JPH10324421A - In-facility transfer equipment - Google Patents

Abstract

(57) [Summary] [Problem] A self-propelled truck traveling by itself along a rail means in a sealed facility is controlled or operated from the outside and transported in a facility applicable under the influence of high radiation and chemical substances. Provide equipment. The in-facility transport device has a rail means (14) provided in a sealed facility (glove box) (11) separated from the outside world. The self-propelled carriage 10 is provided along the rail means 14 so as to be able to travel freely. The self-propelled carriage 10 has a table driving device 5
An accommodation plate for accommodating the target substance is detachably provided on a table driven by 5. The traveling and operation control of the self-propelled trolley 10 is performed by operating a control panel 20 installed outside the sealed facility 11, and the control panel 20 transmits power to the self-propelled trolley 10 and exchanges signals with a power supply / signal transmission system 18. Done through The rail means 14 and the power supply / signal transmission system 18
It is divided into required sections, and the traveling of the self-propelled trolley 10 is section controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a nuclear power plant,
The present invention relates to an in-facility transport device applied to a chemical plant or a bioplant, and particularly to an in-facility transport device for transporting a target substance such as a chemical substance or a radioactive substance in a hermetically sealed or hermetically sealed facility.

[0002]

2. Description of the Related Art Nuclear power plants, chemical plants, and bioplants use an in-facility transport apparatus that handles and transports chemical substances and radioactive substances in hermetically sealed facilities. This type of in-facility transport apparatus is a transport apparatus that transports a powder or solid target substance such as a chemical substance or a radioactive substance in a hermetically sealed (closed) facility by placing it on a storage dish.

There are a chain type and a pallet type in this kind of in-facility transfer apparatus. The chain method is a transport device that permanently connects a truck to a chain and moves and transports the truck by driving the chain.The pallet system is a transport device that places the pallet truck on a belt and moves and transports the pallet truck by belt driving. is there.

[0004]

In the chain type transfer device, since the bogie is permanently connected to the chain, there is no flexibility in operation, and a rail branching function for branching the rail of the chain cannot be obtained. There is a problem that the degree of freedom of operation is low, and furthermore, sticking due to sticking due to chain elongation or chain oil causes incompatibility due to powder adhesion and deterioration in maintainability.

In addition, the pallet-type transfer device causes running inability due to belt elongation, breakage, and powder adhesion, and further requires a direction changing device with a lift for changing the direction of the pallet truck at each corner. This was a factor that led to an increase. In addition, the pallet system cannot provide a rail branching function for branching the running rail of the belt, and has problems such as low flexibility in operation and lack of flexibility.

On the other hand, in a self-propelled transport system employed in a nuclear power plant, a self-propelled vehicle used in general industry cannot be employed because of the presence of an acidic gas and a radioactive substance (powder). Due to the presence of acid gas and radioactive powder, the circuit board and optical position detector cannot be installed on the self-propelled truck. When a circuit board or optical position detector is mounted on a self-propelled truck, the function of the circuit board will be lost, the operation of the optical position detector will increase, powder will adhere to trolley wires and rails, Owing to trolley wire oxidation, it was difficult to operate the self-propelled truck stably and reliably.

[0007] Further, in a chemical plant or a bioplant, it is necessary to carry a sample or a target substance of a sample and transport it in a glove box which is a sealed facility. From this, transport equipment applied to chemical plants and bioplants responds to the environment inside the glove box,
There is a strong demand for a transport system that can be automatically transported by remote control and that can be maintained and maintained via gloves.

On the other hand, the maintenance work of the transport system is performed via gloves in the glove box.
The transport system requires an easily detachable main body and a component structure. However, the conventional transport system has a structure in which replacement and maintenance in the glove box is difficult, and it has been difficult to continuously operate and improve the operation rate.

The present invention has been made in view of such circumstances, and has a self-propelled vehicle that travels on its own along rail means in a sealed facility. It is an object of the present invention to provide an in-facility transport device applicable under the influence of substances.

Another object of the present invention is to provide a rail means and a power supply / signal transmission system which are laid in a sealed facility so as to be detachable, so that maintenance and replacement and cleaning of the facilities in the sealed facility are easy, and continuous operation and It is an object of the present invention to provide an in-facility transport device capable of improving the operation rate.

Still another object of the present invention is to provide an in-facility transport apparatus capable of dividing a rail means and a power supply / signal transmission system into sections to control a traveling section of a self-propelled vehicle.

Another object of the present invention is to improve the degree of freedom of the route configuration of the transport route in a sealed facility by providing a rail branch means in at least one section of the rail means while dividing the rail means into sections. Or an in-facility transport device that can be combined with another transport route.

Still another object of the present invention is to effectively prevent dust and foreign matter from entering a trolley wire duct cover which covers a power supply line or a signal transmission line of a power supply / signal transmission system, while preventing radiation or acidity. It is an object of the present invention to provide an in-facility transport apparatus that can effectively prevent deterioration and corrosion due to gas.

[0014]

According to a first aspect of the present invention, there is provided an in-facility transport apparatus according to the present invention, wherein the rail is laid in a sealed facility separated from the outside world. Means, a self-propelled trolley capable of traveling along the rail means, an object storage means which is detachably mounted on the self-propelled trolley and which can be exchanged with the facility side equipment, and a power supply and signal to the self-propelled trolley And a control panel for controlling travel and operation of the self-propelled bogie from outside the sealed facility via the power supply / signal transmission system.

According to a second aspect of the present invention, there is provided an in-facility transport apparatus in which a rail means and a power supply / signal transmission system are divided into a plurality of sections. At least one branching means is provided.

According to a third aspect of the present invention, there is provided an in-facility transport apparatus according to the present invention, wherein the self-propelled vehicle is provided with a table for performing a lifting operation or a lifting and lowering and turning operation. While the drive device is provided, the object storage means may be configured by a storage plate detachably mounted on the table, and further, as described in claim 4, the table has an opening in the center. The lower part of the self-propelled trolley corresponding to the opening of the table is opened, and the opening of the self-propelled trolley and the opening of the table are driven up and down so that the equipment on the facility side can be inserted and placed on the table. It is configured so that the storage dish and the facility-side equipment can be combined.

Further, in order to solve the above-mentioned problem, the in-facility transport apparatus according to the present invention is such that the rail means and the power supply / signal transmission system are divided into required sections. On the other hand, the rail means and power supply / signal transmission system for each section are guided by a fixed guide or a guide frame, and are detachably fixed on a base in a sealed facility by a clamp device or a detachable device. It is.

According to a sixth aspect of the present invention, there is provided an in-facility transport apparatus according to the present invention, wherein the power supply / signal transmission system includes a trolley wire duct covering the power supply or signal transmission line. Or have a protective cover,
At the opening of this trolley wire duct or protective cover,
A self-propelled trolley is provided with a power supply unit that can be transferred by sliding contact with a power supply or signal transmission line, and the opening of the trolley wire duct or the protective cover is sealed with elastically deformable sealing means. It has a detachable structure.

Still further, in order to solve the above-mentioned problem, in the in-facility transport apparatus according to the present invention, the power supply / signal transmission system includes a trolley line duct covering the signal transmission line. The trolley wire duct is divided into required sections, a connector terminal box is provided at a connection portion between adjacent trolley wire ducts, and a connection port accommodated in the connector terminal box is electrically connected to the trolley wire. The trolley wire duct is detachably connected to the lead wire jack portion, or as described in claim 8,
A fluid pipe is provided along the longitudinal direction in the duct cover, and air, nitrogen gas or inert gas is blown out from a nozzle hole formed in the fluid pipe.

Further, in order to solve the above-mentioned problems,
In the in-facility transport device according to the present invention, as described in claim 9, the power supply / signal transmission system includes a trolley line divided for each required section, and the current from the self-propelled trolley is supplied to the trolley line. A control panel for detecting the presence or absence is provided outside the sealed facility, and the control panel controls the traveling section of the self-propelled vehicle.

Furthermore, in order to solve the above-mentioned problem, the in-facility transport device according to the present invention is characterized in that the self-propelled vehicle has a sign made of metal, resin or magnet mounted thereon. , A detector for detecting the above-mentioned sign is provided on the side of the sealed facility.

