the housing portion 41 so as to be freely movable along the longitudinal direction and is freely rotatable in a driven manner. The second driven sheave 44 is disposed on the rear side (left side in Figure 1) of the housing portion 41. The second driven sheave 44 is supported on the housing portion 41 so as to be freely movable along the longitudinal direction and is freely rotatable in a driven manner.

[0034] That is, the drive sheave 42 is disposed on the front side of the housing part 41, and the first driven sheave 43 and the second driven sheave 44 are disposed on the rear side of the housing part 41. On the rear side of the housing part 41, the first driven sheave 43 is disposed on the upper side, and the second driven sheave 44 is disposed on the lower side. The first driven sheave 43 and the second driven sheave 44 can move toward and away from the drive sheave 42.

[0035] Although the top rail portion 40 and the housing portion 41 are arranged inside the enclosure 20, the support structure is not limited to the above. For example, the top rail portion 40 may be fixed to a side wall of the enclosure 20, and the housing portion 41 may be supported so as to be freely movable relative to the top rail portion 40.

[0036] The cable bear 45 can support a plurality of cables 200 (see FIG. 11). The cable bear 45 has a predetermined length and is band-shaped. The cable bear 45 can be bent in the thickness direction of the band. The cable bear 45 is looped around the drive sheave 42, the first driven sheave 43, and the second driven sheave 44, and can move along the longitudinal direction. That is, one longitudinal end of the cable bear 45 is looped around the first driven sheave 43, a longitudinal middle portion is looped around the drive sheave 42, and the other longitudinal end is looped around the second driven sheave 44. That is, one longitudinal end of the cable bear 45 is fixed to the housing 41 near the drive sheave 42. The cable bear 45 extends from one end to the rear side of the housing 41, is looped around the first driven sheave 43, then turns around and extends to the front side of the housing 41, is looped around the drive sheave 42, then turns around and extends to the rear side of the housing 41, and is looped around the second driven sheave 44. The cable bear 45 then turns around and extends to the front side of the housing 41.

[0037] Therefore, the cable bear 45 moves in the longitudinal direction as the drive sheave 42 is driven to rotate, and at this time, the first driven sheave 43 and the second driven sheave 44 are driven to rotate and supported. Also, the amount of payout of the cable bear 45 is adjusted as the first driven sheave 43 and the second driven sheave 44 move toward or away from the drive sheave 42.

[0038] <Access Device Operation> FIG. 3 is a schematic diagram illustrating the operation of the access device.

[0039] As shown in Figures 1 to 3, the access device 10 operates the alignment device 11 to transport the multi-axis manipulator 15 and tool 16 from the enclosure 20 via the telescopic device 12 and tilt device 13, and moves them into the reactor containment vessel 101 through the connecting pipe 135 and the working hole 134.

[0040] First, the multi-axis manipulator 15, which is in a bent state inside the enclosure 20, is operated to insert the multi-axis manipulator 15 and the tool 16 into the communicating pipe 135 and the working hole 134 to make them straight. Next, the traction unit 32 of the alignment device 11 is moved along the rail unit 31 to insert the telescopic device 12 and the tilt device 13 into the communicating pipe 135 and the working hole 134.

[0041] Next, the telescopic device 12 moves the intermediate arm 35 relative to the base arm 34, and moves the tip arm 36 relative to the intermediate arm 35, thereby moving the multi-axis manipulator 15 and the tool 16 into the containment vessel 101 via the tilt device 13. Then, the tilt arm 37 is tilted relative to the tip arm 36 by the tilt device 13, thereby lowering the multi-axis manipulator 15 and the tool 16. Thereafter, the multi-axis manipulator 15 is operated to move the tool 16 to a predetermined position, and various types of machining are performed with the tool 16.

[0042] At this time, the cable supply device 14 drives and rotates the drive sheave 42, and moves the first driven sheave 43 and the second driven sheave 44, thereby moving the cable bear 45 along the longitudinal direction. That is, the cable supply device 14 supplies the cable bear 45 in accordance with the movement of the multi-axis manipulator 15 and the tool 16 via the telescopic device 12 and the tilt device 13. Therefore, the cable 200 supported by the cable bear 45 follows the movement of the tool 16, and is able to supply driving force.

[0043] The alignment device 11, telescopic device 12, and tilt device 13 are almost the same as those described in Patent Application No. 2021-116673, which has already been filed.

