| 摘要 |
<P>PROBLEM TO BE SOLVED: To quickly convey a conveyance object such as a fuel while suppressing vibration. <P>SOLUTION: A refueling machine including a bridge capable of traveling on a reactor well of a nuclear power plant in one direction, a trolley capable of moving on the bridge in a direction orthogonal to the traveling direction of the bridge and a grapple 17 suspended from the trolley in a vertical direction and capable of grasping the conveyance object such as the fuel to underwater convey the conveyance object between the reactor well and a fuel pool further includes a vibration suppressing mechanism 18 for suppressing the vibration of the grapple 17 grasping the conveyance object against the trolley. The vibration suppressing mechanism includes a camera for detecting the position aberration of the grapple 17 against the trolley, thrusters 32A-32D arranged on a suppression mechanism body 30 coaxially connected to the grapple 17 and capable of generating thrust to the grapple 17, and a control device for controlling drive of the thrusters based on detection information from the camera. <P>COPYRIGHT: (C)2013,JPO&INPIT |