In order to solve the above-mentioned problem, the in-facility transport device according to the present invention, as described in claim 11, wherein the self-propelled vehicle has a travel drive device provided with a travel drive motor. In the power transmission line from the traveling drive device, a switching lever means for releasing the driving force of the traveling drive motor is provided, and a manual operation handle is detachably attached to the self-propelled carriage to constitute a manual traveling mechanism. is there.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the in-facility transport apparatus according to the present invention will be described with reference to the accompanying drawings.

FIG. 1 shows a first embodiment of the in-facility transport apparatus according to the present invention.
FIG. 1 is a system configuration diagram illustrating an embodiment. This in-facility transport apparatus is for transporting a target substance such as a radioactive substance or a chemical substance by causing the self-propelled trolley 10 to travel in a hermetically sealed facility such as a nuclear power plant, a chemical plant, or a bioplant.

A glove box 11 is an example of a closed or sealed facility. Inside the glove box 11, a closed or sealed space 12 is formed so that the glove box 11 can communicate with the outside (the outside world) of the glove box 11 via the penetration 13. Rail means 14 is laid in the glove box 11. As shown in FIG. 2, the rail means 14 is composed of a traveling rail 15 for traveling the self-propelled trolley 10 and a guide rail 16 for guiding the traveling of the self-propelled trolley 10, and is detachably provided on a base 17.

The rail means 14 is provided with a power supply / signal transmission system 18 for supplying power to the self-propelled trolley 10 and exchanging control command signals and detection signals with each component of the self-propelled trolley 10. I have. The self-propelled trolley 10 is electrically connected to a control panel 20 installed outside the glove box 11 via a power supply / signal transmission system 18 that penetrates the penetration 13, so that traveling control and operation control of the self-propelled trolley 10 are performed. This is performed by the control panel 20.

The control panel 20 receives a power from the power supply unit 22 on the plant side and supplies a power to the control unit 21 and the self-propelled trolley 10 which control the operation and the traveling of each part in the panel and the self-propelled trolley 10. Control panel power supply 23 for supplying
Transmission device 24 for exchanging control commands and signals between the vehicle and the self-propelled vehicle 10, various parts in the control panel and the self-propelled vehicle 10
And operation / display means 25 for displaying the operation and position of the self-propelled carriage 10.

The power from the control panel power supply 23 is supplied to the power supply unit 27 of the self-propelled vehicle 10 via the power supply / signal processing system 18. Specifically, the control panel power supply 23 is electrically connected to the power supply unit 27 of the self-propelled vehicle 10 via the cable 28, the connector terminal box 29, the trolley wire 30, the crossover wire 31, and the power supply unit 32.

The signal transmission device 24 of the control panel 20 transmits a signal of the self-propelled vehicle 10 via a cable 34, a connector terminal box 35, a trolley wire 36, a crossover 37, and a power supply unit 38 which are power supply / signal transmission systems 18. It is electrically connected to the transmission unit 39 and exchanges a control command signal and a detection processing signal with the self-propelled vehicle 10.

On the other hand, as shown in FIGS. 1 and 2, the rail means 14 is divided into a number of sections n1, n2, n by sectioning.
,... Nx, and each section n1, n2,.
x is connected to a closed loop to form a closed loop route 40 for traveling of the self-propelled vehicle 10, and a branch route 42 connectable to another running route from the closed loop route 40 by a table turning type branching device 41 as a branching means. 2, and a draw-in route 45 for drawing the self-propelled vehicle 10 from the closed loop route 40 to the maintenance area 44 via the point type branching device 43.
For branching from the closed loop route 40, a table turning type or point type branching device is appropriately selected as a branching means depending on the application and function.

The rail means 14 laid in the glove box 11 is divided into a number of sections n1, n2... By sectioning sections, and the sections n1, n2.
A closed loop route 40 may be constructed,
By forming the branch route 42 and the pull-in route 45 branched from the vehicle, the degree of freedom of the traveling route configuration of the self-propelled vehicle 10 is improved. The branch route 42 may be connected to another closed loop route, the closed loop route 40 may be provided with a plurality of branch routes 42, and each branch route 42 may be connected to a traveling route in a different area. , Various route configurations are possible. FIG. 2 shows five self-propelled vehicles 10 on a closed loop route 40.
Has shown the example which was arrange | positioned.

In accordance with the division of the rail means 14 into sections n1, n2,..., The trolley wires 30, 36 constituting the power supply / signal transmission system 18 are also independent in each section, and the crossover lines 31, 37, Electrical connection is made with connector terminal boxes 29 and 35. Instead of connecting the trolley lines 30, 36 with the crossover lines 31, 37, etc., as shown in FIG.
The trolley wire 47 is made independent for each of the sections n1, n2,.
Is connected to a multiplexer 49.
By connecting the multiplexer 49 to the control device 21 of the control panel 20 via the cable 50, the self-propelled vehicle 1 is independently controlled for each section depending on the presence or absence of a current from the self-propelled vehicle 10 side.
The presence and location of 0 can be detected. By this detection, the position of the self-propelled vehicle 10 traveling on the traveling rail 15 of the rail means 14 can be detected, and the traveling section control of the self-propelled vehicle 10 can be performed. By this section control, it is possible to avoid collision between the self-propelled vehicles 10 and 1
The control device 23 of the control panel 20 can control the vehicle so that two or more self-propelled vehicles are not put in one section.

On the other hand, the self-propelled trolley 10 is guided by a guide rail 16 so as to run on the travel rail 15.
To prevent runaway. Self-propelled trolley 10
Are the trolley wires 30, 36 of the power supply / signal transmission system 18,
47 is electrically connected via power supply units 32, 38 and 51.

The self-propelled carriage 10 includes a power supply unit 27 that receives power supply from the control panel power supply 23, a signal transmission unit 39 that receives a control command signal from the signal transmission device 24 of the control panel 20, and a driving power supply from the power supply unit 27. , A driving motor such as a running motor and a table driving device 55, a control unit 56 for controlling the operation of the driving device 54 and the table driving device 55, and a load for inputting a detection signal to the control unit 56. A sensor 57 and a bumper sensor 58 are provided. The control unit 56 controls the operation of the traveling drive unit 54 and the table drive unit 55 based on the control command from the signal transmission unit 39 or the intrinsic control information, and also detects the detection results from the bumper sensor 58 and the load sensor 57 on the control panel 2.
The signal is transmitted to the control device 21 on the 0 side via the power supply / signal transmission system 18. The control device 21 displays detection information from the bumper sensor 58 and the load sensor 57 on the operation display unit 25.

The self-propelled carriage 10 has a bar code 60 that does not require electrical control or mechanical operation.

The bar code 60 is read by a sign detector 61 installed on the ground station (sealed facility) side, and the sign detector 61 detects the number of the self-propelled vehicle 10, the traveling position, and the presence or absence of passage, and the detection is performed. The result is sent to the control device 21 of the control panel 20 via the cable 62, and the control device 21 grasps each self-propelled vehicle 10 traveling on the rail means 14 of the glove box 11 as a whole. The sign mounted on the self-propelled carriage 10 may be a metal or resin sign instead of the barcode 60, or a magnet sign.

The self-propelled carriage 10 is mounted on the table driving device 5.
Table 6 driven up and down or up and down by 5
An accommodation dish 65 for accommodating a target substance such as a radioactive substance or a chemical substance is detachably provided on the base 4 as described later. The weight of the target substance stored in the storage plate 65 is measured by the weighing machine 66. The weighing machine 66 and the work equipment 67 are installed on the ground-side sealing facility side as shown in FIG. Work equipment 6
Numeral 7 heats and dries the target substance stored in the storage plate 65 and performs various processes.

The operation of the weighing machine 66 and the work equipment 67 is controlled by the work-side control device 68, while the work-side control device 68 is electrically connected to the control device 21 of the control panel 20 and operated by the control device 21. Self-propelled trolley 1 to be controlled
The operation of the weighing machine 66 and the work device 67 is controlled at a timing of 0.