[0044] <Cable supply device> 4 is a perspective view showing the cable supply device of this embodiment, FIG. 5 is a side view showing the cable supply device, FIG. 6 is a cross-sectional view taken along line VI-VI in FIG. 5 showing the drive pulley, FIG. 7 is a cross-sectional view taken along line VII-VII in FIG. 6 showing the drive pulley, and FIG. 8 is a cross-sectional view taken along line VIII-VIII in FIG. 5 showing the first driven pulley.

[0045] As shown in FIG. 4, the cable supply device 14 has a top plate rail portion 40, a housing portion 41, a drive sheave 42, a first driven sheave 43, a second driven sheave 44, and a cable bear 45, as described above.

[0046] As shown in FIGS. 5 and 6 , in the top plate rail section 40, the top plate 51 is in the shape of a flat plate having a predetermined length, and is formed with a number of circular holes to reduce weight. The top plate 51 is fixed to the ceiling of the enclosure 20 (see FIG. 1 ). A pair of left and right first rails 52 are fixed to the underside of the top plate 51. In the housing section 41, a housing frame 53 supports a pair of left and right first rolling rollers 54 rotatably about a horizontal axis, and also supports a pair of left and right position restriction rollers 55 rotatably about a vertical axis. In the housing frame 53, the first rolling rollers 54 are supported by the first rails 52 of the top plate 51, and the position restriction rollers 55 are supported on the end faces of the first rails 52.

[0047] The drive sheave 42 is disposed on the front side of the housing unit 41 (the right side in FIG. 5 ). A rotating plate 56 is fixed to one axial end of the drive sheave 42, and a rotating shaft 57 fixed to the rotating plate 56 is rotatably supported by a pair of left and right support frames 58. The pair of left and right support frames 58 are connected at their upper parts by a connecting shaft 59, and a pair of left and right second rolling rollers 60 are supported so as to be rotatable about a horizontal axis. A pair of left and right second rails 61 are fixed to the housing frame 53. The second rolling rollers 60 of the support frame 58 are supported by the second rails 61 of the housing frame 53. The drive sheave 42 is movably supported by the housing frame 53 via the support frame 58, but is usually fixed so as not to be movable relative to the housing frame 53.

[0048] An internal gear 62 is fixed to the drive sheave 42 between the rotating plate 56 and the support frame 58. On the other hand, a drive unit 63 is fixed to the support frame 58, and a drive gear 64 meshes with the internal gear 62 of the drive sheave 42. Therefore, when the drive unit 63 is driven, the drive gear 64 rotates, which in turn rotates the internal gear 62 meshing with the drive gear 64, and the drive sheave 42, which is integral with the internal gear 62, rotates. Also, a rack 76 is fixed to the top plate 51 via a mounting base 75. On the other hand, a drive unit 77 is fixed to the housing frame 53, and a drive gear 78 meshes with the rack 76. Therefore, when the drive unit 77 is driven, the drive gear 78 rotates while meshing with the rack 76, and the housing frame 53, i.e., the housing unit 41, moves. It is also possible to provide the drive unit 77 on the top plate 51 side and the rack 76 on the housing frame 53 side.

[0049] As shown in FIGS. 5 and 8, the first driven sheave 43 is disposed on the rear side of the housing unit 41 (the left side in FIG. 5). Rotating shafts 65 are fixed to both axial sides of the first driven sheave 43, and the rotating shafts 65 are rotatably supported by a pair of left and right support frames 66. The pair of left and right support frames 66 are connected at their upper parts by a connecting shaft 67, and a pair of left and right third rolling rollers 68 are supported rotatably about a horizontal axis. The third rolling rollers 68 of the support frame 66 are supported by the second rail 61 of the housing frame 53. The first driven sheave 43 is movably supported by the housing frame 53 via the support frames 66.

[0050] A rack 69 is fixed to the second rail 61. Meanwhile, for the first driven sheave 43, a drive unit 70 is fixed to the support frame 66, and a drive gear 71 meshes with the rack 69 of the second rail 61. Therefore, when the drive unit 70 is driven, the drive gear 71 rotates and rolls while meshing with the rack 69, and the first driven sheave 43 moves while being supported by the second rail 61.

[0051] Although the first driven sheave 43 has been described here, the second driven sheave 44 is also similarly arranged on the rear side of the housing part 41 (left side in Figure 1) and is supported on the housing part 41 so as to be freely movable along the longitudinal direction.

