Abstract: A retracting device has a retracting main body including a case, a hook disposed in the case, an urging member, and a braking device including a cylinder and a piston rod; and a protruding portion engaging with and disengaging from the hook in a middle of a movement of a moving body relative to an enclosure. The hook is switched between a retracting position allowing the moving body to move in an engaged state with the protruding portion, and a standby position disallowing the moving body to move in a disengaged state. The hook is in the standby position when disengaged from the protruding portion in a state wherein the piston rod is entered with respect to the cylinder, and has reduced a protruding dimension, and is switchable to the retracting position from the standby position when the piston rod increases the protruding dimension relative to the cylinder.

Abstract: A damper unit which brakes the speed of movement of a moving body by using a piston damper provided with a cylinder and a piston rod which is connected to a piston inside the cylinder, is provided. The damper unit includes a case wherein the above-mentioned piston damper is disposed; a transmitting member slidably provided inside the case and transmitting an external force accompanied by the movement of the above-mentioned moving body; a link member whose one end side is attached to the above-mentioned case so as to become the rotational center, and also whose the other end side is pivotally supported by the above-mentioned transmitting member; and a connecting member connected between both ends of the link member and being in contact with or connected to either the piston rod or the cylinder.

Abstract: A retracting device has a retracting main body including a case, a hook disposed in the case, an urging member, and a braking device including a cylinder and a piston rod; and a protruding portion engaging with and disengaging from the hook in a middle of a movement of a moving body relative to an enclosure. The hook is switched between a retracting position allowing the moving body to move in an engaged state with the protruding portion, and a standby position disallowing the moving body to move in a disengaged state. The hook is in the standby position when disengaged from the protruding portion in a state wherein the piston rod is entered with respect to the cylinder, and has reduced a protruding dimension, and is switchable to the retracting position from the standby position when the piston rod increases the protruding dimension relative to the cylinder.

Abstract: A retraction mechanism includes a striker provided in either a fixed body or a movable body which is movably supported by the fixed body; a catcher provided in the other body and engaging the striker at a predetermined moved position of the movable body to be capable of engaging and disengaging; and an urging device enabling to accumulate urging forces in a moving process of the movable body. The retraction mechanism retracts the movable body by the urging forces accumulated in the urging device in a state wherein the striker and the catcher are engaged. The retraction mechanism includes a guide device controlling a relative position between the striker and the catcher, and when the striker and the catcher change the relative position, the change thereof is absorbed by the guide device, so that the engagement becomes possible.

Abstract: A damper unit which brakes the speed of movement of a moving body by using a piston damper provided with a cylinder and a piston rod which is connected to a piston inside the cylinder, is provided. The damper unit includes a case wherein the above-mentioned piston damper is disposed; a transmitting member slidably provided inside the case and transmitting an external force accompanied by the movement of the above-mentioned moving body; a link member whose one end side is attached to the above-mentioned case so as to become the rotational center, and also whose the other end side is pivotally supported by the above-mentioned transmitting member; and a connecting member connected between both ends of the link member and being in contact with or connected to either the piston rod or the cylinder.

Abstract: An operation method and apparatus in a pressure vessel of a nuclear reactor is provided. The operation apparatus including a body and a guide inserted from the upper side of the nuclear reactor to an interior of the jet pump. The operation apparatus circulate water inside the pressure vessel. The guide is positioned at the end of a body of the operation apparatus, and is inclined with respect to the center axis of the body so as to be inserted into a side opening of the jet pump.

Abstract: An operation method and apparatus in a pressure vessel of a nuclear reactor is provided. The operation apparatus including a body and a guide inserted from the upper side of the nuclear reactor to an interior of the jet pump. The operation apparatus circulate water inside the pressure vessel. The guide is positioned at the end of a body of the operation apparatus, and is inclined with respect to the center axis of the body so as to be inserted into a side opening of the jet pump.

Abstract: A working apparatus has: a working equipment for doing works on a structure; an operation mechanism adapted to actively move the working equipment relative to the structure; and an adhering/traveling module coupled to the operation mechanism and adapted to adhere to the structure so as to have the weight of the working apparatus borne by the structure and travel/move on the structure for positioning. With this arrangement, the working apparatus can perform accurate positioning operations in a narrow environment and complex scanning operations by means of various pieces of the working equipment such as inspection sensors, and can secure a large working area within a short period of time and reduce the overall working hours.

Abstract: A working apparatus has: a working equipment for doing works on a structure; an operation mechanism adapted to actively move the working equipment relative to the structure; and an adhering/traveling module coupled to the operation mechanism and adapted to adhere to the structure so as to have the weight of the working apparatus borne by the structure and travel/move on the structure for positioning. With this arrangement, the working apparatus can perform accurate positioning operations in a narrow environment and complex scanning operations by means of various pieces of the working equipment such as inspection sensors, and can secure a large working area within a short period of time and reduce the overall working hours.

Abstract: A modular submersible repairing system includes a working unit having a tool module capable of repairing structures in a reactor. A scanning/pitching module is capable of being selectively connected to or disconnected from the tool module, and is provided with a scanning/pitching shaft for scanning or pitching the tool module. A submersible fan module is capable of being selectively connected to or disconnected from the scanning/pitching module. A first buoyant module keeps an orientation of the tool module. A base unit includes a manipulator module internally provided with an actuator driving mechanism. An adsorbing module is capable of being detachably mounted on the manipulator module and a wall. A second buoyant module keeps the orientation of the manipulator module. The scanning/pitching module and the manipulator module are provided with a submersible connecting device capable of being operated in water for engagement and disengagement.

