JPS601522B2 - automatic work equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement in an automatic deep damage device for automatically inspecting automatic devices such as heat exchanger tubes of steam generators.

Steam generators used in nuclear power plants need to be inspected regularly, and in the past, this periodic inspection was carried out by a worker inside the steam generator.
There is radioactivity inside the steam generator, and it is extremely dangerous for workers to go inside and inspect it.

The present invention relates to an improvement of an automatic work device that automatically performs the above-mentioned work, etc., and in which first and second carriers are attached to the first and second frames so as to be movable in one direction, and The tap shaft is assembled so that it can be moved in a direction perpendicular to the upward direction, and the collet is raised into one of the holes arranged in an aligned state to be inserted, and the same collet is lowered to the inner surface of the hole and brought into close contact with the tap shaft. In an automatic working device in which a shaft is provided on each of the carriers, a base end of an arm is rotatably attached to each frame, and a work equipment is provided on a tip of the arm, the center of rotation of the arm is set to the center of rotation of the arm. It is characterized by aligning the center of the hole and making the distance from the center of rotation to the center of the work equipment an integral multiple of the pitch of the hole, and its purpose is to expand the range that can be covered. can.

Another object of the present invention is to provide an improved automatic working device that can quickly carry out predetermined work. Next, the automatic working device of the present invention is
To explain with an embodiment shown in FIGS. 7 to 7, in FIG. 1, 1 is a water chamber of a steam generator, 2 is a partition wall,
3 is the tube plate of the steam generator, 4 in Figures 2 and 5 is a large number of heat transfer tubes arranged at equal intervals in the x and Y directions on the same tube plate 3, and 5 in Figures 2 to 5 is the automatic depth The automatic deep scratch device 5 automatically walks directly under the tube sheet 3 in the X and Y directions to inspect each heat transfer tube 4.

Next, the above-mentioned automatic deep wound device 5 will be explained in detail with reference to FIGS. A total of four guide shafts are attached at both ends to both sides 6a, 6a and both sides of the outer plate 8, and a feed screw shaft is provided parallel to the guide shafts. Reference numeral 10 designates a U-shaped frame body in which both side parts 10a, 10a are attached to each guide shaft 9, and the frame body 6 side has a collet 34 as will be described later.
A drive motor (not shown) is provided in a power transmission mechanism (not shown) between the drive motor and the feed screw shaft when the drive motor (not shown) is clamped in the negative direction. When an electromagnetic clutch (not shown) for the frame 10 is engaged, the frame 10 moves between the frame 6 and the outer plate 8 along the guide shaft 9 in the (Y, 1) direction, and When the electromagnetic clutch is engaged to drive the drive motor in the positive direction, the frame 10 moves between the frame 6 and the outer panel 8 along the guide shaft 9 (
While the drive motor (not shown) is driven in the negative direction, when the frame body 10 side is clamped via the collet 34, as will be described later, When an electromagnetic clutch (not shown) for the frame 6 is installed in a power transmission mechanism (not shown) between the drive motor and the feed screw shaft, the frame 6 and the guide are connected. While the shaft 9 and the outer plate 8 drive the drive motor in the direction (Y, 1), when the electromagnetic clutch is engaged, the frame 6, the guide shaft 9, and the outer plate 8 They are designed to move in the (Y, 10) direction. Note that the frame body 6 has back plates 6b and 1ob that connect the side plates 6a, 6a, 10a, and 10a, and are opposed to each other. Reference numeral 11 indicates two upper and lower guide balls whose ends are attached to the side plates 6a, 6a, and 12 indicates two upper and lower guide shafts whose both ends are attached to the side plates 10a, 10a. It has a feed screw shaft.

