JP2994471B2 - Inspection device for narrow section - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inspection device for a narrow portion, and more particularly to a device for inspecting a surrounding area in a wide area by inserting the device into the narrow portion.

[0002]

2. Description of the Related Art In a pipe used in a nuclear power generation facility or in a connection point of various pipes such as a thermal power plant or a chemical plant, a large pipe in a length direction of the pipe is absorbed so as to absorb a large thermal displacement of the pipe. When it is necessary to allow the amount of expansion and contraction, a molded bellows or a welded bellows is used in the joint portion of the pipe.

FIGS. 12 and 13 show an example of a mounting structure of a bellows arranged in a vent pipe portion in a suppression chamber of a boiling water reactor.

[0004] The tip of a vent pipe B attached to the outside of the containment vessel A penetrates the suppression chamber C, and inside the pool water of the suppression chamber C via a vent header D and a downcomer E. Around the vent pipe B, a vent nozzle G surrounding the vent pipe B with an annular gap F therebetween is attached to the wall of the suppression chamber C. The annular gap F between the vent pipe B and the vent nozzle G is The bellows H is communicated with the inside of the suppression chamber C, and is isolated from the outside air by disposing the bellows H on the opposite side.

As shown in FIG. 13, the bellows H is attached to a vent pipe B via an end plate I and an attachment sleeve J, with an intermediate sleeve K and an attachment flange L interposed therebetween. A guard pipe M is provided for protection.

On the other hand, the bellows H is formed with a bellows groove X serving as a concave portion based on the provision of corrugated irregularities on the inner surface, and dust and the like are deposited on a portion below the bellows groove X. It has an easy structure. Therefore, factors such as the accumulation of dust during the construction of the reactor, the diffusion of radioactive materials after the start of operation of the reactor, and the condensation of water vapor generated by the pool water in the suppression chamber are superimposed. It is conceivable that they adhere to the groove X.

For this reason, in the bellows H used for nuclear power generation facilities, if the amount of dust adhering to the bellows groove X is large, when a worker enters the containment vessel or the suppression chamber during a periodic inspection or the like. In addition, the radiation exposure dose increases, and the workability during periodic inspections and the like deteriorates.
It is necessary to perform a cleaning operation for removing dust and the like prior to various operations inside the device.

[0008]

The work for cleaning the inner surface of the bellows H is extremely impaired because the annular gap F between the vent pipe B and the bellows H is a narrow portion. In the bellows H shown in FIGS. 12 and 13, for example, when the outer diameter of the vent pipe B is 1464 mm to 2075 mm and the inner diameter of the vent nozzle G is 1564 mm to 2175 mm, the gap between the vent pipe B and the vent nozzle G is about 50 mm. And
Further, the depth dimension from the opening of the vent nozzle G to the end plate I is, for example, about 1550 mm in a short part and about 2350 mm in a long part.

For this reason, inside the suppression chamber C, for example, a scaffolding device (scaffolding device) for a suppression chamber of a nuclear reactor proposed in Japanese Patent Application Laid-Open No. 61-265168.
Even if N is installed and a working scaffold is secured,
It is difficult to manually clean the bellows groove X of the bellows H, which is the narrowed portion, by hand. Further, a mechanical device for cleaning the inner surface of the bellows groove X located in the annular gap F and a device for efficiently inspecting the periphery of the annular gap F are as follows.
Not yet developed.

The present invention is to effectively solve such a problem. That is, the object of the present invention is to widen the shooting range of the camera that has fed the narrow part.

[0011]

A camera is provided which has a moving frame inserted into a narrow portion having a groove formed therein and which visualizes a situation around the groove to be inspected in the moving frame. A refraction mirror that is pivotably mounted near the tip of the camera and bends the optical axis from the camera at a fixed angle, and changes the direction of the refraction mirror to capture an image with the camera.
And an oscillating mechanism for rotating the optical axis in accordance with the groove .

