事故炉格納容器を常時観察するための屈曲可能なモジュール分割型軌道の開発

―軌道の展開と観察ロボットの交代の実現―

抄録

To avoid troubles of remotely controlled robots, The modularized rail structure for observation inside the PCV (Rail DRAGON) is currently under development. This study develops a linear module and a basement unit, and a monitoring robot. The linear module is rigid, lightweight, and portable. The basement unit using two rollers can support large moments and adjust the rail posture angle. The monitoring robot is covered with a plastic bag. A newly developed torque isolation mechanism using a magnetic coupling allows the robot to be propelled by another healthy robot. An assembling experiment shows that the rail assembling task takes only short time. Disposing experiment revealed that the torque isolation mechanism can help healthy robot propel broken robot.