13 is a carrier attached to the guide shaft 11, and 14 is another carrier attached to the guide shaft 12, which drives the drive motor in the negative direction and connects the station motor with the guide shaft 11 (feed screw). When an electromagnetic clutch (not shown) for the carrier 13 is installed in a power transmission mechanism (not shown) between the carrier 13 and the shaft), the carrier 13 moves between the stoppers 15 and 16 (X, 1), and when the above-mentioned electromagnetic clutch is engaged while the drive motor is driven in the positive direction, the carrier 13 moves between the stoppers 15 and 16 in the (X, 10) direction, respectively. It has become.

Further, while driving the drive motor in the negative direction, an electromagnetic force is provided for the carrier 14 provided in a power transmission mechanism (not shown) between the drive motor and the guide shaft 12 (feed screw ball). When the clutch (not shown) is engaged, the carrier 14 drives the drive motor in the (X, 1) direction between the stoppers 17 and 18 in the forward direction, while when the electromagnetic clutch is engaged, the carrier 14 move in the (X, 10) direction between the stoppers 17 and 18, respectively. In the case of the figure, the walking distance of the frame 10 along the Y direction and the walking distance of the carrier 14 along the X direction are
It is equal to the distance between the centers of adjacent heat exchanger tubes 4. On the other hand, the walking distance of the carrier 13 along the X direction is tripled. The reason why the walking distance of the carrier 13 is tripled in this way is that the walking speed in the X direction is increased by walking across two consecutive holes (two adjacent heat transfer tubes 4) that are already blocked. It's for a reason. The frames 6 and 10 and the carriers 13 and 14 have been described above. Next, the lifting and lowering of the tap shafts 19 and 20 provided on the carrier 13 and the tap shafts 21 and 22 provided on the carrier 14, as well as clamping and unclamping. The mechanism will be explained with reference to Fig. 5 (a longitudinal side view taken along the line V-V in Fig. 3) and Fig. 6 (a side view taken longitudinally along the line W- in Fig. 5). Then, the tap shaft 1
9 is slidably inserted into a vertical hole 23 provided vertically through the carrier 13. Further, 24 in FIG. 6 is a stopper for the tap shaft 19, and 25 in FIG. 5 is an inner hole 26 that is provided vertically through the tap shaft 19 and whose middle part has a smaller diameter than the upper and lower parts. is a clamp shaft slidably inserted into the middle part of the inner hole 25, and 27 is the clamp shaft 26.
A keyway 28 is accommodated in the lower part of the bore 25 and allows the clamp shaft 26 to move only in the axial direction.
29 is another skew gear meshed with the skew gear 28, 30 is a bearing that rotatably supports the skew gear 28 in the tap shaft 19, 31 is the clamp shaft 26 A housing 32 is a compression spring housed in the upper part of the inner hole 25, and a compression spring 33 supports the housing 31 so as to be movable only in the direction of the center line. A nut on the tap shaft 19 side that regulates the upper limit position, 26a is a taper portion provided at the upper end of the clamp shaft 26, and 34 is a collet disposed around the taper portion 26a and mounted on the housing 34. ,3
5 is a worm gear, 36 is a worm that meshes with the worm gear 35, 37 is a worm gear that meshes with the worm gear 36, 38 in FIG. 6 is a pinion provided on the worm gear 37, and 39 is meshed with the pinion 38. tap axis 1
9 side rack, for driving the drive motor in the negative direction, and for a tap shaft 19 provided in a power transmission mechanism (not shown) between the motor and the extension arm gear 35. When the electromagnetic clutch (not shown) is engaged, the rotation of the drive motor is controlled by the worm gear 35 worm 36 worm gear 37
This is transmitted to the tap shaft 19 via the pinion 38 and the rack 39, and the lap shaft 19 begins to rise. Additionally, the tap shaft 19 rises, and the collet 34 connects to the heat exchanger tube 4.
When the stopper 19a provided at the lower end of the carrier 13 comes into contact with the bottom surface 13a of the carrier 13, a mitt switch (not shown) provided at that position is activated. On the other hand, even if the stopper 19a hits the bottom surface 13a as described above and the tap shaft 19 cannot rise relative to the carrier 13, the drive motor does not stop rotating and transmits rotation to the power transmission mechanism. Therefore, a skew gear (not shown) provided in the power transmission mechanism resists the spring and escapes, and the movement is transmitted to another limit switch provided near the skew gear, thereby activating the same limit switch.
When the two IJ mitt switches operate in this manner, the signals obtained at that time are transmitted to the electromagnetic clutch, which is disengaged and the lifting of the tap shaft 19 is completed. Further, while the drive motor is rotated in the negative direction as described above, an electromagnetic clutch (not shown) for the clamp shaft 26 is provided in a power transmission mechanism (not shown) between the drive motor and the skew gear 29. 2), the rotation of the drive motor is transmitted to the clamp shaft 26 via the skew gears 29 and 28, the clamp shaft 26 begins to descend, and the collet 34 is pushed and expanded by the tapered portion 26a of the clamp shaft 26. The clamp shaft 26 is in close contact with the inner surface of the heat exchanger tube 4, making it impossible to lower the clamp shaft 26. However, since the rotation of the drive motor continues, the subsequent rotation of the skew gear 29 causes the skew gear 28 to rise along the clamp shaft 26 (screw shaft), and the tap shaft 19 and carrier 1
The entire device 5 including 3 rises against the compression spring 32,
The upper end of the tap shaft I9 contacts the tube plate 3. After that, it becomes possible for the tap shaft 19 carrier 13 to rise, but since the drive motor continues to rotate, an abnormally large force is applied to the skew gear 29. In other words, fluctuations in rotational torque occur, but this is detected, and the signal obtained at that time is transmitted to the electromagnetic clutch of the clamp shaft 26, which is disengaged, the skew gear 29 is stopped, and the clamping is completed. There is. Further, while driving the drive motor in the forward direction, if the electromagnetic clutch of the tap shaft 19 and the electromagnetic clutch of the clamp shaft 26 are engaged in the reverse order, the clamp shaft 26 will rise and the collet 34 will move into the heat exchanger tube 4. The tap shaft 19 is released from the inner surface of the collet 3, and the tap shaft 19 descends again.
4 comes out from inside the heat exchanger tube 4, and unclamping is performed. The lifting and lowering of the tap shaft 19 and the clamp/unclamp mechanism have been explained above.
Another tap shaft 20 provided at No. 3 has a similar mechanism, and is adapted to move up and down and clamp/unclamp in synchronization with the tap shaft 19. Also carrier 14
The same applies to the two tap shafts 21 and 22 provided in the.
Further, in FIGS. 2 and 3, 40 is an arm, 41 is an arm support part that rotatably supports the base end 40a of the arm 40 on the outer surface of both sides 6a, 6a of the frame 6, and 40b is the arm 40.
Inspection equipment 42, 43 attached to the tip of is a stopper,
The arm 40 extends horizontally around the base end 40a,
It can be turned 90o or 1800o as required. Next, the operation of the moving flaw detection device 5 will be explained.