[0012]

With the moving frame fed into the narrow portion, the direction of the refracting mirror at the tip of the camera is changed by the operation of the swinging mechanism, and the optical axis to be photographed by the camera is turned so that the insertion point of the camera is inserted. Is to expand the imaging range.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A device for inspecting a narrow portion according to the present invention will be described below with reference to FIGS.

FIG. 5 shows a state in which the bellows cleaning device on which the device for inspecting a narrow portion according to the present invention is mounted is installed between the vent pipe B and the vent nozzle G.

The bellows cleaning device is shown in FIGS.
As shown in FIG. 1, a swivel guide rail 1 attached to the outer peripheral surface of the vent pipe B, a swivel unit 2 attached to the swivel guide rail 1 so as to be swivelable, a support frame 3 arranged in the swivel unit 2, A movable frame 4 is attached to the frame 3 so as to be movable in the axial direction of the vent pipe B, and a working unit 5 attached to the movable frame 4 for cleaning the inner surface of the bellows H is provided. As shown in FIG. 5, at a position apart from the annular gap F with the nozzle G,
A cleaning liquid supply device 6, a vacuum recovery device 7, a control means 8, and a monitoring means 9 are provided. The control means 8 includes a control device 8a and a power supply device 8b, and the monitoring means 9 includes a TV monitor 9a, a TV recorder 9b, and a recording device 9c.

As a supplementary explanation, the turning guide rail 1 is fixed to the outer circumference of the vent pipe B in a fitted state as shown in FIG. Then, as shown in FIGS. 10 and 11, for example, rail pieces in a 16-split state
1a, a pin joint 1b for connecting these rail pieces 1a to each other to form a ring, and fitting to the vent pipe B by adjusting the connection length of the plurality of rail pieces 1a to apply tension. And a turn buckle part 1c for causing the buckle to rotate.

As shown in FIG. 6, the turning portion 2 has a ring-like and basket-like shape as a whole. That is, the swivel unit 2 includes the support frame 3 shown in FIG.
, A turning drive frame 21, a dimension adjusting frame 22, and a connecting frame 23A.
23B are connected to each other by using a pin joint 2a or the like, so as to be annularly connected as shown in FIG.

As shown in FIGS. 8 and 9, the turning drive frame 21 is made of a frame material 2b made of aluminum or the like.
And a magnet wheel 2c that is disposed at, for example, four places of the frame member 2b and is rotatably and magnetically attached in the circumferential direction of the outer peripheral surface of the vent pipe B, and a turning drive source ( Turning motor) 2d, a rotating force transmitting means 2e composed of a chain and a sprocket for transmitting the rotating force of the rotating driving source 2d to the magnet wheel 2c, and a universal disposed in the middle of the rotating force transmitting means 2e. Joint
2f, a plurality of mounting brackets 2g disposed at the base of the frame member 2b, a turning guide roller 2h disposed on the mounting bracket 2g to guide the turning movement while holding the turning guide rail 1 from both sides, and a vent pipe. B has a turning position detecting roller 2i that is rotated in contact with the outer peripheral surface of the roller B, and a rotary encoder 2j that is connected to the turning position detecting roller 2i and rotated.

The dimension adjustment frame 22 is also made of aluminum or the like, and is lightened. A turnbuckle portion for adjusting the circumferential length of each frame connected to a part thereof to apply tension thereto, It has fasteners such as bolts and nuts for attaching to the frames 23A and 23B in an integrated state.

The connection frames 23A and 23B are also reduced in weight by using an aluminum material or the like. As shown in FIG. 6, the support frame 3, the turning drive frame 21, and the dimension adjustment frame 22 are fastened by fasteners or pin joints. Be linked. In addition, as shown in FIG. 6, the connecting frame 23A and the connecting frame 23B are set to have different circumferential dimensions.