[0052] 6 and 7, the drive sheave 42 is provided with connecting pins 72a, 72b on both axial sides of its outer periphery. The first connecting pins 72a are fixed at equal intervals in the circumferential direction on one axial side of the outer periphery of the drive sheave 42. The second connecting pins 72b are fixed at equal intervals in the circumferential direction on the other axial side of the outer periphery of the drive sheave 42. The fixing positions of the multiple first connecting pins 72a and the multiple second connecting pins 72b are in the same phase around the circumferential direction of the drive sheave 42. When the cable bear 45 is looped around the drive sheave 42, the connecting pins 72a, 72b engage with the cable bear 45, thereby transmitting the rotational force of the drive sheave 42 to the cable bear 45 and allowing the cable bear 45 to move.

[0053] As shown in FIGS. 4 and 5 , the drive sheave 42 is disposed on the front side of the housing 41, and the first driven sheave 43 and the second driven sheave 44 are disposed on the rear side of the housing 41. One longitudinal end 45a of the cable bear 45 is fixed to the housing 41 near the drive sheave 42. The cable bear 45 extends from the one end 45a to the rear side of the housing 41, is looped around the first driven sheave 43 from below, and then turns around. The cable bear 45 extends from the first driven sheave 43 to the front side of the housing 41, is looped around the drive sheave 42 from above, and then turns around. The cable bear 45 extends from the drive sheave 42 to the rear side of the housing 41, is looped around the second driven sheave 44 from above, and then turns around, and the other longitudinal end 45b extends to the front side of the housing 41.

[0054] The cable feeder 14 operates in response to the movement of the multi-axis manipulator 15 and the tool 16 into the containment vessel 101 via the alignment device 11 via the telescopic device 12 and tilt device 13. That is, the cable feeder 14 feeds the cable by pulling the cable carrier 45 as the tool 16 advances. At this time, the second driven sheave 44 first moves forward along the top plate rail portion 40, that is, toward the drive sheave 42. Then, the second driven sheave 44 rotates while moving, and the other end 45b of the cable carrier 45 is unwound forward. Then, when the second driven sheave 44 comes closest to the drive sheave 42, it stops at that position. Next, as the drive sheave 42 rotates, the first driven sheave 43 moves forward along the top plate rail portion 40, that is, toward the drive sheave 42. As a result, the first driven sheave 43 rotates while moving, and the other end 45b of the cable bear 45 is unwound further forward. When the first driven sheave 43 comes closest to the drive sheave 42, it stops at that position. When the cable bear 45 is pulled, the cable supply device 14 adjusts the supply amount of the cable bear 45 by driving the drive sheave 42 and moving the driven sheaves 43, 44, thereby suppressing slack in the cable bear 45.

[0055] Meanwhile, the cable supply device 14 operates in response to the return of the multi-axis manipulator 15 and the tool 16 from the containment vessel 101 to the enclosure 20 via the alignment device 11 via the telescopic device 12 and the tilt device 13. That is, the cable supply device 14 winds up the cable bear 45 by driving the drive sheave 42 and moving the driven sheaves 43 and 44 as the tool 16 and the like move back. In this case, the driven sheaves 43 and 44 may be rotatable by the drive device, similar to the drive sheave 42.

[0056] The drive sheave 42, the first driven sheave 43, and the second driven sheave 44 are supported by a housing frame 53, and the housing frame 53 is movably supported on a first rail 52 fixed to the top plate 51. Therefore, the drive sheave 42, the first driven sheave 43, and the second driven sheave 44 supported by the housing frame 53 can move as a unit along the first rail 52 and can be assembled to and removed from the top plate 51.

[0057] The cable supply device 14 is provided with a plurality of support rollers 73 that support the cable bear 45 between the drive sheave 42 and the first and second driven sheaves 43 and 44 .

[0058] <Cableveyor configuration> FIG. 9 is a perspective view showing the cableveyor, FIG. 10 is a plan view showing the cableveyor, and FIG. 11 is a side view showing the cableveyor.

[0059] 9 to 11, the cable bear 45 supports a plurality of cables 200. Here, the cables 200 are power lines, air pipes, hydraulic pipes, signal lines, etc. The cable bear 45 has a plurality of cable blocks 81, wire lobes (connecting cables) 82a and 82b, cable storage sections 83a, 83b, and 83c, and a bending angle limiter 84.

