JP7598795B2 - Auxiliary device and auxiliary method for equipment - Google Patents

Description

This disclosure relates to an auxiliary device and an auxiliary method for equipment.

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. This fuel debris and other radioactive waste is then removed from the reactor containment vessel and disposed of.

For example, the reactor debris retrieval device described in Patent Document 1 moves on a guide rail for robot movement and sends a manipulator into the inside of the pedestal. This retrieval device then supplies power to the manipulator from a power supply unit located outside the biological shielding wall, and performs cutting and retrieval of the reactor debris, or cutting and dust collection of the reactor debris.

Patent No. 6436304

To perform stable cutting using a cutting device attached to the tip of a manipulator, it is desirable to stably install the cutting device on the floor. If the cutting device is not stably installed on the floor, vibrations will occur due to the cutting force and its reaction force.

The present disclosure aims to solve the above-mentioned problems and provide an auxiliary device and an auxiliary method for equipment that can stabilize the operation of the equipment.

To achieve the above-mentioned object, an auxiliary device for an apparatus according to one aspect of the present disclosure includes a container provided in the apparatus and a weight delivery section that supplies or discharges a weight to or from the container.

To achieve the above-mentioned object, an auxiliary device for equipment according to one aspect of the present disclosure includes a plurality of cylinders arranged side by side at the bottom of the equipment, a piston provided in each of the cylinders, a piston rod provided in each of the pistons, a leg end member attached to the tip of each of the piston rods, a communication section that allows the working fluid filled in each of the cylinders to circulate between each of the cylinders, and a damping mechanism provided in each of the cylinders to damp the working fluid.

In order to achieve the above-mentioned object, a method for assisting an apparatus according to one aspect of the present disclosure includes a step of placing the apparatus on a floor surface and a step of supplying a weight to a container provided on the apparatus.

This disclosure can stabilize the operation of the device.

FIG. 1 is a configuration diagram of an apparatus to which an auxiliary device according to an embodiment is applied. FIG. 2 is a configuration diagram of the auxiliary device according to the first embodiment. FIG. 3 is a configuration diagram of another example of the auxiliary device according to the first embodiment. FIG. 4 is a flowchart of a device assisting method according to the first embodiment. FIG. 5 is a configuration diagram of another example of the assist device according to the first embodiment. FIG. 6 is a configuration diagram of an auxiliary device according to the second embodiment. FIG. 7 is a configuration diagram of another example of the auxiliary device according to the second embodiment.

Below, an embodiment of the present disclosure will be described in detail with reference to the drawings. Note that the present invention is not limited to this embodiment. Furthermore, the components in the following embodiments include those that are easily replaceable by a person skilled in the art, or those that are substantially the same.

Figure 1 is a diagram showing the configuration of a device to which the auxiliary device according to the embodiment is applied.

The device 1 of the embodiment is used to collect fuel debris 200 generated in a nuclear power plant. In a nuclear power plant, a reactor pressure vessel (not shown) is stored in a containment section 101 surrounded by a sturdy concrete bulkhead 101A in a reactor building 100, and a fuel core is placed inside the containment section. The fuel debris 200 is the fuel core that has melted and solidified together with the structures inside the reactor containment vessel. That is, the device 1 of the embodiment is a device that collects fuel debris 200 in a nuclear power plant.

The device 1 is provided as part of a recovery device 10 that recovers fuel debris 200. The recovery device 10 mainly includes a main body 11, an arm 12, an air supply unit 13, a cooling water supply unit 14, and a control unit 15.

The main body 11 functions as a drive mechanism that drives the arm 12. The main body 11 is installed inside the reactor building 100. The main body 11 may be provided with a moving means (not shown) that allows it to move inside the reactor building 100.

The arm 12 includes a base 12A, an expandable portion 12B, and a tip portion 12C. The base 12A is supported by the main body 11 and moves in the left-right and up-down directions with the main body 11 as a fulcrum. The expandable portion 12B is provided on the base 12A and is configured to be extendable or retractable. The tip portion 12C is provided on the expandable portion 12B and moves in the left-right and up-down directions with the expandable portion 12B as a fulcrum. The device 1 is attached to the tip portion 12C. With the device 1 attached to the tip portion 12C, the arm 12 moves the base 12A and the tip portion 12C and extends the expandable portion 12B to transport the device 1 into the storage portion 101 through the through hole 101Aa formed in the partition wall 101A, and places the device 1 on the floor surface 101B of the storage portion 101.