As shown in FIG. 7, the support frame 3 is made up of a guide frame 3a whose weight is reduced by an aluminum material or the like and whose longitudinal direction is set along the axial direction of the vent pipe B.
A plurality of guide rollers 3b arranged on both sides of the guide frame 3a for movably supporting the moving frame 4, a reciprocating drive source (reciprocating motor) 3c mounted on the guide frame 3a, and a longitudinal direction of the guide frame 3a. A reciprocating driving force transmitting means 3d such as a chain or a sprocket for connecting the reciprocating drive source 3c and the moving frame 4 to reciprocate the moving frame 4 disposed between both ends, and a reciprocating device connected to the reciprocating driving source 3c. A rotary encoder 3e for detecting the amount of movement, a reinforcing member 3f for reinforcing the turning direction of the guide frame 3a, and a rotary member for rolling the outer peripheral surface of the vent pipe B disposed at a key point such as the tip of the guide frame 3a. A plurality of deflection preventing rollers 3g that move to assist the turning movement of the guide frame 3a and suppress the deflection of the guide frame 3a, a magnet wheel 2c mounted according to the turning frame 21 described above, and a turning drive source 2d. , Rotational force transmission means 2e, universal join And 2f, those having a mounting bracket 2g, and a turning guide rollers 2h.

The moving frame 4 is, as shown in FIGS. 4 and 7, a linear guide rail 4a supported movably in the axial direction of the vent pipe B over a plurality of guide rollers 3b of the supporting frame 3. And an operating piece 4b for contacting and operating the axial position limit switches 3h and 3i arranged at a distance from the support frame 3, and as shown in FIG. In the state.

As shown in FIG. 4, the working section 5 comprises a cleaning means 51 mounted on the moving frame 4, a cleaning means 51, and an inspection means 52.

As shown in FIGS. 4 and 5, the cleaning means 51 includes a brush rotation drive source (DC motor) 5a mounted on the moving frame 4 for generating a rotational force, and the brush rotation drive source 5a.
A brush rotating force transmitting system 5b such as a sprocket and a chain for transmitting the rotating force of the brush, a brush rotating shaft 5c connected to the brush rotating force transmitting system 5b, and the brush rotating shaft 5c rotatably supporting and rotating itself. Moving frame 4 movably and axially movable
Power transmission sleeve 5d supported on the oscillating power transmission sleeve 5d, a brush support arm 5f supported on the slide portion 5e, and the brush support arm
Rotary cleaning brush 5g rotatably attached to the tip of 5f
And a pulley and a rotary cleaning brush at the tip of the brush rotary shaft 5c
5g, a centering roller 5i attached to the tip of the brush support arm 5f and brought into contact with the concave portion of the bellows groove X, and a brush swing mounted on the moving frame 4. It has a driving source 5j, and a swinging power transmission belt 5k arranged in a wound state between the brush swinging driving source 5j and the swinging power transmission sleeve 5d.

As shown in FIG. 4, a swing position limit switch 5m for detecting the swing limit of the brush support arm 5f is disposed near the swing power transmission sleeve 5d.

As shown in FIG. 4, slide position sensors 5n and 5p for detecting the limit of reciprocation of the brush support arm 5f are arranged in the slide portion 5e.

Also, as shown in FIG.
In the vicinity of 5g, a cleaning liquid injection nozzle 6a connected to the cleaning liquid supply device 6 shown in FIG. 5, a suction tube swing source 7a mounted on the moving frame 4, and a vacuum recovery device 7 shown in FIG. A suction pipe 7b and a suction nozzle 7c are disposed.

FIGS. 1 to 3 show the inspection means 52.
The inspection means is attached to the moving frame 4 and connected to a TV monitor 9a or the like in the monitoring means 9 shown in FIG.
A prism part (refractive mirror) 9e mounted near the tip of the TV camera 9d so as to be capable of swinging with respect to the moving frame 4, a camera swinging motor 9f arranged near the mounting part and mounted on the moving frame 4; Pivot motor 9f and prism
9e, and a bism swinging power transmission system (swing mechanism) 9g for setting the direction of the prism section by connecting to the 9b.

