JPS6057541B2 - automatic work equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement in an automatic flaw detection device that automatically inspects automatic working equipment such as heat exchanger tubes of steam generators.

Steam generators used in nuclear power plants need to be inspected periodically, and in the past, this periodic inspection was carried out by workers entering the main body of the steam generator. capable,
It is extremely dangerous for workers to enter and inspect this area.

The present invention relates to an improvement of an automatic working 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 body is assembled so as to be movable in another direction orthogonal to the above direction, and a tap shaft that ascends and inserts the collet into one of the holes to be worked on and a clamp shaft that descends and brings the collet into close contact with the inner surface of the hole. In the automatic working device provided in each of the carriers, the base end of the arm is rotatably attached to the frame, and the working equipment is attached to the tip of the arm, the swing drive device of the arm; It has a stop position detection device, and a clutch/brake device that disconnects the arm from the swing drive device and stops the arm when receiving a detection signal from the detection device, and the detection device and the clutch/brake device are provided. It is characterized in that it is provided between the arm and the swing drive device, and its purpose is to stop the arm at a predetermined position where the center of the work equipment and the center of the hole to be worked coincide with each other. The object of the present invention is to provide an improved automatic working device that can perform the following tasks.

Next, the automatic working device of the present invention will be explained with reference to an embodiment shown in FIGS. 1 to 15. In FIGS. 1, 2, and 3, 1 is a water chamber of a steam generator, gate 2 is a partition wall, and 3 is a steam generator. A large number of heat exchanger tubes arranged at equal intervals in the X and Y directions are shown in FIGS. 2 to 7 on the tube sheet 3.
5 in the figure is an automatic flaw detection device (automatic working device), and the automatic flaw detection device 5 automatically walks directly under the tube sheet 3 in the X and Y directions to inspect each heat exchanger tube 4. There is.

Next, the automatic flaw detection device 5 will be described in detail with reference to FIGS. 4, 5, 6, and 7. 6 is a U-shaped frame in plan view, 8 is an outer plate, and 9 is both sides 6a of the frame 6. , 6a and both ends of the outer plate 8, some of which serve as feed screw shafts. 10 is each guide shaft 9
It is a U-shaped frame body with a planar shape having side parts 10a, 10a attached to the frame body, which drives a motor 44 (described later) in the negative direction and transmits power between the motor 44 and the guide shaft 9 (feed screw shaft). When an electromagnetic clutch (not shown) for the frame 10 provided in the mechanism (shown) is inserted, the frame 10 moves between the frame 6 and the outer plate 8 (Y, 1). direction, and when the electromagnetic clutch is engaged while driving the motor 44 in the forward direction, the frame body 10 moves between the frame body 6 and the outer plate 8 (Y,
+) directions, respectively.

Note that the frames 6, 10 have side plates 6a, 6a110a, 1
It has back plates 6b, 6b that connect 0a, and are opposed to each other. 11 is the upper and lower parts 2 attached at both ends to the side plates 6a, 6a.
The book guide shafts 12 are two upper and lower guide shafts attached at both ends to the side plates 10a, 10a, each of which is entirely or partially used as 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 motor 44 in the negative direction and connects the motor 44 and the guide shaft 11 (feed screw shaft). ) installed in the power transmission mechanism (shown in the figure). When an electromagnetic clutch (not shown) is engaged for the carrier 13 which has been turned off, the carrier 13 drives the drive motor in the forward direction between the stoppers 15 and 16 in the (X, -) direction. When the electromagnetic clutch is engaged, the carrier 13 moves between the stoppers 15 and 16 (X, +
) direction, respectively.

Further, while driving the motor 44 in the negative direction, an I electromagnetic coil for the carrier 14 provided in a power transmission mechanism (not shown) between the motor 44 and the guide shaft 12 (feed screw shaft) When the clutch (not shown) is engaged, the carrier 14 moves between the stoppers 17 and 18 in the (X, 1) direction,
When the motor 44 is driven in the forward direction and the electromagnetic clutch is engaged, the carrier 14 moves to the stoppers 17 and 18.
It is designed to move in the (X, +) direction between the two. 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 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 3
It's doubled. In this way, only the walking distance of the carrier 13 is tripled because the carrier 13 walks across two consecutive holes (two adjacent heat transfer tubes 4) that are already blocked, and the walking speed in the x direction is increased. This is to speed up the process. The frames 6, 10 carriers 13, 14 have been explained above, but next, the carrier 13
The lifting and lowering of the tap shafts 18, 20 provided on the carrier 14 and the tap shafts 21, 22 provided on the carrier 14, and the clamping
・The unclamp mechanism is shown in Figure 6 (vertical side view taken along the line ■-■ in Figure 4) and Figure 7 (vertical side view taken along the line ■-■ in Figure 6). To explain, the tap shaft 19 is slidably inserted into a vertical hole 23 provided vertically through the carrier 13.