The self-propelled carriage 10 is a glove box 1
Although the vehicle travels on the rail means 14 within 1 by itself, a branch route 42 is branched by a branching means from a closed loop route 40 of the transport loop of the rail means 14. The table turning type branching device 41 arranged at the rail branching portion is configured as shown in FIGS. 2 and 3.

The tail turning type branching device 41 is similar to a railway turntable mechanism, and has a disk-shaped turntable 71 installed on a rail turning mechanism 70. A travel rail 15 and a guide rail 16 constituting rail means are installed on the turntable 71, and the travel rail 15 and the guide rail 16 are detachably fixed with a single touch by a rail clamp (described later) as a clamp device.

On the other hand, the rail turning mechanism 70 is
The power transmission means such as the transmission gear mechanism 73 is rotationally driven by the motor output from the motor 2, and the rotational drive of the turntable 71 causes the traveling rail 15 to rotate.
In addition, the direction of the guide rail 16 is turned, for example, in a branching direction to align the position with the branch traveling rail.

Thus, the table turning type branching device 41
Divides the traveling rail 15 and the guide rail 16 on the turntable 71 by the rail turning mechanism 70 into the branch route 4.
The rails are switched by rotating between a position to be adjusted to the second side and a position to be adjusted to the entrance side of the closed loop route 40. Power supply and signal transmission are ensured.

The closed loop route 40 shown in FIG.
The rail means 14 is also provided with a point type branching device 43. The point type branching device 43 is installed at a corner of the rail means 14 of the closed loop route 40.

The point-type branching device 43 is installed at the corner of the rail means 14 of the closed loop route 40 as shown in FIG. 4, and connects the rail means 14 of the closed loop route to the drawing route 45 of the maintenance area 44. ing. Self-propelled carriage 10 is closed loop route 4 of rail means 14
When traveling on zero, the traveling rail 15, the guide rail 16, and the trolley wire duct 75 constituting the power supply / signal transmission system 18 constitute a transport loop of the closed loop route 40 as shown by a solid line in FIG. 4.

At this time, the trolley wire switching duct 76 is
The trolley wire draw-in duct 78 is set on the closed loop side by the operating handle 77 and
9 is in the retracted position. The intersection of the lead-in side traveling rail 15a and the guide rail 16 is shown in FIG.
As shown in (A), the movable guide 81 of the lead-in side traveling rail 15a is set in a state of being lowered by the pinion rack mechanism 82. Further, the intersection of the guide rail 16 on the closed loop route 40 side and the drop-in side guide rail 16a does not hinder the traveling of the self-propelled trolley 10,
The movable guide 83 of the closed-loop side guide rail 16 is lifted, and the movable guide 8 of the drop-in side guide rail 16a is moved.
4 is lowered.

Next, the rail means 14 is closed loop route 4
When the trolley wire duct 75 is switched from 0 to the drop wire side, the trolley wire duct 75 is switched to the broken line side in FIG.
The movable guides 85 and 86 of the traveling rail 15 and the guide rail 16 that intersect with the guide rail 16 are lowered, and the lead-in side trolley wire duct 78 is guided by the guide roller 79 and pulled out. It is slid so as to abut the trolley wire switching duct 76.

On the other hand, the movable guide 81 of the lead-in side traveling rail 15a, which has been retracted when the closed loop route is constructed, is moved to the position shown in FIG.
While being raised as shown in (B), the movable guide 84 of the drop-in side guide rail 16a is also raised. At this time, the movable guide 83 of the closed-loop guide rail 16 is lowered.

The movable guides 81-84 are lifted and lowered, and the trolley wire switching duct 76 is rotated by operating the operating handles 77 and 78, thereby via a screw shaft and a pinion rack mechanism shown in FIGS. 5A and 5B. It is done manually. Instead of manual operation using the operation handles 77 and 88, an actuator such as a motor may be driven so that drive control can be performed from a remote place.

The self-propelled carriage 10 traveling along the rail means 14 in the glove box 11 is shown in FIGS.
0.

The self-propelled carriage 10 is mounted on the vehicle body 90 by the rail means 14.
The left and right wheels 91 that roll on the traveling rail 15 are provided two by two in the front and rear, and a guide mechanism 92 that guides the traveling of the self-propelled vehicle 10 is provided. The guide mechanism 92 is rolled by a guide roller or slide-guided by a guide shoe so as to sandwich the guide rail 16 from both sides. The self-propelled vehicle 10 has front and rear bumper sensors 58 as shown in FIGS.
Protrudes forward and rearward from the vehicle body 90 over the entire width of the vehicle body to perform a bumper action, and detects the presence or absence of contact.

The self-propelled carriage 10 has a built-in table driving device 55. The table driving device 55 is a table elevating device 94 for elevating the elevating table 93 on which the table 64 is installed.
And a table turning device 95 for turning the table 64 installed on the lift 93. Table lifting device 9
Reference numeral 4 denotes a motor drive of a lifting / lowering motor 96 to operate a lifting / lowering gear rack mechanism 97, and a lifting / lowering table 93 and a table 64.
Is guided by a ball guide 98 to move up and down. The table turning device 95 is driven by a motor, and frictionally engages with the outer peripheral portion of the table 64 with a roller or meshes with a gear to turn the table 64. The lifting platform may be formed in a cylindrical shape, so that the lifting platform may be integrally formed with the table 64.

The table 64 has a dish shape and is reinforced by an outer peripheral flange 64a.
No. 00 is formed, and the receiving tray 65 is detachably mounted on the tray receiving portion 100. The storage plate 64 is a plate receiving portion 1 of the table 65.
00 supported by the inner peripheral flange 65b. At the center of the table 65, as shown in FIG.
The opening 101 is formed, and the weighing machine 66 can move up and down through the opening 101. The storage plate 65 has a flange flange 65a as an outer peripheral flange so that the storage plate 65 can be easily transferred to and from the facility side device. The storage plate 65 is transferred using the flange flange 65a.

The self-propelled carriage 10 is provided with a switching lever 103 as shown in FIG.
By this operation, the on / off operation of the clutch 104 shown in FIG. 9 is performed. The switching lever 103 is pressed in the direction A shown in FIG.
4 traveling motor 105 (electric motor) and power transmission gear 1
06 can be interrupted.

On the other hand, the traveling drive device 54 is
As shown in FIG. 9, the driving force from the clutch 10
4. The power is transmitted to wheels 91 attached to the axle end via power transmission lines of a power transmission gear 106 and a differential gear 107, and the wheels 91 are rotated to travel on the traveling rail 15.

When the self-propelled trolley 10 is to be run manually due to a failure of the running motor 105 or some other cause, the manual handle 109 is inserted into the manual running mechanism 110 as shown in FIG. By pressing the 110, the manual traveling mechanism 110 is pushed and connected to the power transmission key 106, and the power is transmitted to the wheels 91 via the differential gear 107 so that the vehicle can travel with a small pressing operation force. Has become.

The traveling rail 15 and the guide rail 16 constituting the rail means 14 are connected to the trolley wire duct 7.
In order to control the section of the self-propelled carriage 10 together with the section 5, the section n1
, N2, n3,... Nx, and are detachably mounted on the base 17 as shown in FIGS. The traveling rail 15, the guide rail 16, and the trolley wire duct 75 in each section are detachably mounted with one touch and are replaceably provided.

The traveling rail 15 is mounted on a rail frame 112 as a guide frame as shown in FIG.
The running rail 15 and the rail frame 112 are integrated with each other by fastening means 114 such as fastening bolts provided on the 12 rising ribs (mounting ribs) 113. The rail frame 112 is installed on the base 17, and a locking guide 115 or a locking claw 116 of a fixed guide 115 having one side fixed to the base 17.
And the other side is fixed by a rail clamp 117 as a clamp device. By fixing with the fixed guide 115 and the rail clamp 117, the traveling rail 15 can be attached to and detached from the base 17 with one touch. The traveling rail 15 may be formed by integral molding without forming the rail frame 112 as a separate structure.

Further, as shown in FIG. 9, the guide rail 16 is installed on a base 17 and side flanges 119 are formed on both sides of the base installation portion. This side flange 119
One of the side flanges 119 is engaged and locked by a locking flange or a locking claw of the fixed guide 115, and the other of the side flanges 119 is clamped and fixed in one touch by a rail clamp 117 as a clamping device. The guide rail 16 is also detachably mounted on the base 17 by the rail clamp 117 with a single touch, similarly to the travel rail 15.