Then, as shown in FIG. 2, the prism section 9e moves the optical axis 9i, which is the center of the photographing range 9h of the TV camera 9d, to 9
It is bent by 0 degrees, and the imaging range 9h is extended to the bellows groove X or its vicinity to enable imaging.

As shown in FIG. 1 and FIG. 3, the prism portion swinging power transmission system 9g is, for example, a link mechanism, and performs a 360-degree rotation by rotating the camera swinging motor 9f in one direction. Alternatively, a setting is made as to whether or not a swing (swinging) angle of, for example, 60 degrees on both sides is obtained around the direction facing the bellows groove X by forward and reverse rotation.

In the vicinity of the prism portion 9e, an appropriate lighting device or the like having an illumination range larger than the photographing range 9h of the camera 9d is installed.

The parts of the inspection device are shown in FIGS.
The monitoring means 9 shown in FIG. 5 is added to the inspection means 52 shown in FIG.

The rotating cleaning brush 5g is made of, for example, stainless steel fine bristles having such a softness that the bellows H is not damaged.

The bellows cleaning device having such a configuration and the inspection device for the narrow portion mounted on the bellows cleaning device, as shown in FIG. It is assembled in the annular gap F between the vent pipe B and the vent nozzle G, which is a desired location.

When the turning guide rail 1 is mounted on the outer peripheral surface of the vent pipe B shown in FIG. 5, a plurality of rail pieces 1a are connected to each other by a pin joint 1b to form an entire ring, and the turnbuckle 1c is operated. Thus, a tension is generated, and the turning guide rail 1 is attached to the outer circumference of the vent pipe B in a fastened state.

After the swivel guide rail 1 is attached, a part of the swivel part 2 divided into a plurality of parts, in particular, a part of the support frame 3 having the largest weight is inserted into the upper part of the annular gap F, and the vent pipe is inserted. B is placed on the upper surface to support the load.

A movable frame 4 and a working unit 5 are previously mounted on the support frame 3 as required. In this case, the magnet frame 2c is magnetically attached to the surface of the vent pipe B, so that the support frame 3 is supported, and the fall of the position of the support frame 3 when the position of the support frame 3 is shifted from the vertical line of the center of gravity is achieved.

The position of the support frame 3 is set by engaging a plurality of turning guide rollers 2h with the turning guide rail 1. By this position setting, the support frame 3, which is a part of the swivel unit 2, is in a state where it can be swiveled.

As shown in FIG. 6, a connecting frame 23A, a dimension adjusting frame 22, a connecting frame 23A, and a turning drive frame 21 are provided adjacent to the support frame 3 in a state of being engaged with the turning guide rail 1 in the circumferential direction. , The connecting frame 23B and the like are added to each other using the pin joint portion 2a, a fastener, or the like, and the entire frame is formed in a cage shape by sequentially connecting the frames.

At the time of these connections, the turning position is adjusted so that the center of gravity of the connected portion is directly above the vent pipe B, and when the next frame is added, the center of gravity of the frame of the connected portion becomes the center of the vent pipe B. Repeatedly adjust the turning position to be on top,
The entire frames are connected in a cage shape.

After connecting the entire frame in a cage shape, the dimension adjustment frame
The circumferential tension is generated by operating the turnbuckle section 22 and the like, and in addition to the magnetic attachment of the magnet wheel 2c, the connecting frame 23
The rotation roller 2r and the deflection preventing roller 3g of the A.23B are tightly brought into contact with the outer peripheral surface of the vent pipe B, so that they can be rolled.

By these assembling, the swivel part 2
All the turning guide rollers 2h are engaged with the turning guide rail 1 so that the turning position of the turning portion 2 can be freely changed.

On the other hand, when the movable frame 4 is attached to the support frame 3, the linear guide rails 4a are engaged with and guided by the plurality of guide rollers 3b, and can be moved in the longitudinal direction of the support frame 3. Becomes

The turning part 2 and the moving frame 4 are shown in FIG.
As shown in (1), when the thickness of the annular gap F is, for example, 50 mm and the thickness of the annular gap F is, for example, 50 mm, the thickness is set to, for example, about 30 mm so that the annular gap F can freely move therethrough. In this case, the working unit 5 and the like are also set to be within the thickness range.