The air supply unit 13 includes an air supply source 13A, an air supply pipe 13B, and an air supply valve 13C. The air supply source 13A is composed of a compressor that generates compressed air and a cylinder that stores compressed air. The air supply pipe 13B connects the air supply source 13A to the device 1 and sends air from the air supply source 13A to the device 1. The air supply valve 13C is provided in the air supply pipe 13B and opens or closes the air supply pipe 13B to open or close the air supply. In this way, the air supply unit 13 supplies air to the device 1. Specifically, the air supply unit 13 supplies air to the drive transmission unit 4 of the device 1, which will be described later.

The cooling water supply unit 14 includes a cooling water supply source 14A, a cooling water supply pipe 14B, and a cooling water supply valve 14C. The cooling water supply source 14A is composed of a tank that stores cooling water and a pump that pumps cooling water from the tank. The cooling water supply pipe 14B connects the cooling water supply source 14A to the device 1 and sends cooling water from the cooling water supply source 14A to the device 1. The cooling water supply valve 14C is provided in the cooling water supply pipe 14B and opens and closes the cooling water supply pipe 14B to open or close the supply of cooling water. In this way, the cooling water supply unit 14 supplies cooling water to the device 1. Specifically, the cooling water supply unit 14 supplies cooling water to the cutting section 5 of the device 1, which will be described later.

The control unit 15 is, for example, a computer, and although not shown in the figure, is realized by an arithmetic processing device including a microprocessor such as a CPU (Central Processing Unit). The control unit 15 controls the operation of the arm 12, the air supply unit 13, and the cooling water supply unit 14. Specifically, the control unit 15 controls the drive mechanism of the main body unit 11 to control the operation of the arm 12. The control unit 15 also controls the compressor of the air supply unit 13 and the air supply valve 13C to control the supply of air to the device 1. The control unit 15 also controls the pump of the cooling water supply unit 14 and the cooling water supply valve 14C to control the supply of cooling water to the device 1.

As described above, the equipment 1 collects the fuel debris 200. The equipment 1 includes a housing 2, a drive unit 3, a drive transmission unit 4, and a cutting unit 5 which is a tool. The housing 2 constitutes a toolbox that houses the drive unit 3, the drive transmission unit 4, and the cutting unit 5. The housing 2 is attached to the tip 12C of the arm 12 in the collection device 10 described above. The drive unit 3 is fixed inside the housing 2. The drive unit 3 transmits a driving force to the drive transmission unit 4. The drive unit 3 has a motor and a reducer. The drive transmission unit 4 transmits the driving force from the drive unit 3 to the cutting unit 5. The drive transmission unit 4 is provided with an actuator to which the air supply pipe 13B of the air supply unit 13 is connected. The actuator functions as a suspension that operates with air supplied by the air supply unit 13. The cutting unit 5 is a tool that performs work such as cutting and polishing the fuel debris 200. The cutting unit 5 is connected to a cooling water supply pipe 14B of the cooling water supply unit 14, and heat generated during operation is cooled by the cooling water supplied by the cooling water supply unit 14. In addition, the drive transmission unit 4 is equipped with a recovery unit (not shown) that can recover a portion of the fuel debris 200 cut or ground by the cutting unit 5. In this device 1, the operation of the drive unit 3 is controlled by the control unit 15.

The above-mentioned recovery device 10 recovers fuel debris 200 in areas with high radiation levels using equipment 1 attached to the end of a long arm 12. The recovery device 10 has a relatively flexible arm 12, and it is difficult to suppress the vibration of equipment 1 caused by the cutting force during work using the pressing force of the arm 12. If equipment 1 is not stably installed on floor surface 101B, vibration will occur due to the cutting force and its reaction force. In addition, the accumulation status of fuel debris 200 is unknown, and if floor surface 101B is uneven, equipment 1 will not be stably installed on floor surface 101B, and the occurrence of vibration will be noticeable.