[0060] The multiple cable blocks 81 all have the same shape. The multiple cable blocks 81 are arranged in series with gaps between them and connected by wire lobes 82a and 82b. Therefore, the multiple cable blocks 81 connected by the wire lobes 82a and 82b are bendable. The cable blocks 81 have a rectangular parallelepiped shape. The cable blocks 81 have opposing surfaces 81a and 81b provided at positions where adjacent cable blocks face each other, and outer surfaces 81c and 81d provided at positions where adjacent cable blocks do not face each other. The opposing surfaces 81a and 81b and the outer surfaces 81c and 81d are flat and perpendicular to each other. When the multiple cable blocks 81 connected by the wire lobes 82a and 82b are in a straight line, the opposing surfaces 81a and 81b of adjacent cable blocks are parallel to each other.

[0061] The wire lobes 82a, 82b connect multiple cable blocks 81 in a flexible manner. A first wire lobe (first connecting cable) 82a is connected to one longitudinal end of the cable block 81, and a second wire lobe (second connecting cable) 82b is connected to the other longitudinal end. A first connecting portion 91a is fixed to the first wire lobe 82a with a gap therebetween in the longitudinal direction. A second connecting portion 91b is fixed to the second wire lobe 82b with a gap therebetween in the longitudinal direction. The cable block 81 has a first connecting recess 92a formed at one longitudinal end and a second connecting recess 92b formed at the other longitudinal end. The first connecting portion 91a of the first wire lobe 82a is engaged with the first connecting recess 92a of the cable block 81. The second connecting portion 91b of the second wire lobe 82b is engaged with the second connecting recess 92b of the cable block 81. Here, the first connecting recess 92a and the second connecting recess 92b have passages through which the wire lobes 82a and 82b are inserted, and openings into which the connecting portions 91a and 91b are fitted.

[0062] That is, the cable block 81 is composed of a pair of split blocks 93a, 93b. One half of the first connecting recess 92a and the second connecting recess 92b is formed in the split block 93a, and the other half of the first connecting recess 92a and the second connecting recess 92b is formed in the split block 93b. When the pair of split blocks 93a, 93b are fitted together, the first connecting portion 91a and the second connecting portion 91b are sandwiched between the pair of halves, thereby locking the first connecting portion 91a and the second connecting portion 91b into the first connecting recess 92a and the second connecting recess 92b. The pair of split blocks 93a, 93b are then fixed together with bolts 94a, 94b to form the cable block 81.

[0063] A plurality of cable storage sections 83a, 83b, and 83c (three in this embodiment) are provided in the cable block 81. The cable storage sections 83a, 83b, and 83c can store a plurality of cables 200. The cable storage sections 83a, 83b, and 83c are provided between the first connecting recess 92a (first connecting section 91a) and the second connecting recess 92b (second connecting section 91b). The plurality of cable blocks 81 connected by the wire lobes 82a and 82b can store long cables 200 by arranging the cable storage sections 83a, 83b, and 83c in a straight or curved shape. The cable storage sections 83a and 83c have an elongated hole shape, making them wider than they are high, and can store a plurality of cables 200 or a wide cable 200. The cable storage section 83b has a circular shape, making its height and width the same, and can store a cable 200 with a circular cross section. However, the shape and number of the cable storage sections 83a, 83b, and 83c are not limited to those in this embodiment.

[0064] The bending angle limiting portion 84 limits the bending angle of the multiple cable blocks 81 connected by the wire lobes 82a, 82b. The multiple cable blocks 81 are connected by the wire lobes 82a, 82b with a gap length S1 between them. The bending angle limiting portion 84 has opposing surfaces 81a, 81b. When the multiple cable blocks 81 are bent, the opposing surfaces 81a, 81b of adjacent cable blocks abut against each other, thereby limiting the bending angle. Here, the bending angle is the relative angle between two adjacent cable blocks, and can also be considered the angle formed by the opposing surfaces 81a, 81b of the two adjacent cable blocks. In this case, the length S1 of the gap between adjacent cable blocks 81 is shorter than the length S2 of the outer surfaces 81c, 81d along the direction of the serial arrangement of the cable blocks 81.

[0065] The bending angle limiting unit 84 limits the curvature of the cable bear 45 when it is bent by defining the length S1 of the gap between two adjacent cable blocks 81. By limiting the curvature of the cable bear 45 when it is bent, the curvature of the cable 200 when it is bent is also limited, thereby suppressing damage to the cable 200 due to bending. However, the cable bear 45 is supported by the drive sheave 42 and the driven sheaves 43, 44 in a bent state. Therefore, the curvature of the cable bear 45 limited by the bending angle limiting unit 84 is larger than the curvature of the outer periphery of the drive sheave 42 and the driven sheaves 43, 44. For example, when the minimum bending radius of curvature of the cable 200 is R150, the minimum bending radius of curvature of the cable bear 45 is set to R180, and the minimum bending radius of curvature of the sheaves 42, 43, 44 is set to R200.