Further, the trolley wire duct 75 is provided as shown in FIG.
As shown in FIG. 1, a trolley frame 120 is provided, and the trolley frame 120 is installed on the base 17. Trolley frame 12
No. 0 has side flanges 121 on both lower sides, and one side flange 121 is engaged and locked by the locking flange or locking claw 116 of the fixed guide 115, while the other side flange 121 is detachable. It is detachably fixed with one touch by a clamp 122 which is a device. This clamp 1
Reference numeral 22 is formed in the same shape and structure as the rail clamp 117, and has the same clamping function.

The trolley frame 120 of the trolley wire duct 75
Has a plurality of accommodation grooves 123 for accommodating the trolley wire 30 formed in the longitudinal direction.
0 and 36 are accommodated respectively. Also, the trolley frame 12
At 0, a fluid pipe 124 is installed. Trolley frame 120
The trolley wire 30 and the fluid pipe 124 provided in the tub are covered with a duct cover 125 to prevent intrusion of powder or gas from the outside. The duct cover 125 has a two-part structure including an upper duct cover 126 and a lower duct cover 127. The upper duct cover 126 is detachably attached to the trolley frame 120 by a cover clamp 128, and the lower duct cover 127 is fixed to the trolley frame 120. You.

The duct cover 125 is a double duct cover 12
The trolley shoe 130 of the power supply unit, which is open between 6,127 and slides in contact with the trolley wire 30, is guided. On the other hand, a bellows 131, which is an elastic sealing means, is attached to the opening, and the inside of the duct cover 125 is externally moved. Sealed. Due to the elastic deformation of the bellows 131 provided at the opening of the duct cover 125, the traveling of the trolley shoe 130 in the longitudinal direction is guided, while the bellows 131 maintains the hermeticity of the area before and after the trolley shoe 130 passes. . The upper duct cover 126 is configured to be detachable and detachable with a single touch by a cover clamp 128 for maintenance and inspection.

The trolley wire duct 75 and the fluid pipe 1
Reference numeral 24 is divided into lengths suitable for control of the traveling section of the self-propelled carriage 10 and maintenance. The joint part of the fluid pipe 124 is telescopically expandable and contractible on the convex side so that the concave and convex fit, and the airtightness of the mechanical joint is maintained by extending and fitting the convex side. . FIG.
As shown in FIG. 2, nozzle holes 123 are formed along the longitudinal direction, and air or nitrogen gas,
An inert gas or the like is always blown out. The trolley wire 30 is provided with a connection port having a spring function and a contact function, and forms a power supply / signal transmission system 18 that is electrically connected to the crossover wires 31 and 37.

Further, as shown in FIGS. 9 and 11, the trolley shoe 130 on which the trolley wire 30 of the trolley wire duct 75 slidably contacts and exchanges power supply and signal transmission is provided on the body 90 side of the self-propelled bogie 10 as shown in FIGS. The power supply unit 32 is attached to the power supply unit 32. The power supply unit 32 is provided on the vehicle body 90 side of the self-propelled carriage 10 with the power supply unit clamp 13.
4 allows one-touch attachment and detachment.

Next, the operation of the in-facility transport device will be described.

A rail means 14 and a power supply / signal transmission system 18 are laid in a glove box 11 which is a sealed facility for a nuclear power plant, a chemical plant, and a bio plant. A closed loop route 40, a branch route 42, and a retraction route 45 of the transport loop are formed, and the rail means 1
The self-propelled carriage 10 is installed on the traveling rails 15 and the guide rails 16 constituting the vehicle 4. The section of the self-propelled carriage 10 is controlled by the control device 21 of the control panel 20 so that two or more vehicles do not enter each section n1, n2,. The control panel 20 is outside the glove box 11 (the outside world).
The glove box 11 is designed to prevent electronic devices and electronic circuits that are vulnerable to radiation from being set.

Further, the operation control of the weighing machine 66 and the work equipment 67 as facility-side devices installed on the facility side in the glove box 11 is also performed by the work-side control device 68 installed outside the glove box 11.

Power is supplied to the self-propelled vehicle 10 from the control panel power supply 23 via the power supply / signal transmission system 18. The power from the control panel power supply 23 is supplied to the power supply unit 27 of the self-propelled vehicle 10 via the cable 28, the connector terminal box 29, the trolley wire 30, the crossover wire 31, and the power supply unit 32. It is sent to the traveling drive unit 54 by the operation control of the unit 56. Travel drive 5
In step 4, the traveling motor 105 is driven to drive the wheels 91 to travel. By driving the wheels 91 to travel by the traveling drive device 54, the self-propelled carriage 10 rolls on the traveling rail 15 and is caused to travel. The traveling of the self-propelled trolley 10 is guided by the guide mechanism 92 along the guide rail 16.

The power supply unit 32 includes a trolley shoe 103 that comes into contact with the trolley wires 30 and 36 at two or more points, respectively. Sections and rail branching sections can run smoothly.
The power is smoothly supplied to the self-propelled carriage 10 traveling on the section transition section or the rail branch section without interruption.

The signal transmission to the self-propelled carriage 10 is performed by a control panel 20 installed outside the glove box 11 via a power supply / signal transmission system 18. Specifically, the control command from the control device 21 of the control panel 20 is transmitted to the signal transmission device 2.
4 from the signal transmission device 24 to the cable 34,
The signal transmission unit 3 of the self-propelled vehicle 10 via the connector terminal box 35, the trolley wire 36, the crossover 37, and the power supply unit 38
9 and transmitted from the signal transmission unit 39 to the control unit 56 to control the operation of each unit of the self-propelled vehicle 10.
The operation information and detection information of the self-propelled trolley 10 flow through the power supply / signal transmission system 18 in the reverse direction and are sent to the control device 21 of the control panel 20. Is displayed.

In the power supply / signal transmission system 18, the power supply line and the signal transmission line are configured as separate and independent systems. Signals are mounted on the power supply line, and power supply and signal transmission are performed by one power supply / signal transmission line. Both may be performed. In this case, the power supply and the signal transmission may be separated on the self-propelled vehicle 10 side. Instead of using the trolley method for the signal transmission line, a proximity wireless method or a capacitance method may be used. Also, a configuration may be adopted in which an antenna line is laid as a signal transmission path and reception is performed by a shoe with an insulating material interposed therebetween.

The section of the self-propelled carriage 10 traveling on the traveling rail 15 of the rail means 14 is controlled by a control device 21 of a control panel 20 installed outside the glove box 11, and each section n1, n2,. The control is performed so that two or more self-propelled vehicles 10 do not enter simultaneously into nx.

The position of the self-propelled trolley 10 is detected.
This is performed by reading a bar code 60 as a sign attached to the above with a sign detector 61 on the ground side (sealing facility side). Each self-propelled trolley 10 is provided with a different bar code 60 for each car, and the bar code 60 is read out by a sign detector 61 on the ground side.
Is sent to the control device 21. The control device 21 is a self-propelled trolley 1
0 truck number, position detection, function to correct position error,
It has a position estimation detection function for estimating which position in which section of the traveling rail 15.

The position of the self-propelled vehicle 10 is detected by the sign detector 6.
The position estimation and detection function of the self-propelled vehicle 10 is performed by calculating a position from the passing position and the control speed passing through the trolley wire 47 from the trolley wire 47 to the cables 48 and 50 and the multiplexer 49.
The detection is performed by the control device 21 on the side of the control panel 20 through the process. The control device 21 can estimate the position of the self-propelled vehicle 10 in which section in which section in consideration of the resistance data of the trolley wire 47 based on the strength of the current or the signal from the self-propelled vehicle 10.

The position estimation detecting function by the control device 21 is as follows.
A plurality of detectors 6 are provided in a predetermined reference section of the traveling rail 15.
1 is installed and combined with the detection information from each detector 61, it is possible to cope with the resistance change of the trolley wire 47 due to the adhesion or oxidation of the powder as the target substance. In this way, the resistance data is corrected, and the deterioration of the position estimation detection accuracy can be prevented.