The cleaning operation of the bellows groove X of the bellows H will be described below. As shown in FIG.
When the support frame 3 is inserted into the annular gap F between the support frame 3 and the vent nozzle G, the turning position of the working unit 5 of the support frame 3 is set by the operation of each of the turning drive sources 2d of the turning unit 2, and By operating the reciprocating drive source 3c, the working unit 5 is extended to a desired working position, and the axial position of the vent pipe B is set.

When moving in the turning direction, the turning section 2 and the support frame 3 have a plurality of turning drive sources 2d, and the rotation speed at the time of simultaneous operation is different. By doing so, the torque can be matched to achieve a smooth rotation state, and the turning movement of the turning portion 2 can be performed without any trouble.

After the working unit 5 has been sent to the vicinity of the desired position, the inspection device is operated. That is, the monitoring unit 9 shown in FIG. 5 and the inspection unit 52 shown in FIG.
And the video is monitored by the TV monitor 9a of the monitoring means 9.

By the operation of the camera swinging motor 9f,
The orientation of the prism portion 9e is adjusted, and the photographing range 9h is adjusted to the bellows groove X as shown in FIG.
Visualize the accumulation status of (dust, etc.) and set the cleaning area.

In this case, the photographing range 9h by the TV camera 9f can be widened by changing the direction of the prism portion 9e while the position of the moving frame 4 is temporarily fixed.

In the case where foreign matter is deposited in the bellows groove X, for example, a cleaning range is set and the cleaning operation of the bellows groove X is started.

By operating the cleaning liquid supply device 6, the cleaning liquid is sent to the working section 5 and the cleaning liquid jet nozzle 6a
, The cleaning liquid is sprayed toward the bellows groove X in a spray form. By this injection, a pretreatment such as infiltration of the cleaning liquid into foreign matter such as dust and change to a softened state or the like is performed.

At the preprocessed position, the brush support arm 5f is turned by operating the brush swing drive source 5j, and the rotary cleaning brush 5g is inserted into the bellows groove X.

In this case, the centering roller 5i is provided at the tip of the brush support arm 5f, and the brush support arm 5f is supported by the slide portion 5e so as to be linearly movable. When the centering roller 5i comes out of contact with the center of the bellows groove X and comes into contact with the center, the centering roller 5i is returned to the center where the contact pressure is reduced, and the cleaning position of the rotary cleaning brush 5g is automatically set.

In the case where the cleaning position is set along the bellows groove X, when the displacement of the slide portion 5e is large and the slide position sensors 5n and 5p are activated, the moving frame 4 is moved in the axial direction of the vent pipe B. Move to correct the cleaning position.

Similarly, the change of the cleaning position is performed by moving the moving frame 4.

In the set cleaning position, the brush rotation drive source 5a is operated to transfer the torque to the torque transmitting system.
5b, the brush rotating shaft 5c, and the rotating belt 5j are transmitted to the rotating brush 5g, and the rotating brush 5g is rotated to clean the bellows groove X.

Then, the vacuum recovery device 7 shown in FIG. 5 is operated, and at the same time, the suction tube swinging source 7a is operated so that the tip of the suction nozzle 7c shown in FIG. Dust and the like separated from the surface of the bellows groove X by 5 g are sucked by the suction nozzle 7c and removed from the inside of the bellows groove X.

After the removal of the foreign matter, the inspection means 52 is again operated so that the prism portion 9e of the TV camera 9d is directed toward the cleaned bellows groove X, and the condition of the cleaned bellows groove X is visualized and confirmed. Do.

The bellows cleaning device is usually operated by remote control in combination with the use of the monitoring means 9 shown in FIG.
, So that a desired portion can be freely cleaned.

The following embodiment can be adopted in place of the above-described embodiment.

