JP4138940B2 - Body foreign body collection device and collection method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a collection device and a collection method for minute foreign matter existing in a body such as a gas insulated switchgear (GIS).
[0002]
[Prior art]
In general, the collection of minute foreign matter in the body such as GIS has been performed by a person entering through a hand hole provided in the body and using a vacuum cleaner or a hand wipe.
[0003]
[Problems to be solved by the invention]
In GIS, SF6 gas is built in, and sparks are generated when gas insulation is opened and closed, and minute metal pieces are scattered. It is necessary for the safe operation of the machine to collect such metal pieces, chips, coating strips, dust, dust, and the like. If this collection was done by a person in the torso, it would be difficult to achieve perfection, and in some cases, dust and trash could be dropped. The size of the foreign material is assumed to be 0.1 mm to 3.0 mm.
[0004]
An object of the present invention is to provide an in-body minute foreign material collection apparatus and a collection method that can collect minute foreign matters in the body by remote control.
[0005]
[Means for Solving the Problems]
Foreign matter recovery at the lower part of the fuselage such as GIS can be performed by inserting a cleaner nozzle directly in the vicinity of the hand hole, but a special access method is required for narrow and long parts. The present invention enables this by combining a flexible camera system and a suction mechanism. Foreign matter is confirmed by a camera monitor, and the foreign matter is sucked and collected by remote control. According to this method, even in a narrow area of 10.0 mm square area, all directions are supported (three-dimensional operation function). The foreign matter can be collected after checking the inside, and the occurrence of foreign matter on the sliding portion of the apparatus can be prevented.
[0006]
Specifically, the present invention provides the following apparatuses and methods.
[0007]
The present invention relates to a torso minute foreign matter collecting apparatus for collecting minute foreign objects in the fuselage by remote operation from the outside of the fuselage. A camera system for photographing the inside of the fuselage, and outputting a photographing signal to an imaging monitor via a camera cable; a suction nozzle provided in the manipulator driving device for sucking minute foreign matter inside the fuselage; And a body foreign matter collecting apparatus including an air hose parallel to the camera cable and a suction nozzle device including a suction drive source for generating a suction air flow at the suction nozzle.
[0008]
The camera system can be installed so that a CCD camera for in-body monitoring and a CCD camera for minute foreign matter inspection can be interchanged.
[0009]
The manipulator driving device includes an extendable guide tube, and the guide tube can guide the camera and the suction nozzle.
[0010]
The camera system may be an image scope camera system or a fiber scope camera system.
[0011]
The present invention provides a method for collecting minute foreign objects in a fuselage by remotely operating the foreign matter inside the fuselage by remote control from the outside of the fuselage. The inside of the fuselage is sequentially photographed by a camera cable as the camera cable extends, and the photographing signal is output to an imaging monitor. In addition, a method for collecting the minute foreign matter in the body is provided in which the suction nozzle is made to approach the fine foreign matter by operating the air hose and swinging operation based on the image output to the imaging monitor, and sucked and collected outside the fuselage. To do.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[0013]
FIG. 1 and FIG. 2 show the overall outline of a minute foreign matter collecting apparatus with a CCD (Change Coupled Device) camera. In the figure, the apparatus includes a manipulator drive unit 1, a manipulator controller 2, a camera system 3, a monitor system 4 for overall monitoring, a monitor system 5 for collecting foreign matter, a suction nozzle device 6, and a filter for seeing what the foreign matter is. 7 is composed.
[0014]
The manipulator driving unit 1 includes four guide tubes 11, 12, 13, and 14 having different diameters, a holding body 15 that holds the entire manipulator driving unit 1, and joints 16, 17, and 18 that connect the guide tubes. The A small CCD camera 19 for overall monitoring is provided at the tip of the guide tube 14 and is connected to the monitoring system 4 for overall monitoring. This is used to monitor the torso and has a navigator function. As shown in the figure, any of the guide tubes can be expanded and contracted without contacting the body.