[Embodiment 1]
In the first embodiment, an auxiliary device is applied for stabilizing the operation of the above-mentioned device 1. Fig. 2 is a configuration diagram of the auxiliary device according to the first embodiment. Fig. 3 is a configuration diagram of another example of the auxiliary device according to the first embodiment.

The auxiliary device of the embodiment includes a container 6, a cooling water supply unit 14 which is a weight sending unit, a measuring unit 8, and a control unit 15. The container 6 is fixed to the housing 2. FIG. 2 shows a form in which the container 6 is fixed to the outside of the housing 2. FIG. 3 shows a form in which the container 6 is fixed inside the housing 2. The container 6 is connected to the cooling water supply source 14A of the cooling water supply unit 14 shown in FIG. 1 through a cooling water pipe 14D, and stores the cooling water which is the weight 7 supplied through the cooling water pipe 14D. The cooling water pipe 14D is provided with a cooling water valve 14E. The cooling water valve 14E opens and closes the cooling water pipe 14D to open or close the supply of cooling water. The cooling water supply unit 14 also sucks the cooling water which is the weight 7 stored in the container 6 through the cooling water pipe 14D by the pump of the cooling water supply source 14A and discharges it from the container 6. The supply of the weight 7 to the container 6 and the discharge of the weight 7 from the container 6 are controlled by the control unit 15 shown in FIG. 1. Therefore, the control unit 15 controls the pump and the cooling water valve 14E to control the supply and discharge of the weight 7 to the container 6. Note that, although the auxiliary device of the embodiment uses the cooling water supply unit 14 of the recovery device 10 as the weight delivery unit, a cooling water supply unit separate from the recovery device 10 may also be provided.

The measuring unit 8 measures the vibrations occurring in the device 1. In the embodiment, the measuring unit 8 can be provided in the driving unit 3 of the device 1, but may be provided in the housing 2, for example. The measuring unit 8 is connected to the control unit 15 shown in FIG. 1 and outputs the measured vibrations to the control unit 15. The control unit 15 controls the supply amount of cooling water, which is the weight 7, based on the period of the input vibration. The supply amount of the weight 7 is determined so that the natural vibration of the sloshing caused by the weight 7 supplied to the container 6 matches the period of vibration of the device 1. The control unit 15 stores data on the relationship between the supply amount of the weight 7 and the natural vibration of the sloshing based on the shape and capacity of the container 6 in advance, and acquires the data according to the period of vibration of the device 1. Therefore, the container 6 functions as a damper that suppresses the vibration of the device 1 due to the sloshing of the stored weight 7.

The process of recovering fuel debris 200 by the recovery device 10 using the thus configured auxiliary device will be described. Figure 4 is a flowchart of the device's auxiliary method according to the embodiment.

First, the recovery device 10 places the equipment 1 on the floor surface 101B of the storage unit 101 by the arm 12 (step S1). Then, the auxiliary device supplies the weight 7 to the container 6 (step S2). Then, the recovery device 10 operates the equipment 1 to cut the fuel debris 200 (step S3). Then, the auxiliary device measures the vibration of the equipment 1 by the measurement unit 8 (step S4). In step S4, in the case of the form shown in FIG. 5 below, the motor state quantity, which is the number of rotations of the motor of the drive unit 3, is measured as the vibration of the drive transmission unit 4. Then, the auxiliary device adjusts the supply amount of the weight 7 according to the period of the vibration (step S5). Then, when the recovery of the fuel debris 200 by the recovery device 10 is completed, the auxiliary device discharges the weight 7 from the container 6 (step S6). Then, the recovery device 10 removes the equipment 1 from the floor surface 101B of the storage unit 101 by the arm 12 (step S7).

As described above, the auxiliary device of the embodiment includes a container 6 provided in the device 1, and a weight delivery unit that supplies or discharges weight 7 to the container 6. In the auxiliary device of the embodiment, the container 6 is provided in the housing 2 of the device 1. The auxiliary method of the embodiment includes a step of placing the device 1 on the floor surface 101B, and a step of supplying weight 7 to the container 6 provided in the device 1.

