Patent Number: 
Section: claims

1. A control rod/fuel support handling apparatus that removes and attaches a control rod disposed between fuel assemblies in a reactor pressure vessel and a fuel support installed on a core plate located below a upper guide in the reactor pressure vessel, the control rod having a lower end part detachably connected to a control rod drive mechanism via a bayonet coupling, the fuel support supporting a lower end part of the fuel assembly and allowing insertion of the control rod in a cruciform space,the control rod/fuel support handling apparatus comprising:a fuel support gripper that is supported from above of the reactor pressure vessel so as to move in a vertical direction and holds the fuel support with a support gripping member so as to remove and attach the fuel support;a control rod gripper that is accommodated in the fuel support gripper, includes a vertically movable and rotatable elevating/rotating unit, holds the control rod with a control rod gripping member provided under the elevating/rotating unit, disconnects and connects the control rod and the control rod drive mechanism, and allows removal and attachment of the control rod through the cruciform space of the fuel support;a fuel support seating detector which detects seating of the lower end of the support gripping member on the core plate;a fuel support grip detector which detects that the support gripping member holds the fuel support;a load measuring instrument that is provided in the elevating/rotating unit and measures a load applied to the control rod gripping member;an operation mechanism that provides instructions on operations of the fuel support gripper and the control rod gripper, the operation mechanism configured to be operated by a first signal from said fuel support seating detector, a second signal from said fuel support grip detector, and a third signal from said load measuring instrument; anda control panel that controls the fuel support gripper in response to the instructions from the operation mechanism and automatically controls the control rod gripper. 2. The control rod/fuel support handling apparatus according to claim 1, wherein the fuel support gripper comprises a gripper frame having a wire connecting part connecting a suspension wire on an upper end of the gripper frame, the support gripping member is provided so as to open and close on a lower end of the gripper frame, and the gripper frame accommodates and supports the control rod gripper so as to move in the vertical direction. 3. The control rod/fuel support handling apparatus according to claim 2, wherein the fuel support gripper comprises:a fuel support seating detector that detects that the lower end of the gripper frame has been seated on the core plate; anda fuel support grip detector that detects that the fuel support has been held by the support gripping member. 4. The control rod/fuel support handling apparatus according to claim 2, wherein a gripper body of the control rod gripper or the gripper frame of the fuel support gripper comprises an upper limit position detector that detects that the gripper body is supported by the gripper frame and the gripper frame has reached an upper limit position with respect to the gripper body. 5. The control rod/fuel support handling apparatus according to claim 1, wherein the control rod gripper comprises:a gripper body;an elevating/rotating unit provided with the control rod gripping member opened and closed on a lower end of the elevating/rotating unit;a lift cylinder that lifts and lowers the elevating/rotating unit with respect to the gripper body;a rotating mechanism that rotates the elevating/rotating unit a predetermined angle around an axis;a lifting/lowering cylinder that is provided on an upper end of the gripper body, has a piston end fixed on a locking plate lockable to the upper guide, and allows lifting and lowering of the gripper body; anda load measuring instrument that is provided in the elevating/rotating unit and measures a load applied to the control rod gripping member. 6. The control rod/fuel support handling apparatus according to claim 5, wherein the gripper body of the control rod gripper or the gripper frame of the fuel support gripper comprises an upper limit position detector that detects that the gripper body is supported by the gripper frame and the gripper frame has reached an upper limit position with respect to the gripper body. 7. The control rod/fuel support handling apparatus according to claim 5, wherein the control rod gripper comprises:an ascent/descent position detector that detects an ascent/descent position of the elevating/rotating unit lifted or lowered by the lift cylinder;a rotational position detector that detects a rotational position of the elevating/rotating unit rotated by the rotating mechanism;a lifted/lowered position detector that detects a lifted/lowered position of the gripper body lifted or lowered by the lifting/lowering cylinder;a control rod seating detector that detects that the lower end of the elevating/rotating unit has been seated on the control rod; anda control rod grip detector that detects that the control rod has been held by the control rod gripping member,wherein the control panel automatically controls the control rod gripper based on detection data of these detectors. 8. The control rod/fuel support handling apparatus according to claim 7, wherein the ascent/descent position detector comprises:an ascent position detector that detects the ascent position of the elevating/rotating unit; anda descent position detector that detects the descent position of the elevating/rotating unit. 9. The control rod/fuel support handling apparatus according to claim 7, wherein the rotational position detector comprises:a counterclockwise limit position detector that detects a counterclockwise rotation limit position of the elevating/rotating unit;a clockwise limit position detector that detects a clockwise rotation limit position of the elevating/rotating unit;an intermediate first position detector that detects that the elevating/rotating unit has reached an intermediate first position between the limit positions; andan intermediate second position that detects that the elevating/rotating unit has reached an intermediate second position between the limit positions. 10. The control rod/fuel support handling apparatus according to claim 7, wherein the lifted/lowered position detector comprises:a lifted position detector that detects the lifted position of the gripper body; anda lowered position detector that detects the lowered position of the gripper body.