[0015]
FIG. 3 shows the CCD camera unit 21 for inspection and the suction nozzle 22. As shown in FIG. 4, the scrutinizing CCD camera unit 21 includes a tube 24 disposed in a camera cable 23, an optical fiber 25 therein, forceps 26, and a light source 27. The image signal is integrated with the optical fiber 25 by the suction nozzle 22 and the CCD camera unit 21 for inspection by a stopper 29, and the camera cable 31 and the air hose 32 are juxtaposed. Therefore, it is transmitted to the foreign matter collection monitor system 5.
[0016]
As the camera cable, an image scope or a fiber scope can be used. Therefore, the camera system can be an image scope camera system or a fiber scope camera system.
[0017]
While the foreign substance image is monitored by the foreign substance collection monitor system 5 and the guide tube is expanded and contracted, the suction nozzle 22 is swung by the swing mechanism operation 28 provided in the suction nozzle device 6 to make the suction port of the suction nozzle 22 minute. Approach the foreign object. The suction force of the minute foreign matter from the suction nozzle 22 is generated by the vacuum force from the vacuum device 33 or by suction by compressed air insertion and blowing by the air compressor 34.
[0018]
FIG. 5 shows a suction method using a nozzle. FIG. 5 (a) shows a vacuum suction method for general wide area use. FIG. 5 (b) shows a suction method by compressed air insertion for dealing with a narrow portion. A suction force is generated in the air hose 32 by the compressed air 35 from the air conditioner presser 34, and the sucked minute foreign matter is collected in a fine foreign matter device 36 with a filter. A suction method using a vacuum and a suction method using compressed air blowing by an air compressor can be appropriately selected and used.
[0019]
FIG. 6 shows another embodiment. In this embodiment, the guide tube 11 is different from the previous embodiment in that the guide tube fixing jig 42 is fixed to the flange 41 of the handhole. The sucked minute foreign matter is collected in a foreign matter tank (not shown) through the suction pipe 43.
[0020]
An image pickup signal from the CCD camera is monitored by a monitor television 54 via an industrial video frame 51, a central control unit CCU (Central Control Unit) 52, and a video effector 53, and is inspected and monitored by an inspection monitor 55. , Video 56 is recorded. In this way, digital recording is possible. In addition, binarization, shading, enlargement, reduction, dimension measurement, area calculation, and the like are performed as image processing functions.
[0021]
Details of the nozzle 57 with a CCD camera are shown in FIG. A suction nozzle 62 is formed at the tip of the suction pipe 61. A CCD camera 63 for confirming the front is arranged close to the upper side, and a CCD camera 64 for inspection is attached to the lower side.
[0022]
As described above, the guide tube fixing jig 42 is used to fix the guide tubes 11, 12, 13, and 14 to the flange portion 41 of the handhole. The guide tube fixing jig 42 includes a portion for holding the guide tube 11 and a portion for fixing the guide tube 11 to the hand hole. The former prepares several types according to the internal conditions of the GIS, and places the guide tube at an optimal position for inspection. Select one that can be set and use it attached to the latter.
[0023]
The guide tube is used by inserting a guide tube or an endoscope alone into the guide tube, and is used as a guide when accessing a foreign object. Prepare several types of pipes, ranging from a single pipe used for inspecting nearby foreign objects to ones with a telescopic function for inspecting distant objects, and use pipes suitable for inspection.
[0024]
【The invention's effect】
According to the present invention, since it is portable, can be remotely operated, and is easy to operate, foreign matter can be directly collected by manual operation and judged by human eyes, so that minute foreign matter can be reliably collected. . In particular, when there is a narrow portion inside the cylinder such as GIS, it is particularly effective because the position of the suction nozzle can be set while examining the presence of foreign matter with a CCD camera and viewing the image.
[Brief description of the drawings]
FIG. 1 is an overall schematic diagram of an embodiment of the present invention.
FIG. 2 is a side view of the partial configuration of FIG.