(1) When the device 5 is moved one pitch in the (X, 1) direction, the clamp shafts 26 of the tap shafts 21 and 22 are raised, and each collet 34 is separated from the inner surface of the adjacent heat exchanger tube 4. Also, the tap shafts 21 and 22 are lowered, the respective collets 34 are taken out from the respective heat exchanger tubes 4, and the tap shafts 21 and 22 are unclamped. Then carrier 1
4 from the position shown in FIGS. 3 and 4 in the (X, 1) direction until it touches the stripper 17. At this time, the tap shaft 21
, 22 move one pitch relative to each of the heat exchanger tubes 4, and face the position directly below the adjacent heat exchanger tubes 4, 4. Next, the tap shafts 21 and 22 are raised to insert each collet 34 into each of the heat exchanger tubes 4, and the clamp shafts 26 of the tap shafts 21 and 22 are lowered to insert each collet 34 into each of the heat exchanger tubes 4. The tap shafts 21 and 22 are clamped in close contact with the inner surfaces of the tap shafts 21 and 22. Next, the clamp shafts 26 of the tap shafts 19 and 20 are raised to separate the respective collets 34 from the inner surfaces of the adjacent heat exchanger tubes 4, and the tap shafts 19 and 20 are lowered to separate the respective collets 34 from the inner surfaces of the adjacent heat exchanger tubes 4.
4 from each of the heat transfer tubes 4, and the tap shafts 19 and 20 are unclamped. Next, while driving the drive motor in the forward direction, the electromagnetic clutch of the carrier 14 is engaged.
In that case, the tap shafts 21 and 22 are clamped, the carrier 14 does not move, the frame 6, etc. moves in the (x, -) direction, moves one pitch, and the stopper 18 moves the carrier 14.
It will stop when it comes into contact with. At this time, the tap shafts 19, 2
The collet 34 of No. 0 also moves one pitch in the (x, 1) direction and faces the position directly below the adjacent heat exchanger tube 4. Next, the tap shafts 19 and 20 are raised, and each collet 3
4 into the heat exchanger tube 4, the clamp shafts 26 of the tap shafts 19, 20 are lowered, each collet 34 is brought into close contact with the inner surface of each heat exchanger tube 4, and the tap shafts 19, 20 are
Perform the clamp. Thus, the device 5 returns to the state shown in FIG. 3 and completes the one-pitch walking operation in the (X, 1) direction. (
0) When the device 5 is made to walk one pitch in the (X, 10) direction, the tap shafts 19 and 20 are unclamped, and then the drive motor is driven in the negative direction, while the electromagnetic clutch of the carrier 14 is engaged. . In that case, the tap shaft 21,
22 is clamped, and when the carrier 14 moves, the frame 6, etc. moves in the (x, 10) direction, moves by one pitch, and stops when the stopper 17 comes into contact with the carrier 14. . At this time, colette 34 of tap Fuji 19, 20 is also (
It moves one pitch in the X, 10) direction and faces the position directly below the adjacent heat exchanger tube 4. Next, the tap shafts 19 and 20 are clamped and the tap shafts 21 and 22 are unclamped in sequence, and the carrier 14 is further moved in the (X, 10) direction until it comes into contact with the stopper 18, and the tap shafts 21 and 22 are clamped. I do. Thus, the device 5 returns to the state shown in FIG. 3 and completes the one-pitch walking operation in the (X, 10) direction. (m
) To make the device 5 walk three pitches in the (X, 1) direction, follow the same procedure as described in (1), but start by unclamping the tap shafts 19 and 20, and move the device 5 in the (X, 1) direction.
, 1) by three pitches in the direction. (W) When making the device 5 walk 3 pitches in the (X, 10) direction, (
0), except that the tap shaft 21,
It is sufficient to start from the unclamping step 22 and move the device 5 three pitches in the (X, 10) direction. (V) The above device 5 (
To move the device 5 one pitch in the direction (Y, 1), follow the same procedure as described in (1) or (row), but start by unclamping the tap shafts 19 and 20, and
It is sufficient to move it one pitch in the direction 1). (W) When the device 5 is made to walk one pitch in the (Y, 10) direction, (1
) or (b), except that, starting from unclamping the tap shafts 21 and 22, the device 5 may be moved one pitch in the (Y, 10) direction. As explained above, the tap shafts 19, 20, 21, 22 are alternately clamped from the clamp shaft 261, and the carriers 13, 1
4 in the X direction and the frames 6 and 10 in the Y direction, (
Walk in the x, 1), (X, 10), (Y, 1), and (Y, 10) directions. When the user stops walking, the arm 40 is rotated to a range of 90 degrees or 180 degrees, and the heat exchanger tube 4 is inspected by an inspection device 40b attached to its tip. The most characteristic feature of the present invention is that the center of rotation of the arm 40 is made to coincide with the center of the heat exchanger tube 4, and the distance from the center of rotation to the center of the inspection equipment 40b is set to an integer multiple of the pitch of the heat exchanger tube 4, for example. 7
As shown in the figure, it has been multiplied by five times.