The self-propelled carriage 10 is caused to travel on the traveling rail 15 of the rail means 14 by the traveling drive unit 54 by itself, and the traveling of the self-propelled carriage 10 is controlled by the control unit 21 of the control panel 20.
Is section controlled. The traveling rails 15 and the guide rails 16 constituting the rail means 14 are divided into sections n1, n2,... Nx by sectioning from the maintenance of the transport route and a control request based on the arrangement of the work equipment 67, and the like. Speed control is performed by preventing collision between the members and by engaging with the work device 67. In the section control of the self-propelled carriage 10, the branching devices 41 and 43, which are rail branching means, are used.
Is also treated as one section.

The section control of the self-propelled trolley 10 includes the section length and route configuration and arrangement of the transport route (closed loop route 40, branch route 42, drop-in route 45) and the self-propelled trolley 1
The control device 21 of the control panel 20 calculates, based on pattern data such as a speed control operation pattern of 0, position detection information of the control device 21 and detection information of the work-side control device 68,
It is controlled by operating the control device 21 and the operation display means 25.

The traveling of the self-propelled trolley 10 is performed according to an automatic control program. The automatic control program for the self-propelled trolley 10 is created based on the position of the connection with the work equipment 67 installed in advance, the connection time, the traveling speed, the branch timing, and the operation pattern for each of the units. The number and position of the self-propelled carriage 10 traveling on the traveling rail 15 of the rail means 14 are detected by the sign detector 61, and the detection information is input to the control device 21 of the control panel 20. The control device 21 corrects the above-described position error while grasping the current operation state, and controls the self-propelled vehicle 10 to perform an optimal operation.

The self-propelled trolley 10 performs soft interlock control such as distance management between the self-propelled trolleys 10 based on the position information from the sign detector 61, detection of the bumper sensor 58, and detection of an excessive load from each motor by the load sensor 57. Is performed, the collision between the self-propelled vehicles 10 is prevented, and the traveling time of the self-propelled vehicles 10 is monitored, and the movement is managed.

This in-facility transport device can be operated by manual operation.
A soft interlock function is performed by managing the distance between the self-propelled vehicles 10 based on the position information from the sign detector 61, detecting by the bumper sensor 58, and detecting an excessive motor load by the load sensor 57.

The self-propelled carriage 10 traveling on the traveling rail 15 along the rail means 14 is operated and controlled by a control panel 20 installed outside the glove box 11. The self-propelled carriage 10 includes a table driving device 55 and a traveling driving device 54, and the table driving device 55 selectively imparts a lifting operation and a turning operation to the table 64.

The table driving device 55 is driven by operation control from a control unit 56. The control unit 56 controls the driving of the table driving device 55 and the traveling driving device 54 based on a control command from the signal transmission unit 39 or internal control information. As shown in FIGS. 6 to 9, the table driving device 55 includes a table elevating device 94 and a table rotating device 9.
5 so that the table 64 can be moved up and down or up and down and turned. The table 64 is moved up and down by the elevating table 93 guided by a ball guide 98, and the table 64 is turned by turning the table 64 around a vertical center axis by a table turning device 95.

On the table 64, a storage plate 65 for storing a target substance such as a chemical substance in a radioactive substance is detachably mounted. The target substance is weighed by a weighing machine 66.
The weighing operation includes a method of moving the weighing machine 66 up and down,
There is a method of moving the storage plate 65 up and down. In the former method, the weighing machine 66 is moved up and down from below the vehicle body 90 of the self-propelled carriage 10 through the opening 101 of the table 64, and the weighing can be performed by lifting the storage plate 65. Table 6
The lower portion of the self-propelled vehicle 10 corresponding to the opening 4 is open, and facility-side equipment such as a weighing machine 66 can access the storage tray 65 from below the self-propelled vehicle 10.

The lifting and lowering of the table 64 and the turning device are as follows.
It is detected by a magnetic encoder or a limit switch (both not shown) having excellent environmental resistance to powder and radiation.
The encoder and limit switch are mounted on the table elevating device 9
The control unit 56 of the self-propelled carriage 10 is attached to the lifting motor 96 of Table 4 or the motor of the table turning device 95 and controls the table lifting device 9
4 and the table turning device 95 are operated and controlled.

The self-propelled carriage 10 traveling on the traveling rail 15 along the rail means 14 is branched from a closed loop route 40 of the transport loop into a branch route 42 and a retraction route 45 by a branching means. The branching means for branching the self-propelled vehicle 10 from the closed loop route 40 includes a table turning type branching device 41 for branching to work equipment outside the closed loop route 40 and a point type branching device 43 for branching to the maintenance area 44 during maintenance and inspection. There are two types.

The table turning type branching device 41 is similar to a turntable mechanism of a railway, and as shown in FIG.
The turning motor 72 turns the rail turning mechanism 70, and the traveling rail 15 and the guide rail 16 on the turntable 71 are turned.
Is turned in the branching direction, and is aligned with the branching traveling rail to be branched. This table turning type branching device 41
Is suitable for branching from the closed loop route 40 to outside work equipment since it is not necessary to make the self-propelled carriage 10 perform a backward movement and can be installed at a route corner.

On the other hand, the point-type branching device 43 is configured as shown in FIGS. 4 and 5A and 5B, and switches the trolley wire switching duct 76 by rotating the operation handles 77 and 88. On the other hand, the movable guides 81, 83 to 8
6 is branched by raising and lowering. Since the branching operation by the point-type branching device 43 is not required during normal operation, it is suitable for branching to the service route 44 to the lead-in route 45. In this point type branching device 43,
Although the control example in which the rails are switched by manually operating the operation handles 77 and 88 has been described, an actuator drive may be used instead of the operation handle so that the operation can be controlled from a remote place.

When the self-propelled carriage 10 traveling on the traveling rail 15 of the rail means 14 in the glove box 11 becomes unable to travel for some reason, the self-propelled carriage 10 is manually conveyed to the maintenance area 44. .

At that time, the clutch 104 is disengaged by operating the switching lever 103 to release the power transmission gear 106 from the traveling motor 105. After disengaging the clutch 104, the manual handle 109 is inserted and the
10 and the manual traveling mechanism 110 is connected to the power transmission gear 106. With this connection, the handwheel 1
The self-propelled trolley 10 can be run with a slight force of the steering wheel operation at 09.

On the other hand, in this in-facility transport apparatus, the rail means 1 laid in the glove box 11
The traveling rail 15 and the guide rail 16 of 4 and the trolley wire duct 75 of the power supply / signal transmission means 18 are divided into lengths which can be easily maintained and fixed to the base 17 as shown in FIGS. Guide or guide frame 11
5 is laid.

Specifically, the running rail 15 and the guide rail 16 of the rail means 14 are laid along the fixed guide 115, and the rail clamp 117 as a clamp device is provided.
It is detachably fixed with one touch. In addition, power supply
The trolley wire duct 75 constituting the signal transmission system 18 is
The trolley frame 120 as a guide frame is fixed guide 115
And the clamp 122 are detachably fixed with one touch. Therefore, the traveling rail 15 and the guide rail 16 of the rail means 14 and the trolley wire duct 75 of the power supply / signal transmission system 18 can be easily detached and detached for each section n1, n2,. Becomes easier.

On the other hand, the trolley wire duct 75 receives the trolley wires 30, 36 as shown in FIG.
3 and attached to the trolley frame 12 via the trolley receiver 123, while providing a trolley duct cover or a protective cover 125 to effectively prevent powder or gas from entering the trolley wire duct 75 from outside. doing. Further, a bellows 131 is provided as an elastic sealing means at an opening of the trolley duct cover 125 to maintain the airtightness inside the trolley duct cover 125. The trolley duct cover 125 is used to facilitate maintenance and inspection.
The upper duct cover 126 has a structure that can be separated and attached by a cover clamp 128.