[0066] The cable block 81 has a first connecting hole 95a formed at one longitudinal end and a second connecting hole 95b formed at the other longitudinal end. The first connecting hole 95a and the second connecting hole 95b are provided in the cable block 81 longitudinally inward of the first connecting recess 92a and the second connecting recess 92b. The first connecting hole 95a and the second connecting hole 95b open to outer surfaces 81c and 81d of the cable block 81. Meanwhile, as described above, the connecting pins 72a and 72b are fixed to the drive sheave 42 with a circumferential gap provided around the outer periphery. In this case, the circumferential gap (length) between the multiple connecting pins 72a and 72b in the drive sheave 42 is set to the same length as the longitudinal gap (length) between the connecting holes 95a and 95b of the multiple cable blocks 81 in the cableveyor 45.

[0067] When the cableveyor 45 is wound around the drive sheave 42, the connecting pins 72a, 72b of the drive sheave 42 fit into and lock into the connecting holes 95a, 95b of the multiple cable blocks 81. When the drive sheave 42 is driven to rotate, the rotational force of the drive sheave 42 is transmitted to the multiple cable blocks 81 via the connecting pins 72a, 72b and the connecting holes 95a, 95b. Therefore, the cableveyor 45 moves as the drive sheave 42 rotates.

[0068] The cable bear 45 is required to be durable and radiation-resistant because it is supplied to the inside of the containment vessel 101. Therefore, the cable block 81 is made of a radiation-resistant resin, and the wire lobes 82a and 82b are made of stainless steel wire. As the radiation-resistant resin, it is preferable to use, for example, ultra-high molecular weight polyethylene or PEEK (Poly Ether Ether Ketone) resin.

[0069] <Cableveyor operation> FIG. 12 is a schematic diagram of a straight cableveyor, and FIG. 13 is a schematic diagram of a curved cableveyor.

[0070] As shown in FIG. 12, when the cable bear 45 is in a straight state, the adjacent opposing surfaces 81a, 81b of the multiple cable blocks 81 connected by the wire lobes 82a, 82b are parallel to each other, ensuring a gap. On the other hand, as shown in FIG. 13, when the base end side (left end side in FIG. 13) of the multiple cable blocks 81 connected by the wire lobes 82a, 82b is supported and the tip end side (right end side in FIG. 13) is free, the tip end side moves downward due to gravity, with the base end side as a fulcrum, resulting in a bent state. At this time, the lower ends of the adjacent opposing surfaces 81a, 81b of the multiple cable blocks 81, i.e., the corners of adjacent cable blocks 81, abut against each other, maintaining a predetermined bend angle. Therefore, the cable 200 stored in the cable bear 45 supported in a bent state will not bend more than necessary (above the predetermined bend angle).

[0071] <Radioactive waste collection work> FIG. 14 is a schematic diagram showing an operation state of the access device using a tool.

[0072] As shown in FIG. 14 , the containment vessel 101 has a working hole 134 in its wall, and the working hole 134 is connected to the enclosure 20 (see FIG. 1 ) via a communicating pipe 135. The pedestal 120 has a working hole 141 in its wall. A slope 142 is always installed between the working hole 134 (communicating pipe 135) of the containment vessel 101 and the working hole 141 of the pedestal 120. However, the slope 142 is not essential. Radioactive waste M exists on the concrete mat 119 of the dry well 105 of the reactor 102. In this state, the access device 10 is used to extend the multi-axis manipulator 15 and the tool 16 from the communicating pipe 135, the working hole 134, and 141 to the dry well 105, and the operation of retrieving the radioactive waste M is performed.

[0073] As shown in FIG. 1 , the access device 10 is placed inside the enclosure 20, and an operator remotely operates the access device 10 from outside the enclosure 20. With the opening and closing doors 24, 25 open, first, the multi-axis manipulator 15 in a bent state is operated, and the multi-axis manipulator 15 and the tool 16 are inserted into the communicating pipe 135 and the working hole 134. Next, the towing unit 32 is moved along the rail unit 31, and the telescopic device 12 and the tilt device 13 are inserted into the communicating pipe 135 and the working hole 134.