Abstract: A laser emitting head for irradiating a portion to be machined with laser beams outputted from a laser unit (624) incorporates an emitting head body having a light guide member (625) in the head for guiding the laser beams; a light converging lens (677) for converging the laser beams transmitted from the light guide member in the head; a reflecting mirror (678) for irradiating the portion to be machined with the converged laser beams; mirror rotating means (684) for holding the reflecting mirror to be rotative around the optical axis of the laser beam; distance-adjustment means (674) for adjusting the relative distance between the reflecting mirror and the converging lens; and moving means (665) for moving the reflecting mirror and the converging lens such that the relative distance is maintained so that the light guide member in the head. The converging lens and the reflecting mirror can be introduced/discharged with respect to a portion to be machined and formed in a narrow gap in an incore structure.

Abstract: A modular submersible repairing system is capable of dealing with various tasks somewhat inefficiently, though, and of being inserted and installed in a reactor instantly, and highly maneuverable. A repairing method is carried out by the modular submersible repairing system.

Abstract: A modular submersible repairing system includes a working unit having a tool module capable of repairing structures in a reactor. A scanning/pitching module is capable of being selectively connected to or disconnected from the tool module, and is provided with a scanning/pitching shaft for scanning or pitching the tool module. A submersible fan module is capable of being selectively connected to or disconnected from the scanning/pitching module. A first buoyant module keeps an orientation of the tool module. A base unit includes a manipulator module internally provided with an actuator driving mechanism. An adsorbing module is capable of being detachably mounted on the manipulator module and a wall. A second buoyant module keeps the orientation of the manipulator module. The scanning/pitching module and the manipulator module are provided with a submersible connecting device capable of being operated in water for engagement and disengagement.

Abstract: The present invention provides an underwater maintenance and repair technology of including a laser oscillator for generating a laser beam and a working head movably attached to the vicinity of a working target portion in the underwater and adapted to scan the laser beam to the working target portion, and further, independently fixing the working head to the vicinity of the working target portion, jointing an optical fiber cable to the working head by using a joint mechanism through a remote control operation, guiding a laser beam emitted from a laser oscillator via the optical fiber cable, and irradiating the laser beam from the working head to a surface of the working target portion while scanning it so as to achieve surface modification, surface working and decontamination.

Abstract: A modular submersible repairing system is capable of dealing with various tasks somewhat inefficiently, though, and of being inserted and installed in a reactor instantly, and highly maneuverable. A repairing method is carried out by the modular submersible repairing system.

Abstract: The present invention provides an underwater maintenance and repair technology of including a laser oscillator for generating a laser beam and a working head movably attached to the vicinity of a working target portion in the underwater and adapted to scan the laser beam to the working target portion, and further, independently fixing the working head to the vicinity of the working target portion, jointing an optical fiber cable to the working head by using a joint mechanism through a remote control operation, guiding a laser beam emitted from a laser oscillator via the optical fiber cable, and irradiating the laser beam from the working head to a surface of the working target portion while scanning it so as to achieve surface modification, surface working and decontamination.

Abstract: A method of assembling a large-size plant and an assembling method for reducing a term of work are disclosed. Each of a crane operator in a crane operation room and site workers in a plant construction site is equipped with a picture I/O device and a voice I/O device. The crane operator and the site workers assemble the plant while sharing picture information of the picture I/O device and voice information of the voice I/O device with each other. A site remote control room vicinal to the plant construction site is connected via a radio transmission path to a host control center. The plant si assembled while the site workers, the crane operator room, the site remote control room and the central control room share the picture information and the voice information of their own with each other.

Abstract: A laser maintaining and repairing apparatus including a laser oscillator 7, beam guiding apparatus 8 connected to guide a laser beam of the laser oscillator 7, and emitting head 12 for converging the laser beam from the beam guiding apparatus 8 and emitting the beam to a portion to be processed. The beam guiding apparatus 8 includes liquid-tight tubular beam guiding members 9a to 9h. The beam guiding members 9a to 9h are provided with reflecting members 13a, 13b and at least one of mechanisms 10a, 10b and 11a, 11b for providing horizontal turning, horizontal extending, vertical turning and vertical extending operations at the beam guiding members 9a to 9h. With the laser maintaining and repairing apparatus of the noted structure, a laser beam of high energy density can be utilized and processing by the laser beam can be facilitated or the applying range can be increased.

Abstract: An expandable and contractable arm is constituted by a plurality of expandable and contractable units and connecting devices including universal joints for serially interconnecting the units into the arm. Each unit includes at least three expandable and contractable operating members in the form of link mechanisms or double thread type expandable and contractable rods, and actuating devices for equally or unequally expanding and contracting the operating members so as to increase or decrease distances between the connecting members while maintaining them in parallel or inclined with respect to each other.

Abstract: An expandable and contractable arm is constituted by a plurality of expandable and contractable units and connecting devices including universal joints for serially interconnecting the units into the arm. Each unit includes at least three expandable and contractable operating members in the form of link mechanisms or double thread type expandable and contractable rods, and actuating devices for equally or unequally expanding and contracting the operating members so as to increase or decrease distances between the connecting members while maintaining them in parallel or inclined with respect to each other.