In the trolley wire duct 75, a fluid pipe 124 is supported by a trolley receiver 123. The fluid pipe 124 is provided substantially parallel to the trolley wires 30, 36, and a nozzle hole 133 is formed in the longitudinal direction. Has been established.
Air, nitrogen gas, or inert gas is wiped out from the nozzle holes 133, and a gas such as air is constantly blown onto the trolley wires 30, 36. Furthermore, on the sealed facility side,
The air in the glove box 11 is sucked, and the pressure in the glove box 11 is changed to the trolley wire duct 7.
By keeping the pressure slightly lower than that in the inside 5, it is possible to prevent powder and oxidizing gas from entering the trolley wire duct 75, protect the trolley wires 30 and 36 that are susceptible to radiation and oxidative corrosion, and to provide long-term reliability. Can be kept.

In the in-facility transport apparatus shown in this embodiment, the self-propelled carriage 10 runs on the traveling rail 15 of the rail means 14 by itself, and the chain drive and belt drive are not required. There is no elongation of the chain or the belt, and no running failure due to powder adhesion is caused.

Further, the running rail 15 and the guide rail 16 of the rail means 14 can be branched by the rail branch means, so that the degree of freedom of the rail configuration is improved, while the rail means 14 is divided into sections of an appropriate length. Thereby, the section control operation of the self-propelled trolley 10 can be performed, and the collision between the self-propelled trolleys 10 can be prevented. In this in-facility transfer device, the rail means 14 may have a branching function,
By controlling the section of the self-propelled carriage 10, more flexible and efficient operation can be achieved.

Further, the running rail 15 of the rail means 14
And guide rails 16, and power supply / signal transmission system 18
The trolley wires 30, 31, and 47 of the glove box 11 are divided into sections so that they can be easily attached and detached.
The self-propelled trolley 10 and the rail branching means in consideration of carrying in and out of the inside can provide an in-facility transport device that is easy to maintain.

Next, the second embodiment of the in-facility transport apparatus according to the present invention will be described.
An embodiment will be described with reference to FIGS.

The in-facility transport device shown in the second embodiment is a transport device that employs a monorail traveling system. This monorail transport device has a self-propelled carriage 141 that travels on its own so as to straddle a monorail 140. Self-propelled trolley 141
Is a running wheel 143 running on the monorail 140 and a driving wheel 144 held by the guide rail 140 from the side.
And a guide wheel 145. The drive wheels 144 are rotationally driven by a traveling motor 147 of a traveling drive device 146 via a power transmission gear 148, and the self-propelled carriage 141 is travelingly driven along the monorail 140 by this rotational drive.

On the other hand, the monorail 140 is installed on a support table 150 fixed on the base 17. A support guide frame 153 supporting a rolling roller 152 is fixed to a base flange 151 below the monorail 140 by a fixing pin 154.
The supporting seat 155 is fixed by fixing means such as the above, and assists in carrying in and out of the monorail 140. Monorail 1
40 operates and removes the support jack 204 and the fixed pin 203 shown in FIG.
Thus, it is possible to easily transport the upper part and carry it in and out.

A power supply / signal processing system 158 is attached to the side surface of the monorail 140 and attached. The trolley wire 159 of the power supply / signal processing system 158 is
The trolley shoe 162 of the power supply unit 161 is in sliding contact with the trolley wire 159 by the trolley wire 159. The power supply unit 161 is detachably fixed to a vehicle body 163 of the self-propelled carriage 141 by a unit clamp 164. Reference numeral 165 is a trolley wire duct cover.

Further, the self-propelled carriage 141 is provided with a table driving device 167 as shown in FIG. The table driving device 167 includes a table lifting / lowering device 170 for raising / lowering the table 168 and a table turning device 171 for turning the table 168. The table lifting / lowering device 170 is driven by a motor from a lifting / lowering motor 172, and is driven by a pinion rack mechanism 173 as power transmission means.
The table 168 can be moved up and down via the. The lifting of the lifting rack 174 is guided by guide pins 175 fixed to the vehicle body 163.

On the other hand, in the table turning device 171, the output gear 178 of the turning motor 177 meshes with the outer gear 179 engraved on the outer periphery of the table 168 to turn the table 168.

The table 168 has a disk shape, and houses the storage tray 180 detachably. The push mechanism 182 is housed in the central recess of the table 168. The push mechanism 182 projects downward through the central opening 183 of the table 168, and is opposed to the weighing machine 66 so as to be engageable as shown in FIGS.

As shown in FIG. 16, the push mechanism 182 pushes the upper surface lifting seat 184 which engages with the storage tray 180 and pushes up the storage tray 180, and pushes the lower seat 185 with which the weighing machine 66 is engaged. While being integrally connected by a rod 186, the outer peripheral surface of the upper surface push-up seat 184 is tapered into the central opening 183 of the table 168, and the weight of the push mechanism 183 causes the central opening 1 of the table 168.
It touches 83. The push mechanism 182 includes a storage tray 180.
Is kept in a non-contact state. The storage plate 180 stores target substances such as radioactive substances and chemical substances.

The weight of the target substance stored in the storage plate 180 is reduced by lowering the table 168 by the table lifting / lowering device 170 and pressing the push mechanism 182 against the weighing machine 66 so that the push mechanism 182 is separated from the table 168 and stored. Push plate 180 up. By pushing up the storage tray 180, the load of the storage tray 180 is transmitted to the weighing machine 66,
The weight of the target substance can be measured.

The weight of the target substance was measured in Table 1.
Instead of lowering the weighing machine 68, the weighing machine 66 is driven to move up and down, and the push mechanism 182 is pushed up to move the weighing machine
It can also be measured by moving 0 away from table 168.

An escape groove 187 is formed in the tapered fitting portion of the push mechanism 182, and the escape groove 187 is formed.
This prevents the push mechanism 182 from being fixed to the table 168 by powder or the like.

FIG. 17 shows a modification of the trolley wire duct constituting the power supply / signal transmission system 158.

The trolley wire duct 190 is attached to a mounting hole 191 formed on the side surface of the monorail 140 by a mounting fixture 192.
It is detachably attached with. The fixture 192 supports a locking member 194 at the tip of the mounting pin 193. The locking member 194 has a long hole 195, and a fixing pin 196 attached to the tip of the mounting pin 193 is inserted into the long hole 195. It is inserted.

The locking member 194 is inserted into the mounting hole 191 of the monorail 140 in the state shown in FIG. 17A, and after the insertion, the locking member 194 is folded as shown in FIG. 17B. Bend (bending direction B), then slot 1
The trolley wire duct 190 can be easily moved to the monorail 140 by sliding in the longitudinal direction C using the
Can be fixed. FIG. 17C shows a state where the trolley wire duct 190 is fixed to the monorail 140.

FIG. 17D shows a trolley wire duct 190.
Are shown in the figure. The connector terminal box 29 is provided with a lead wire jack 198 that is in contact with and joined to the trolley wire 197 of the trolley wire duct 190.
And the lead wire jack 198 is connected to the monorail 14.
The trolley wire duct 190 extends through the through hole 0 on the opposite side. Lead wire jack 198 has connection port 199
Is removably connected to the cable 200 via.

The connection port 199 has a spring function and a contact function, and has a structure in which the tip of a lead wire jack 198 can be detachably connected to the lead wire portion of the trolley wire 197. It can be easily attached and detached.

The trolley wire duct 190 is covered by the duct cover 201. The duct cover 201 is made of an elastically deformable material, and is elastically deformed and opened when passing through a trolley shoe (not shown), thereby facilitating the passage of the trolley shoe. Before or after the passage of the trolley shoe, the duct cover 201 returns to its original shape by elastic deformation to constitute a sealing means, and constitutes a sealing structure for preventing intrusion of powder or acid gas.

Monorail 1 constituting rail means 139
40 is disassembled and carried in during maintenance and inspection.

As shown in FIG. 18, the monorail 140 is carried in and out of the monorail 140 at the lower part of the support rail 155.
Is mounted on the support base 150 so as to be able to run on the support base 150 via the support base carriage 155 so that the support base 150 can be easily carried in and out.

By pulling out the fixing pin 154, the supporting seat trolley 155 can easily rotate the supporting guide frame 153 with respect to the monorail 140, and the turning operation of the supporting guide frame 153 causes the supporting guide frame 153 to rotate as shown in FIG. As shown in (B) and (B), even if the monorail 140A has a curved shape, it can be easily run on the support base (support base) 150, and the support base 150 forms a T-shaped path. In addition, the monorail 140A can be easily transported and carried in and out.