FIG. 3 is an enlarged view of a part of the configuration of FIG.
4 is a partial cross-sectional view of FIG. 3;
FIG. 5 is an explanatory diagram of a suction method.
FIG. 6 is an overall schematic diagram of another embodiment.
7 is a detailed view of a part of the configuration shown in FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Manipulator drive part, 2 ... Manipulator controller, 3 ... Camera system, 4 ... Monitor system for whole monitoring, 5 ... Monitor system for foreign material collection, 6 ... Suction nozzle device, 7 ... Filter, 11, 12, 13, 14 DESCRIPTION OF SYMBOLS ... Guide tube, 19 ... Small CCD camera for whole monitoring, 21 ... CCD camera part for inspection, 22 ... Suction nozzle, 23 ... Camera cable, 25 ... Optical fiber, 27 ... Light source, 33 ... Vacuum apparatus, 34 ... Air compressor, DESCRIPTION OF SYMBOLS 41 ... Flange, 42 ... Guide tube fixing jig, 43 ... Suction pipe, 61 ... Suction pipe, 62 ... Suction nozzle, 63 ... CCD camera for forward confirmation, 64 ... CCD camera for inspection

Claims (5)

In the in- body minute foreign matter collecting device that incorporates the device and collects the minute foreign matter inside the fuselage with the narrow portion by remote control from the outside of the fuselage,
A manipulator driving device having a telescopic guide tube for guiding the camera and the suction nozzle ;
A manipulator controller for controlling the manipulator driving device;
Provided in the manipulator driving device, provided with the camera for photographing the fuselage interior, the camera is arranged in the extendable guide tubes, camera that outputs a photographed signal of the camera to the imaging monitor via the camera cable System,
A suction nozzle that is provided in the manipulator driving device and sucks minute foreign matter inside the body, the suction nozzle is disposed in the extendable guide tube, and an air hose parallel to the camera cable and suction air to the suction nozzle A suction nozzle device comprising a suction drive source for generating a flow ,
The guide tube is configured such that one end is attached to a flange of a hand hole provided in the body by a guide tube fixing jig, and is configured to expand and contract in the body, and a plurality of guide tubes having different lengths. Is prepared, and the guide tube selected from the above is attached as described above . In claim 1,
The in-body micro foreign matter collecting apparatus is characterized in that the camera system is installed so that a CCD camera for in-body monitoring and a CCD camera for fine foreign body inspection can be exchanged. In claim 1,
The in-body minute foreign material recovery apparatus , wherein the camera system is an image scope camera system or a fiber scope camera system . A manipulator driving device having a telescopic guide tube for guiding the camera and the suction nozzle;
A manipulator controller for controlling the manipulator driving device;
Provided in the manipulator driving device, including the camera that incorporates the device and photographs the inside of the fuselage having a narrow portion, the camera being disposed in the extendable guide tube, and transmitting a camera signal to the camera cable A camera system that outputs to an imaging monitor via
The suction nozzle that is provided in the manipulator driving device and sucks minute foreign matter inside the body, and the suction nozzle is disposed in the extendable guide tube, and is sucked into an air hose parallel to the camera cable and the suction nozzle. An in-body minute foreign object for collecting minute foreign objects in the body by remote operation from the outside of the body by means of a in-body minute foreign object collecting device including a suction nozzle device including a suction drive source for generating an air flow In the collection method,
Prepare multiple guide tubes of different lengths, and attach one end of the guide tube selected from the guide tubes to the flange of the fuselage hand hole with the guide tube fixing jig, and expand and contract the trunk body. A method for collecting a minute foreign matter in a body, wherein the minute foreign matter is collected by being sucked by a suction nozzle while being imaged by the camera . 5. The camera system according to claim 4, wherein a camera system using a torso monitoring CCD camera and a minute foreign object inspection CCD camera is used to collect minute foreign objects in the body while monitoring the body and examining the minute foreign objects. A method for collecting minute foreign matter in the torso.

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