According to the auxiliary device and the auxiliary method of the embodiment, when the fuel debris 200 is collected by the collection device 10, the weight of the device 1 is increased by supplying the weighting material 7 to the container 6 after the device 1 is placed on the floor surface 101B. As a result, according to the auxiliary device and the auxiliary method of the embodiment, even if the floor surface 101B has a step portion 101Ba that makes the grounding unstable, the grounding property of the housing 2 of the device 1 to the floor surface 101B can be improved, and the vibration of the device 1 caused by the cutting force during work can be suppressed. As a result, according to the auxiliary device and the auxiliary method of the embodiment, the operation of the device 1 can be stabilized. According to the auxiliary device and the auxiliary method of the embodiment, it is not necessary to suppress the vibration of the device 1 caused by the cutting force during work by the pressing force of the arm 12. Also, according to the auxiliary device and the auxiliary method of the embodiment, the device 1 in a lightweight state can be transported to the floor surface 101B without applying a load to the arm 12. Also, according to the auxiliary device and the auxiliary method of the embodiment, when the device 1 is transported by the arm 12 of the collection device 10, the weight of the device 1 is reduced by discharging the weighting material 7 from the container 6. As a result, according to the embodiment of the assist device and assist method, the device 1 can be transported without placing a load on the arm 12 that exceeds the constraints of the motor capabilities of the arm 12.

The auxiliary device of the embodiment also includes a measuring unit 8 that measures the vibrations occurring in the device 1, and a control unit 15 that controls the amount of weight material 7 supplied based on the period of the vibrations measured by the measuring unit 8. The auxiliary method of the embodiment also includes a step of measuring the period of the vibrations occurring in the device 1 and adjusting the amount of weight material 7 supplied based on the period of the vibrations.

According to the embodiment of the auxiliary device and the auxiliary method, the natural frequency of the sloshing of the weight material 7 supplied to the container 6 can be matched with the period of the vibration of the equipment 1, thereby suppressing the vibration of the equipment 1 and stabilizing the operation of the equipment 1.

Figure 5 is a diagram showing the configuration of another example of an auxiliary device according to an embodiment. Figure 5 shows a configuration in which the container 6 is inside the housing 2 and fixed to the drive transmission unit 4.

In the auxiliary device and auxiliary method shown in FIG. 5, when the recovery device 10 recovers fuel debris 200, the weight of the device 1, mainly the weight of the drive transmission unit 4, is increased by supplying a weight 7 to the container 6 after the device 1 is placed on the floor surface 101B. As a result, according to the auxiliary device and auxiliary method of the embodiment, even if the floor surface 101B has a step 101Ba that makes contact with the ground unstable, the pressing load of the cutting unit 5 on the fuel debris 200 during operation is increased, thereby improving the cutting efficiency of the cutting unit 5. As a result, according to the auxiliary device and auxiliary method of the embodiment, the operation of the device 1 can be stabilized.

In addition, the auxiliary device and the auxiliary method of the embodiment measure the vibration of the drive transmission unit 4 with the measuring unit 8 and adjust the supply amount of the weight material 7 according to the period of the vibration. As a result, according to the auxiliary device and the auxiliary method of the embodiment, the natural frequency of the sloshing of the weight material 7 supplied to the container 6 is matched with the period of the vibration of the drive transmission unit 4, thereby suppressing the vibration of the equipment 1 and stabilizing the operation of the equipment 1. In addition, the auxiliary device and the auxiliary method of the embodiment may measure the motor state quantity, which is the rotation speed of the motor of the drive unit 3, with the measuring unit 8 as the vibration of the drive transmission unit 4 (see step S4 in FIG. 4). The control unit 15 adjusts the supply amount of the weight material 7 according to an increase or decrease in the rotation speed of the motor. As a result, according to the auxiliary device and the auxiliary method of the embodiment, the pressing load of the cutting unit 5 on the fuel debris 200 can be adjusted according to the load of the motor. If the pressing load of the cutting unit 5 is excessive, a cutting load is applied by the motor, which places a burden on the motor. Therefore, in the embodiment of the auxiliary device and method, the pressing load of the cutting part 5 is adjusted to increase or decrease depending on the increase or decrease in the load on the motor.