As described above, the monorail 140 (140
A) can be easily carried in and out by moving A) on the support base (support base) 150 using the support seat carriage 155. The mounting of the monorail 140 on the support stand 150 is performed by engaging the concave / convex engaging portion 202 formed at the end of the monorail 140 with the opposing concave / convex engaging portion of the adjacent monorail 140 and positioning the fixed pin 20.
3 is used to fix the support table 150 at the installation position.

Then, the monorail 140 can be fixed on the support base 150 by adjusting the level using the support jack 204 while watching the level meter 205 and floating the rolling roller 152 from the support base 150. .

[0118] The monorail 140 is supported on the support base 150.
The monorail 140 can be easily removed from the support base 150 by performing the reverse operation of the operation of fixing the monorail 140 on the support base 150.

FIG. 20 is a system configuration diagram showing a third embodiment of the in-facility transport apparatus according to the present invention.

The in-facility transfer device shown in FIG. 20 is different from the in-facility transfer device shown in FIG. 1 except that the installation of the trolley wire 47 and the multiplexer 49 for detecting the position of the self-propelled carriage 10 is unnecessary. Since they are not substantially different from those of the first embodiment, the same reference numerals are given and the description is omitted.

In the in-facility transfer apparatus shown in FIG. 20, even if the self-propelled carriage 10 travels on the traveling rail 15 as shown in FIG. The vehicle may run on its own by straddling the top of 140.

This in-facility transport apparatus is configured by removing the trolley wire and the multiplexer for section control of the self-propelled trolley 10, and the operation and effect excluding the section control of the self-propelled trolley 10 are shown in FIGS. Since it is not different from that shown in FIG. 11, the description is omitted.

The first embodiment of the in-facility transfer apparatus according to the present invention.
In the embodiment, an example is shown in which the rail means is configured as a separate structure from the traveling rail and the guide rail.However, the traveling rail is provided with a guide means such as a guide flange, or the rail means is formed by integral molding. You may comprise with a running rail. In this case, a guide rail independent of the traveling rail is not required, while the traveling rail is provided with a power supply / signal transmission system.

Further, an example was shown in which the trolley wire duct was covered with a duct cover, and an elastically deformable bellows was interposed at the opening of the duct cover as a sealing means. A configuration in which the inflow of powder or acidic gas into the wire duct may be limited.

Further, the self-propelled carriage provided in the in-facility transport device may not have a differential mechanism, and may have a configuration in which right and left wheels are independently controlled by a left and right independent traveling motor. At this time, a battery may be mounted on the self-propelled vehicle, and the traveling motor may be driven by the battery. When the self-propelled vehicle is equipped with a battery, the power supply system is not always necessary.

Further, the wheels of the self-propelled bogie that travels on the running rail by itself may be formed in a tapered shape, and the directional stability at the time of running may be provided by combination with the running rail as the rail means. Alternatively, the guide rail may be unnecessary by forming a guide flange (outer peripheral flange) on the wheel of the self-propelled trolley and running the flanged wheel on the travel rail.

[0127]

As described above, the in-facility transfer apparatus according to the present invention can be applied to transport in a building of a nuclear power plant, a chemical plant, or sampling and transport of a bioplant, and can reduce labor of transport work and remote control. Automation, efficiency and reliability can be improved, and maintenance and inspection work can be simplified and labor can be saved.

According to the first aspect of the present invention, the traveling control and operation control of the self-propelled truck traveling by itself along the rail means in the sealed facility can be controlled from outside the sealed facility, and can be controlled under high radiation or chemical substances. It is possible to provide an in-facility transport device that can be applied even when the influence is applied.

According to the second aspect of the present invention, the rail means and the power supply / signal transmission system are divided into a plurality of sections, and at least one of the sections is provided with a branching means. The degree of freedom in the route configuration is improved, access to other transport routes is facilitated, and flexible route arrangement and operation become possible.

According to the third and fourth aspects of the present invention, since the self-propelled trolley has the table driven up and down operation or up and down and turning operation by the table driving device, the degree of freedom of connection with the facility side equipment can be improved. . By forming an opening in the center of the table or opening the self-propelled trolley below this opening, it is possible to easily access the facility side equipment from below to the storage tray placed on the table, The arrangement can be carried out smoothly.

[0131] In the invention according to claim 5, the rail means and the power supply / signal transmission system are divided into required sections,
The divided rail means and power supply / signal transmission system are made removable by fixed guides (guide frames) and clamp devices, making maintenance and replacement and cleaning of the facilities in the sealed facility easy, and improving continuous operation and operation rate. be able to.

Further, since the rail means and the power supply / signal transmission system can be divided for each section to control the traveling section of the self-propelled vehicle, the traveling control of a plurality of self-propelled vehicles and the collision prevention control can be performed. And safety and reliability of operation can be improved.

In the invention according to claim 6, a trolley wire duct or a protective cover for covering the power supply or signal transmission line is provided, and the opening of the trolley wire duct or the protective cover is covered with elastically deformable sealing means. The wire duct or protective cover has a detachable split structure, so that gloves can be used in a sealed facility to easily carry out the work of attaching and detaching for maintenance. It is possible to effectively prevent a foreign substance such as dust from entering the apparatus.

According to the seventh and eighth aspects of the present invention, since the connection port accommodated in the connector terminal box is detachable from the lead wire jack portion electrically connected to the trolley wire, the power supply / signal transmission system and the connector terminal The box can be easily removed for maintenance. At this time, a gas such as air is blown out of the fluid pipe through the duct cover, and power is supplied /
By covering the signal transmission line, corrosion due to oxidation of the power supply / signal transmission line can be prevented beforehand and effectively.

According to the ninth aspect of the present invention, the traveling section of the self-propelled bogie traveling along the rail means in the sealed facility can be controlled by the control panel, and the collision control between the self-propelled bogies can be prevented by this section control. It can be achieved effectively.

In the invention according to claim 10, the sign mounted on the self-propelled trolley is made of metal, resin or magnet, and the sign is read by the detector provided on the sealed facility side.
It is possible to reliably detect the traveling position of the self-propelled trolley and the car number without mounting an electronic circuit that is vulnerable to radiation for detecting the traveling position of the self-propelled trolley.

According to the eleventh aspect of the present invention, even if the self-propelled truck breaks down for some reason or a trouble occurs, the driving force from the traveling drive motor can be released by the switching lever means.
The self-propelled trolley can be transferred easily and with a small pressing force by the manual traveling mechanism, improving maintenance and maintainability.
Can be improved.

[Brief description of the drawings]

FIG. 1 is a system configuration diagram showing a first embodiment of an in-facility transport apparatus according to the present invention.

FIG. 2 is a configuration diagram of a packet transport system in a glove box used in the in-facility transport apparatus according to the present invention.

FIG. 3 is a sectional view taken along the line III-III in FIG. 2;

FIG. 4 is a plan view showing a rail branch structure in a maintenance area used in the in-facility transport apparatus according to the present invention.

5A is a cross-sectional view taken along line VV of FIG. 4 when the in-facility transport device is automatically operated, and FIG. 5B is a cross-sectional view taken along line VV of FIG. 4 at the time of manual retraction. FIG.

FIG. 6 is a plan view of a packet-type self-propelled carriage used in the in-facility transport apparatus according to the present invention.

FIG. 7 is a side view of the self-propelled carriage shown in FIG.

FIG. 8 is a right side view of the self-propelled carriage shown in FIG.

FIG. 9 is a sectional view taken along the line IX-IX in FIG. 6;

FIG. 10 is a sectional view taken along the line XX of FIG. 6;

FIG. 11 is a structural view of a trolley wire duct used in the in-facility transport device according to the present invention.

FIG. 12 is a perspective view showing a fluid pipe provided inside the trolley wire duct.

FIG. 13 is a view showing a second embodiment of the in-facility transport apparatus according to the present invention, and showing a monorail type transport apparatus.

FIG. 14 is a diagram showing a weight measurement state of a target substance stored in a storage tray in the monorail type transfer device.