[0074] As shown in Fig. 3, next, the telescopic device 12 advances the intermediate arm 35 relative to the base arm 34, and advances the tip arm 36 relative to the intermediate arm 35, and the multi-axis manipulator 15 and the tool 16 are moved into the containment vessel 101 via the tilt device 13. As shown in Fig. 14, the access device 10 has lights and cameras attached to the telescopic device 12, tilt device 13, and multi-axis manipulator 15, and the worker operates the tilt device 13 and multi-axis manipulator 15 while watching images captured by the camera.

[0075] At this time, the cable supply device 14 drives and rotates the drive sheave 42 and moves the first driven sheave 43 and the second driven sheave 44, thereby unwinding the cable bear 45 from the enclosure 20. That is, the cable supply device 14 supplies the cable bear 45 in accordance with the movement of the multi-axis manipulator 15 and the tool 16 via the telescopic device 12 and the tilt device 13. Therefore, the cable bear 45 follows the movement of the tool 16 and is able to supply driving force. At this time, although the cable bear 45 unwound from the second driven sheave 44 is not supported, the curvature of the cable bear 45 when bent is limited by the bending angle limiting section 84 (see FIG. 13), and therefore, damage to the cable 200 housed therein due to bending is suppressed.

[0076] When the multi-axis manipulator 15 and the tool 16 have moved into the reactor containment vessel 101, the tilt device 13 tilts the tilt arm 37 relative to the tip arm 36 to lower the multi-axis manipulator 15 and the tool 16. Then, the telescopic device 12 and the tilt device 13 are operated to pass the multi-axis manipulator 15 and the tool 16 through the work hole 141. Thereafter, the multi-axis manipulator 15 is operated to move the tool 16 to a predetermined position, and various types of processing are performed on the radioactive waste M using the tool 16.

[0077] [Effects of this embodiment] The cable supply device of the first embodiment comprises a drive sheave (first sheave) 42 that can be driven and rotated, driven sheaves (second sheaves) 43, 44 that are rotatable and can move towards and away from the drive sheave 42, and a cable bear 45 that can support a cable 200 and is looped around the drive sheave 42 and the driven sheaves 43, 44.The cable bear 45 has a plurality of cable blocks 81 arranged in series with gaps between them, wire ropes (connecting cables) 82a, 82b that connect the plurality of cable blocks 81 in a bendable manner, cable storage sections 83a, 83b, 83c provided in the plurality of cable blocks 81, and a bending angle limiting section 84 that limits the bending angle of the plurality of cable blocks 81.

[0078] According to the cable feeding device of the first aspect, the cable bear 45 can be moved in the longitudinal direction and fed by driving and rotating the drive sheave 42 and moving the driven sheaves 43 and 44. At this time, the cable bear 45 has multiple cable blocks 81 that are freely bendable by wire ropes 82a and 82b, and the bending angle of the multiple cable blocks 81 is limited by a bending angle limiter 84. Therefore, the cable 200 supported by the cable storage sections 83a, 83b, and 83c provided in the multiple cable blocks 81 is restricted from bending more than necessary. This allows for a more compact device and prevents damage to the cable 200.

[0079] The cable supply device according to the second aspect is the cable supply device according to the first aspect, and furthermore, the length S1 of the gap between adjacent cable blocks 81 is smaller than the length S2 along the serial arrangement direction of the cable blocks 81. This makes it possible to limit the bending angle of the multiple cable blocks 81 to a specified bending angle or greater.

[0080] The cable supplying device according to the third aspect is the cable supplying device according to the first or second aspect, and further includes: when the plurality of cable blocks 81 are in a straight state, the opposing surfaces 81a, 81b of adjacent cable blocks 81 are parallel to each other; and the bending angle limiting portion 84 has opposing surfaces 81a, 81b, and when the plurality of cable blocks 81 are in a bent state, the opposing surfaces 81a, 81b abut against each other, thereby limiting the bending angle. This makes it possible to limit the bending angle of the plurality of cable blocks 81 with a simple configuration.

[0081] A cable supplying device according to a fourth aspect is the cable supplying device according to any one of the first to third aspects, and further includes a cable block 81 having a rectangular parallelepiped shape, a first wire rope 82a connected to one longitudinal end thereof, and a second wire rope 82b connected to the other longitudinal end thereof. This allows multiple cable blocks 81 to be supported in a flexible manner with a simple configuration.