Therefore, when the mobile flaw detector 5 stops, the center of rotation of the arm 40 coincides with the center of the heat exchanger tube 4. FIG. 7 shows a state in which the center of rotation of the arm coincides with the center of the heat exchanger tube 4 (i8-i8). At that time, move the same arm 40 to 180
When the inspection equipment 40b is rotated to the range of 0, the inspection equipment 40b is
), (i, 2-L,), (j, .-j, 2), L-
i is), (ra-L2), (j4-j,,), (i3-i
8), a total of seven heat exchanger tubes 4 can be opposed, and the following effects can be achieved. That is, (1) when the electric heating tube 4 becomes obsolete and is blocked, if the number of the tubes is small, such as one or two, the automatic deep wound device 5 straddles or bypasses the blocked heat transfer tube 4. However, if the blocked heat exchanger tubes 4 are continuous in a plurality of rows, it is impossible to straddle or detour, and the range that can be covered is narrowed. In this regard, if the arm 40 is configured as described above, the working equipment 40b can be faced and covered by the heat exchanger tubes 4 other than the blocked heat exchanger tubes 4 beyond these blocked heat exchanger tubes 4. The range can be expanded. (D) Rotate the arm 40 and check the inspection equipment 40.
The time for making the inspection device 40b face the heat exchanger tube 4 is much shorter than the time for making the automatic flaw detection device 5 walk and making the inspection equipment 40b face the heat exchanger tube 4. That is, the rotation of the arm 40 is 1
In contrast, the walking of the automatic deep wound device 5 is (withdrawal/
There are 8 movements (walking, insertion, fixation) x 2 cycles, the former being much shorter than the latter. Therefore, inspection of the heat exchanger tubes 4, etc. can be performed quickly. Although the present invention has been described above with reference to embodiments, it goes without saying that the present invention is not limited to such embodiments, and that various design modifications can be made without departing from the spirit of the present invention. .