The auxiliary device and the auxiliary method of the embodiment are applied to equipment 1 that recovers fuel debris 200 that is transported via arm 12 and in which the core fuel has melted and solidified. The auxiliary device and the auxiliary method of the embodiment are applied to cooling water supplied to equipment 1 as weight material 7.

According to the auxiliary device and auxiliary method of the embodiment, by applying it to the equipment 1 that collects the fuel debris 200, the operation of the equipment 1 can be stabilized on uneven ground where the fuel debris 200 has occurred, and the collection of the fuel debris 200 can be performed easily and smoothly. Furthermore, according to the auxiliary device and auxiliary method of the embodiment, the cooling water supplied to the equipment 1 is used as the weight 7, so that the configuration can be reused and simplified. In particular, the operation of the equipment 1 can be stabilized by applying the cooling water used in the equipment 1 that collects the fuel debris 200.

[Embodiment 2]
In the second embodiment, an auxiliary device is applied to stabilize the operation of the above-mentioned device 1. Fig. 6 is a configuration diagram of another example of the auxiliary device according to the second embodiment. The auxiliary device of the second embodiment can be applied together with the auxiliary device of the first embodiment.

The auxiliary device in the form shown in FIG. 6 includes a leg 9 provided at the bottom of the device 1. The leg 9 includes a cylinder 9A, a piston 9B, a piston rod 9C, a leg end member 9D, and a communication portion 9E.

The cylinders 9A are fixed in parallel to the bottom of the device 1 (three in this embodiment). The pistons 9B are arranged inside each cylinder 9A and are provided so as to be movable up and down along the cylinders 9A. The piston rods 9C are formed extending downward in the direction of movement of each piston 9B. The leg end members 9D are attached to the tips (lower ends) of the piston rods 9C that extend downward. The leg end members 9D are provided so as to be detachable from the piston rods 9C and can be replaced. The leg end members 9D can be made of an appropriate material and shape depending on, for example, the unevenness of the floor surface 101B of the storage section 101. The communication section 9E communicates the upper parts of each cylinder 9A. The communication section 9E allows the working fluid filled in each cylinder 9A to flow between each cylinder 9A. The working fluid can be, for example, water or air.

The device 1 provided with the legs 9 is placed on the floor surface 101B of the storage section 101 by the arm 12. The leg end member 9D of the leg 9 is in contact with the floor surface 101B. When the leg end member 9D is in contact with the step portion 101Ba protruding from the floor surface 101B, the piston rod 9C moves upward and the piston 9B pushes up the working fluid inside the cylinder 9A. Since the cylinders 9A are connected by the communication portion 9E, the working fluid pushed up inside the cylinder 9A flows to the other cylinder 9A, and the piston 9B is pushed downward and the piston rod 9C moves downward, so that the leg end member 9D is in contact with the floor surface 101B that does not have the step portion 101Ba. As a result, some of the leg end members 9D of the legs 9 contact the step portion 101Ba, while the other leg end members 9D contact the floor surface 101B, and although the vertical positions of the piston rods 9C and pistons 9B change, the vertical positions of the cylinders 9A do not change, and the equipment 1 to which the cylinders 9A are fixed does not tilt and remains horizontal. Therefore, the equipment 1 can position the cutting part 5 above the fuel debris 200 without tilting. As a result, the auxiliary device of the embodiment can stabilize the operation of the equipment 1.

Figure 7 is a diagram showing another example of the configuration of an auxiliary device according to embodiment 2.

The auxiliary device shown in FIG. 7 is the auxiliary device shown in FIG. 6, and further includes a damping mechanism 9F. The damping mechanism 9F consists of an orifice disposed inside each cylinder 9A.

The damping mechanism 9F dissipates and damps the movement of the working fluid inside each cylinder 9A, suppressing the vibrations generated in the device 1 through the damping effect. As a result, the auxiliary device of the embodiment can stabilize the operation of the device 1.

The auxiliary device shown in FIG. 7 includes a working fluid delivery section in addition to the configuration including the auxiliary device or damping mechanism 9F in the form shown in FIG. 6. The working fluid delivery section supplies or discharges working fluid to each cylinder 9A (or communication section 9E). The working fluid delivery section can be configured with an air supply section 13 or a cooling water supply section 14.