[0082] A cable feeding device according to a fifth aspect is the cable feeding device according to any one of the first to fourth aspects, further comprising: a first connecting portion 91a and a second connecting portion 91b provided on a first wire rope 82a and a second wire rope 82b with a gap therebetween in the longitudinal direction; a first connecting recess 92a formed at one longitudinal end of the cable block 81 and a second connecting recess 92b formed at the other longitudinal end of the cable block 81; the first connecting portion 91a engaging with the first connecting recess 92a; and the second connecting portion 91b engaging with the second connecting recess 92b. This allows the wire ropes 82a, 82b to be appropriately connected to the multiple cable blocks 81.

[0083] A cable supplying device according to a sixth aspect is the cable supplying device according to any one of the first to fifth aspects, further comprising: a cable block 81 configured with a pair of divided blocks 93a, 93b, and a first connecting portion 91a and a second connecting portion 91b sandwiched between the pair of divided blocks 93a, 93b, whereby the first connecting portion 91a is engaged with the first connecting recess 92a and the second connecting portion 91b is engaged with the second connecting recess 92b. This facilitates connection of wire ropes 82a, 82b to multiple cable blocks 81.

[0084] A cable supplying device according to a seventh aspect is the cable supplying device according to any one of the first to sixth aspects, further comprising cable storage sections 83a, 83b, and 83c provided in cable block 81 between first connecting section 91a of first wire rope 82a and second connecting section 91b of second wire rope 82b. This allows cable 200 to be efficiently stored in cable block 81.

[0085] A cable feeding device according to an eighth aspect is the cable feeding device according to any one of the first to seventh aspects, and further includes connecting pins 72a and 72b fixed to the outer periphery of the drive sheave 42 with a gap therebetween in the circumferential direction, and the cable block 81 is provided with connecting holes 95a and 95b into which the connecting pins 72a and 72b can be inserted and removed. As a result, when the cable bear 45 is looped around the drive sheave 42, the connecting pins 72a and 72b engage with the connecting holes 95a and 95b, thereby properly transmitting the rotational force of the drive sheave 42 to the cable bear 45 and allowing the cable bear 45 to move appropriately.

[0086] A cable feeding device according to a ninth aspect is the cable feeding device according to any one of the first to seventh aspects, further comprising, as the driven sheaves, a first driven sheave 43 and a second driven sheave 44 that can move toward and away from the drive sheave 42 independently, and one longitudinal end of the cable bear 45 is looped around the first driven sheave 43, a longitudinal middle portion of the cable bear 45 is looped around the drive sheave 42, and the other longitudinal end of the cable bear 45 is looped around the second driven sheave 44. As a result, the cable bear 45 can be fed by driving the drive sheave 42, and the cable bear 45 can be fed by moving the first driven sheave 43 and the second driven sheave 44 closer to the drive sheave 42, ensuring a sufficient supply of the cable bear 45.

[0087] A cable feeding device according to a tenth aspect is the cable feeding device according to any one of the first to ninth aspects, and further includes a housing unit 41 movably supported inside the enclosure 20, and a drive sheave 42, driven sheaves 43 and 44, and a cable bear 45 supported on the housing unit 41. This allows the housing unit 41, drive sheave 42, driven sheaves 43 and 44, and cable bear 45 to be unitized, thereby improving ease of assembly.

[0088] The access device according to the eleventh aspect is an access device 10 that accesses radioactive waste (material to be treated) M inside a containment vessel 101 from outside the containment vessel 101 through a work hole (penetration) 134, and includes an alignment device 11 that is movable horizontally outside the containment vessel 101, a telescopic device 12 that is supported by the alignment device 11 and has multiple arms 34, 35, and 36 connected to each other so that they can move freely along the longitudinal direction, a cable supply device 14, and a cable 200 that is supported by the cable supply device 14 and the telescopic device 12. As a result, the bending angle of the multiple cable blocks 81 of the cable bear 45 supplied by the cable supply device 14 is limited by the bending angle limiter 84, and the cable 200 supported by cable storage units 83 a, 83 b, and 83 c provided in the multiple cable blocks 81 is limited from being bent more than necessary. This allows for a compact device and suppresses damage to the cable 200.