[Brief explanation of drawings]

Fig. 1 is a perspective view showing a water chamber of a steam generator, Fig. 2 is a bottom view showing the state of use of the automatic working device according to the present invention, and Fig. 3 shows an embodiment of the automatic working device according to the present invention. A plan view, FIG. 4 is a perspective view, and FIG. 5 is a view of arrow V in FIG. 3.
FIG. 6 is a longitudinal side view taken along the line -V, FIG. 6 is a longitudinal side view taken along the line W- in FIG. 5, and FIG. 7 is a work explanatory diagram. 4... Hole, 5... Automatic working device, 6... First frame, 10
...Second frame body, 13...First carrier, 14...
Second carrier, 19-22... Tap shaft, 26... Clamp shaft, 40... Arm, 40a... Base end of arm, 40b
...Work equipment. 1 figure, 2 figures, 3 figures, 4 figures, 5 figures, 6 figures, U figure

Claims (1)

[Claims] 1 Attach the first and second carriers to the first and second frames so that they can move in one direction, assemble the frames so that they can move in a direction perpendicular to the above direction, and align the collects. Each of the above carriers is provided with a tap shaft that ascends and inserts into one of the holes provided in the above-mentioned state, and a clamp shaft that descends into the inner surface of the same hole to bring the collet into close contact. In an automatic working device that is rotatably attached to a frame and a working device is provided at the tip of the arm, the center of rotation of the arm is aligned with the center of the hole, and from the center of rotation to the center of the working device. An automatic working device characterized in that the distance between the holes is an integral multiple of the pitch of the holes.