FIG. 15 is a perspective view showing a table driving device of the self-propelled carriage provided in the monorail type conveyance device.

FIG. 16 is a view showing a vertical section of the table driving device.

17A is a perspective view showing a trolley wire duct attached to a monorail type transport device, FIG. 17B is a view showing the operation of a fixture for attaching the trolley wire duct, and FIG. FIG. 4D is a cross-sectional view illustrating a state where the trolley wire duct and the connector terminal box are mounted on the monorail.

FIG. 18 is a view showing a monorail carrying-in / out operation as a rail means of the monorail type transfer apparatus.

FIGS. 19A and 19B are diagrams showing an operation of loading and unloading a curved monorail.

FIG. 20 is a system configuration diagram showing a third embodiment of the in-facility transport apparatus according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Self-propelled trolley 11 Glove box (sealed facility) 12 Sealed or sealed space 13 Penetration 14 Rail means 15 Running rail 16 Guide rail 17 Base 18 Power supply / signal transmission system 20 Control panel 21 Control device 22 Plant side power supply unit 23 Control panel power supply Reference Signs List 24 signal transmission device 25 operation display means 27 power supply unit 28 cable 29 connector terminal box 30 trolley wire 31 crossover 32 power supply unit 34 cable 35 connector terminal box 36 trolley wire 37 crossover 38 power supply unit 39 signal transmission unit 40 closed loop route 41 table Revolving branching device 42 Branching route 43 Point-type branching device 44 Maintenance area 45 Retraction route 47 Trolley wire 48, 50 Cable 49 Multiplexer 51 Power supply unit 54 Traveling drive 55 Bull drive 56 Control unit 57 Load sensor 58 Bumper sensor 60 Barcode (marker) 61 Marker detector 62 Cable 64 Table 65 Storage tray 66 Weigher 67 Work equipment 70 Rail turning mechanism 71 Turntable 72 Turning motor 73 Transmission gear mechanism (power Transmission means) 75 Trolley wire duct 76 Trolley wire switching duct 77 Operation handle 78 Trolley wire draw-in duct 79 Guide roller 81 Movable guide 82 Pinion rack mechanism 83, 84, 85, 86 Movable guide 88 Operation handle 90 Body 91 Wheel 92 Guide mechanism 93 Elevating table 94 Table elevating device 95 Table rotating device 96 Elevating motor 97 Elevating gear rack mechanism 98 Ball guide 100 Plate receiving portion 101 Opening 103 Switching lever 104 Clutch 105 Traveling mode Tab 106 Power transmission gear 107 Differential gear 109 Manual handle 110 Manual traveling mechanism 112 Rail frame (guide frame) 113 Start-up rib (mounting rib) 114 Fastening means (fastening bolt) 115 Fixed guide (guide frame) 116 Locking flange Stopper) 117 Rail clamp (clamping device) 119 Side flange 120 Trolley frame (guide frame) 121 Side flange 122 Clamp (clamping device, attaching / detaching device) 123 Housing groove 124 Fluid piping 125 Duct cover 126 Upper duct cover 127 Lower duct Cover 128 Cover clamp 130 Trolley shoe 131 Bellows (elastic sealing means) 133 Nozzle hole 134 Power supply unit clamp 139 Rail means 140 Monorail 141 Self-propelled trolley 143 Running wheel 144 Moving wheel 145 Guide wheel 146 Travel driving device 147 Traveling motor 148 Power transmission gear 150 Support stand 151 Base flange 152 Rolling roller 153 Support guide frame 154 Fixing pin (fixing means) 155 Support seat cart 158 Power supply / signal transmission system 159 Trolley wire 160 Trolley receiver 161 Power supply unit 162 Trolley shoe 163 Body 164 Unit clamp 165 Trolley wire duct cover 167 Table driving device 168 Table 170 Table lifting device 171 Table rotating device 172 Lifting motor 173 Pinion rack mechanism 174 Lifting rack 175 Guide pin 177 Rotating motor 178 Output gear 179 Outer peripheral gear 180 Storage tray 182 Push mechanism 183 Central opening 184 Upper surface push-up seat 185 Lower surface seat 186 Sash rod 187 Escape groove 190 Trolley wire duct 191 Mounting hole 192 Mounting tool 193 Mounting pin 194 Locking member 195 Long hole 196 Fixing pin 197 Trolley wire 198 Lead wire jack 199 Connection opening 200 Cable wire 202 Uneven engagement portion 203 Fixed pin 204 Support jack

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Takashi Ogawara 66-2 Horikawa-cho, Saiwai-ku, Kawasaki-shi, Kanagawa Inside Toshiba Engineering Corporation

Claims (11)

[Claims] 1. A rail means laid in a sealed facility demarcated from the outside world, a self-propelled vehicle capable of traveling along the rail means, and a facility-side device mounted detachably on the self-propelled vehicle. A deliverable object housing means, a power supply / signal transmission system for supplying power to the self-propelled trolley and exchanging signals, and a travel control of the self-propelled trolley from outside the sealed facility through the power supply / signal transmission system An in-facility transport apparatus comprising: a control panel for performing operation control. 2. The in-facility transport apparatus according to claim 1, wherein the rail means and the power supply / signal transmission system are divided into a plurality of sections, and at least one of the sections is provided with a branching means. 3. The self-propelled trolley is provided with a table driving device for imparting an ascending and descending operation or an ascending and descending operation and a turning operation to the table, while the object accommodating means is constituted by an accommodating plate detachably mounted on the table. Item 2. The in-facility transport device according to Item 1. 4. An opening is formed in the center of the table, the lower part of the self-propelled vehicle corresponding to the opening of the table is opened, and facility-side equipment can be inserted through the open part of the self-propelled vehicle and the opening of the table. 4. A storage plate mounted on a table and a facility-side device are configured to be able to be coupled to each other so as to be movable up and down.
The in-facility transport device according to the above. 5. The rail means and the power supply / signal transmission system are configured to be able to be divided for each required section, while the rail means and the power supply / signal transmission system for each section are guided by a fixed guide or a guide frame. 2. The in-facility transport device according to claim 1, wherein the in-facility transport device is detachably fixed on a base in the sealed facility by a clamp device or a detachable device. 6. The power supply / signal transmission system has a trolley wire duct or a protection cover that covers the power supply or signal transmission line, and slides into an opening of the trolley wire duct or the protection cover to contact the power supply or signal transmission line. A transferable power supply unit is provided on the self-propelled carriage, and the opening of the trolley wire duct or the protective cover is sealed by a sealing means capable of being elastically deformed, while the trolley wire duct or the protective cover is formed in a detachable divided structure. The in-facility transport device according to claim 1. 7. A power supply / signal transmission system includes a trolley wire duct covering a signal transmission line, the trolley wire duct is divided into required sections, and a connector terminal box is provided at a connection portion between adjacent trolley wire ducts. 2. A connection port accommodated in the connector terminal box is detachably connected to a lead jack portion electrically connected to a trolley wire.
The in-facility transport device according to the above. 8. The trolley wire duct is provided such that a fluid pipe is provided in a duct cover along a longitudinal direction, and air, nitrogen gas, or an inert gas is blown out from a nozzle hole formed in the fluid pipe. The in-facility transport apparatus according to claim 6 or 7, wherein the transport apparatus is set. 9. A power supply / signal transmission system includes a trolley line divided for each required section, and a control panel for detecting the presence or absence of a current from a self-propelled vehicle is provided on the trolley line outside the sealed facility. 2. The in-facility transport device according to claim 1, wherein a traveling section of the self-propelled vehicle is controlled by a control panel. 10. The in-facility transport device according to claim 1, wherein the self-propelled vehicle carries a sign made of metal, resin or magnet, and a detector for detecting the sign is provided on the sealed facility side. 11. A self-propelled vehicle has a traveling drive device provided with a traveling drive motor, and a switching lever means for releasing a driving force of the traveling drive motor is provided on a power transmission line from the traveling drive device. 2. The in-facility transport device according to claim 1, wherein a manual operation handle is detachably attached to the self-propelled vehicle, and a manual traveling mechanism is configured.