[0089] In the above-described embodiment, the cable supply device 14 includes the top rail portion 40, the housing portion 41, the drive sheave 42, the first driven sheave 43, the second driven sheave 44, and the cable bear 45, but is not limited to this configuration. For example, the drive sheave 42, the first driven sheave 43, and the second driven sheave 44 may be individually supported on the ceiling portion of the enclosure 20. Furthermore, the number of the first driven sheave 43 and the second driven sheave 44 may be one, or three or more. [Explanation of symbols]

[0090] 10 Access Device 11 Alignment device 12 Telescopic device 13 Tilt device 14 Cable feeding device 15 Multi-axis manipulator 16 Tools 20 Enclosure 21 Storage unit 22 Gate section 23 Opening 24 First opening and closing door 25 Second opening and closing door 31 Rail section 32 Traction section 33 Adjustment mechanism 34 Base arm 35 Intermediate arm 36 Tip arm 37 Tilt arm 40 Top board rail 41 Housing 42 Drive sheave (first sheave) 43 First driven sheave (second sheave) 44 Second driven sheave (second sheave) 45 Cable Bear 45a One end 45b Other end 72a First connecting pin 72b Second connecting pin 81 Cable Block 81a, 81b opposing surfaces 81c, 81d exterior 82a First Wire Lobe (Connecting Cable, First Connecting Cable) 82b Second wire lobe (connecting cable, second connecting cable) 83a, 83b, 83c Cable storage area 84 Bending angle limiting section 91a 1st connection part 91b 2nd connection part 92a First connecting recess 92b Second connecting recess 93a, 93b split blocks 94a, 94b bolts 95a, 95b connection hole 100 Boiling water reactor 101 Reactor containment vessel 102 Nuclear reactor 103 Reactor Building 134 Work hole (penetration) 135 Communication pipe 200 Cable M Radioactive waste (material to be treated)

Claims

1. A cable supply device connected to a work device inside a nuclear facility, a first sheave that is rotatable; a second sheave that is rotatable and can move toward and away from the first sheave; a cable bear capable of supporting a cable and being wound around the first sheave and the second sheave; Equipped with The cable bear is a plurality of cable blocks arranged in series with gaps between them; a connecting cable that connects the plurality of cable blocks in a flexible manner; a cable storage section provided in each of the cable blocks; a bending angle limiting portion that limits a bending angle of the plurality of cable blocks; A cable feeding device having:

2. the length of the gap between the adjacent cable blocks is smaller than the length of the cable blocks along the serial arrangement direction; 2. The cable feeding device of claim 1.

3. When the cable blocks are in a straight state, opposing surfaces of adjacent cable blocks are parallel to each other, and the bending angle limiting portion has the opposing surfaces, and when the cable blocks are in a bent state, the opposing surfaces abut against each other to limit the bending angle.

3. The cable feeding device of claim 2.

4. The cable block has a rectangular parallelepiped shape, and a first connecting cable constituting the connecting cable is connected to one end in the longitudinal direction, and a second connecting cable constituting the connecting cable is connected to the other end in the longitudinal direction.

4. The cable feeding device of claim 3.

5. The first connecting rope and the second connecting rope have a first connecting portion and a second connecting portion, respectively, spaced apart in the longitudinal direction, the cable block has a first connecting recess formed at one end in the longitudinal direction and a second connecting recess formed at the other end in the longitudinal direction, the first connecting portion is engaged with the first connecting recess, and the second connecting portion is engaged with the second connecting recess.

5. The cable feeding device of claim 4.

6. The cable block is configured by a pair of divided blocks, and the first connecting portion and the second connecting portion are sandwiched between the pair of divided blocks, so that the first connecting portion is engaged with the first connecting recess and the second connecting portion is engaged with the second connecting recess.

6. The cable feeding device of claim 5.

7. The cable block has the cable storage section provided between the first connecting section and the second connecting section.

7. The cable feeding device according to claim 5 or 6.

8. A connecting pin is fixed to the outer periphery of the first sheave with a gap therebetween in the circumferential direction, and the cable block is provided with a connecting hole into which the connecting pin can be freely inserted and removed.

2. The cable feeding device of claim 1.

9. The second sheave has a first driven sheave and a second driven sheave that can move toward and away from the first sheave independently, and the cable bear has one end in the longitudinal direction stretched around the first driven sheave, an intermediate portion in the longitudinal direction stretched around the first sheave, and the other end in the longitudinal direction stretched around the second driven sheave.

2. The cable feeding device of claim 1.

10. a housing part is movably supported inside the enclosure, and the first sheave, the second sheave, and the cable bear are supported on the housing part; 2. The cable feeding device of claim 1.

11. An access device for accessing an object to be treated inside a reactor containment vessel through a penetration from the outside of the reactor containment vessel, an alignment device movable along a horizontal direction outside the containment vessel; a telescopic device supported by the alignment device and having a plurality of arms connected to each other so as to be movable along a longitudinal direction; The cable feeding device according to claim 1; a cable supported by the cable feeding device and the telescopic device; An access device comprising:

Images