When the working fluid delivery unit is configured with the air supply unit 13, the working fluid is air. In the air supply unit 13, an air supply source 13A is connected to each cylinder 9A (or communication unit 9E) through an air tube 13F, and air, which is the working fluid, is supplied to each cylinder 9A (or communication unit 9E) through the air tube 13F. The air tube 13F is provided with an air valve 13G. The air valve 13G opens and closes the air tube 13F to open or close the air supply. In addition, the air supply unit 13 sucks air from each cylinder 9A (or communication unit 9E) through the air tube 13F using the pump of the air supply source 13A and discharges it from each cylinder 9A (or communication unit 9E). The supply of air to each cylinder 9A (or communication unit 9E) or the discharge of air from each cylinder 9A (or communication unit 9E) is controlled by the control unit 15 shown in FIG. 1. Therefore, the control unit 15 controls the pump and air valve 13G to control the supply and discharge of air to each cylinder 9A (or communication unit 9E). Note that the auxiliary device of the embodiment uses the air supply unit 13 of the recovery device 10 as the working fluid delivery unit, but an air supply unit separate from the recovery device 10 may also be provided.

When the working fluid delivery unit is configured with the cooling water supply unit 14, the working fluid is cooling water. The cooling water supply unit 14 is configured such that the cooling water supply source 14A is connected to each cylinder 9A (or the communication unit 9E) through the cooling water pipe 14F, and supplies the cooling water, which is the working fluid, to each cylinder 9A (or the communication unit 9E) through the cooling water pipe 14F. The cooling water pipe 14F is provided with a cooling water valve 14G. The cooling water valve 14G opens and closes the cooling water pipe 14F to open or close the supply of cooling water. In addition, the cooling water supply unit 14 sucks the cooling water of each cylinder 9A (or the communication unit 9E) through the cooling water pipe 14F by the pump of the cooling water supply source 14A and discharges it from each cylinder 9A (or the communication unit 9E). The supply of cooling water to each cylinder 9A (or the communication unit 9E) or the discharge of cooling water from each cylinder 9A (or the communication unit 9E) is controlled by the control unit 15 shown in FIG. 1. Therefore, the control unit 15 controls the pump and the cooling water valve 14G to control the supply and discharge of cooling water to each cylinder 9A (or the communication unit 9E). Note that the auxiliary device of the embodiment uses the cooling water supply unit 14 of the recovery device 10 as the working fluid delivery unit, but a cooling water supply unit may be provided separately from the recovery device 10.

The auxiliary device of the embodiment can adjust the pressure inside each cylinder 9A by supplying or discharging the working fluid to each cylinder 9A (or the communication part 9E) by the working fluid delivery part. The spring characteristics of each cylinder 9A are determined by the initial internal pressure and the bulk modulus of the working fluid. Therefore, even if a certain leg end member 9D abuts against the step part 101Ba and another leg end member 9D is grounded on the floor surface 101B, the working fluid may be compressed and the device 1 may tilt and not maintain horizontality. For example, if the bulk modulus of the working fluid is high or the internal pressure of each cylinder 9A is high, the movement of the piston 9B and the piston rod 9C is heavy and sluggish, so that even if the piston rod 9C of a certain leg end member 9D pushes up the piston 9B, the other piston rod 9C is difficult to lower. In such a case, the auxiliary device of the embodiment can smooth the operation of the piston 9B and the piston rod 9C by discharging the working fluid of each cylinder 9A by the working fluid delivery part to adjust the internal pressure of each cylinder 9A to a low level. Conversely, if the bulk modulus of the working fluid is low or the internal pressure of each cylinder 9A is low, the piston 9B and piston rod 9C move lightly, resulting in an insufficient support force for the device 1. In such cases, the auxiliary device of the embodiment can ensure the support force of the device 1 by adjusting the internal pressure of each cylinder 9A higher by supplying working fluid to each cylinder 9A using the working fluid delivery unit. In this way, the auxiliary device of the embodiment can improve the fit of the legs 9 to the ground, stabilizing the operation of the device 1.