The TV camera is a CCD camera or the like. Use a normal mirror instead of a prism for the prism part. To expand the illumination range by using the light source as indirect lighting.

[0062]

According to the inspection device for a narrow portion according to the present invention, a moving frame inserted into the narrow portion is provided with a camera, a refracting mirror, and a swinging mechanism, so that an optical axis to be photographed by the camera is aligned. By turning the camera, the camera position is fixed to the moving frame and the refraction mirror is swung only,
In the narrow portion, there is an effect that the imaging range near the camera can be expanded.

[Brief description of the drawings]

FIG. 1 is a front view showing an embodiment of a main part of an inspection device for a narrow portion according to the present invention.

FIG. 2 is a bottom view showing one embodiment of a main part of the narrowing portion inspection device according to the present invention.

FIG. 3 is a left side view showing an embodiment of a main part of the inspection device for a narrow portion according to the present invention.

FIG. 4 is a front view showing an example of a moving frame and a working unit in which an inspection device for a narrow portion is incorporated.

FIG. 5 is a partially cutaway perspective view showing a state in which the bellows cleaning device has been incorporated into a portion to be cleaned.

FIG. 6 is a side view of a turning portion of the bellows cleaning device shown in FIG.

FIG. 7 is a front view of a support frame portion in the turning section shown in FIG. 6;

FIG. 8 is a front view of a turning drive frame portion in the turning section shown in FIG. 6;

FIG. 9 is a bottom view of a turning drive frame portion in the turning section shown in FIG. 6;

10 is a side view showing an example of a turning guide rail portion in the bellows cleaning device shown in FIG.

11 is a bottom view showing an example of a turning guide rail portion in the bellows cleaning device shown in FIG. 5.

FIG. 12 is a partially sectional front view showing an example of a mounting structure of a bellows arranged in a suppression chamber of a boiling water reactor.

FIG. 13 is an enlarged view of a portion indicated by a chain line N in FIG.

[Explanation of symbols]

 B Vent pipe F Annular gap G Vent nozzle H Bellows X Bellows groove 1 Swing guide rail 2 Swivel unit 3 Support frame 4 Moving frame 5 Working unit 6 Cleaning liquid supply device 7 Vacuum recovery device 8 Control means 9 Monitoring means 51 Cleaning means 52 Inspection means 5a Brush rotation drive source (DC motor) 5b Rotary force transmission system 5c Brush rotation shaft 5d Swing power transmission sleeve 5e Slide section 5f Brush support arm 5g Rotary cleaning brush 5h Rotating belt 5i Centering roller 6a Cleaning liquid spray nozzle 7c Suction nozzle 9a TV monitor 9b TV recorder 9c Recording device 9d TV camera (camera) 9e Prism unit (refractive mirror) 9f Camera swing motor 9g Prism swing power transmission system (swing mechanism) 9h Shooting range 9i Optical axis

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kiyosuke Hozumi 1-9-4 Fukuura, Kanazawa-ku, Yokohama-shi, Kanagawa Prefecture Ishikawajima Inspection & Measurement Co., Ltd. Yokohama No.2 Office (72) Inventor Shuji Miyahara Isogo-ku, Yokohama-shi, Kanagawa No. 1, Shin-Nakahara-cho, Ishikawajima-Harima Heavy Industries, Ltd., Yokohama No. 1 Factory (72) Inventor Toshio Uehara, No. 1, Shin-Nakahara-cho, Isogo-ku, Yokohama, Kanagawa, Japan 56-51064 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) G01N 21/88 G21C 17/003 H04N 5/225

Claims (1)

(57) [Claims] A camera for providing a moving frame to be inserted into a narrow portion having a groove formed therein , wherein the moving frame visualizes a situation around the groove to be inspected, and the camera. Can be swiveled near the tip of the camera
A refracting mirror that bends the optical axis of the lens at a certain angle , and aligning the optical axis for imaging with the camera by changing the direction of the refracting mirror with the groove.
An inspection device for a narrowed portion, comprising: a swing mechanism for turning and swinging.