The auxiliary device of the embodiment is applied to equipment 1 that collects fuel debris 200 that is transported via arm 12 and is formed when the core fuel melts and solidifies. The working fluid used in the auxiliary device of the embodiment is air or cooling water supplied to equipment 1.

According to the auxiliary device of the embodiment, when applied to the equipment 1 that collects the fuel debris 200, the operation of the equipment 1 can be stabilized on uneven ground where the fuel debris 200 has occurred, and the collection of the fuel debris 200 can be performed easily and smoothly. Furthermore, according to the auxiliary device of the embodiment, the air or cooling water supplied to the equipment 1 is used as the working fluid, so that the configuration can be reused and simplified. In particular, the operation of the equipment 1 can be stabilized by applying the air or cooling water used in the equipment 1 that collects the fuel debris 200.

REFERENCE SIGNS LIST 1 Equipment 2 Housing 4 Drive transmission section 6 Container 7 Weight member 8 Measurement section 9A Cylinder 9B Piston 9C Piston rod 9D Leg end member 9F Damping mechanism 9E Communication section 12 Arm 15 Control section 101B Floor surface 200 Fuel debris

Claims (14)

A container provided in the device;
A weight delivery unit that supplies or discharges a weight to or from the container;
A plurality of cylinders arranged side by side on the bottom of the device;
A piston provided in each of the cylinders;
A piston rod provided on each of the pistons;
a leg end member attached to a tip of each of the piston rods;
a communication portion for allowing the working fluid filled in each of the cylinders to flow between the cylinders;
An auxiliary device for equipment comprising: The equipment auxiliary device of claim 1 further comprising a damping mechanism for damping hydraulic fluid in each of said cylinders. The auxiliary device for equipment according to claim 1 or 2 , wherein cooling water supplied to the equipment is applied to the weight member. A plurality of cylinders arranged side by side on the bottom of the device;
A piston provided in each of the cylinders;
A piston rod provided on each of the pistons;
a leg end member attached to a tip of each of the piston rods;
a communication portion for allowing the working fluid filled in each of the cylinders to flow between the cylinders;
a damping mechanism provided in each of the cylinders for damping the working fluid;
Equipped with auxiliary equipment for equipment. The auxiliary device for an equipment according to claim 1 , further comprising a hydraulic fluid delivery section that supplies or discharges the hydraulic fluid to or from each of the cylinders or the communication sections. The auxiliary device for equipment according to claim 1 , wherein the working fluid is air or cooling water supplied to the equipment. A container provided in the device;
A cutting portion provided on the device;
a weight delivery section that delivers or discharges cooling water to be supplied to the container for cooling the cutting section as a weight;
An auxiliary device for equipment comprising: The auxiliary device for an appliance according to claim 1 , wherein the container is provided in a housing of the appliance. The auxiliary device for an appliance according to claim 1 , wherein the container is provided in a drive transmission section of the appliance. A measurement unit that measures vibrations generated in the device;
A control unit that controls the amount of the weight material to be supplied based on the period of vibration measured by the measurement unit;
An auxiliary device for an apparatus according to any one of claims 1 to 3 and 7 to 9 , comprising: An auxiliary device for the equipment described in any one of claims 1 to 10, which is applied to equipment that recovers fuel debris that is transported via an arm and has melted and solidified core fuel. A container provided in the device;
A weight delivery unit that supplies or discharges a weight to or from the container;
A plurality of cylinders arranged side by side on the bottom of the device;
A piston provided in each of the cylinders;
A piston rod provided on each of the pistons;
a leg end member attached to a tip of each of the piston rods;
a communication portion for allowing the working fluid filled in each of the cylinders to flow between the cylinders;
Using auxiliary devices of the equipment,
placing the device on a floor surface;
providing the weight to the container;
(c) a method of assisting the device; The auxiliary device for the equipment includes a measurement unit that measures vibrations generated in the equipment,
The method for assisting an equipment according to claim 12, further comprising the step of measuring a period of vibration occurring in the equipment, and adjusting the amount of the weight material supplied based on the period of vibration. The method for assisting the equipment described in claim 12 or 13, which is applied to equipment that recovers fuel debris that is transported via an arm and has melted and solidified core fuel.

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