Further, 24 in FIG. 7 is a stopper for the tap shaft 19, and 25 in FIG. 6 is an inner hole 26 that is provided vertically through the tap shaft 19 and has a middle portion having a smaller diameter than the upper and lower portions. A clamp shaft 27 is slidably inserted into the middle part of the inner hole 25.
is a key groove that allows the clamp shaft 26 to move only in the axial direction; 28 is a skew gear accommodated in the lower part of the inner hole 25 and screwed onto the clamp shaft 26 (threaded shaft); 29 is the skew gear 28; 30 is another skew gear meshed with the tap shaft 19, 30 is a bearing that rotatably supports the skew gear 28 in the tap shaft 19, 31 is a housing slidably inserted into the upper part of the clamp shaft 26, and 32 is a housing that is slidably inserted into the upper part of the clamp shaft 26; a compression spring housed within the upper portion of the bore 25;
33 is a nut on the tap shaft 19 side that supports the housing 31 movably only in the axial direction and regulates the upper limit position of the housing 31; 26a is the clamp shaft 26;
The tapered part 34 provided at the upper end of the tapered part 26a
35 is a worm gear, 36 is a worm that meshes with the worm gear 35, and 37 is a worm gear that meshes with the worm 36, as shown in FIG. 38 is a pinion provided on the worm gear 37, and 39 is a rack on the tap shaft 19 side that meshes with the pinion 38, which drives the motor 44 in the negative direction, while the motor 44 and the worm gear 3
When an electromagnetic clutch (not shown) for the tap shaft 19 is installed in a power transmission mechanism (not shown) between the worm gear 35 and the worm 3
This is transmitted to the tap shaft 19 through 6 worm gears 37 pinions 38 racks 39, and the tap shaft 19 begins to rise.

Further, when the tap shaft 19 rises and the collet 34 enters the heat exchanger tube 4, and the stopper 19a provided at the lower end of the collet 34 comes into contact with the bottom surface 13a of the carrier 13, a limit switch (not shown) provided at that position is inserted. ) is activated.

On the other hand, the motor 44 transmits rotation to the power transmission mechanism, which stops rotating 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. Therefore, a skew gear (not shown) provided in the power transmission mechanism escapes against the spring, and the movement is transmitted to another limit switch provided near the skew gear, which is activated. When the two limit switches are activated in this way, 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 motor 44 is rotated in the negative direction as described above, an electromagnetic clutch (see the figure) for the clamp shaft 26 provided in the power transmission mechanism (not shown) between the motor 44 and the skew gear 29 When the motor 44 is turned on, the rotation of the motor 44 is transmitted to the clamp shaft 26 via the skew gears 29 and 28, and the clamp shaft 26 begins to descend, causing the collet 34 to move toward the tapered portion 26 of the clamp shaft 26.
The clamp shaft 26 is pushed out and spread out by the heat exchanger tube 4, and comes into close contact with the inner surface of the heat exchanger tube 4, making it impossible for the clamp shaft 26 to descend.

However, since the motor 44 continues to rotate, the subsequent rotation of the skew gear 29 causes the skew gear 28 to rise along the clamp shaft 26 (screw shaft), causing the tap shaft 19 and carrier 13 to resist the compression spring 32. The upper end of the tap shaft 19 comes into contact with the tube plate 3 as it rises.

After that, it becomes impossible for the tap shaft 19 carrier 13 to rise, but since the motor 44 continues to rotate, an abnormally large load is applied to the skew gear 29. In other words, fluctuations in rotational torque occur, which are detected, and the signal obtained at that time is transmitted to the electromagnetic clutch of the clamp shaft 26, which is disengaged and the skew gear 29 is stopped, completing the clamping. It's summery. In addition, the motor 4
4 in the forward direction, while 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 rises and the collet 3
4 is released from the inner surface of the heat exchanger tube 4, the tap shaft 19 is lowered, the collet 34 comes out from the inside of 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 described above, but the other tap shaft 20 provided on the carrier 13 also has a similar mechanism, and lifts and lowers and clamps in synchronization with the tap shaft 19.・It is now possible to unclamp.

In addition, two tap shafts 21 and 2 provided on the carrier 14
The same applies to 2.

Further, 40 in FIG. 4 is an arm, 41 is an arm support shaft 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 tip end of the arm 40. , 42 and 43 are stoppers, and in this embodiment, when the automatic flaw detection device 5 is stopped, the center of rotation is made to coincide with the center of the heat transfer tube 4, and the distance from the center of rotation to the center of the inspection equipment 88 described later is adjusted. is set to be an integral multiple of the pitch of the heat exchanger tubes 4, for example, 5 times.

Therefore, when the automatic flaw detection device 5 stops, the center of rotation and the center of the inspection device 88 coincide with the center of the heat exchanger tube 4. FIG. 8 shows that the center of rotation is at the center of the heat exchanger tube 4 (Jl3-18), and the center of the inspection equipment 88 is at (Jl3-18).
At the center of the heat exchanger tube 4, ``is shown in a state of coincidence.At that time, when the same arm 40 is rotated in a 180 shape,
Test equipment 40b (Jl3-18) (Jl2-111
) (Jll-112) (J8-113) (J, -112
) (J4-111) (Jl3-18), in Figure 4, Al, Al2, A2l, A2, A23, Al32,
Or. Bl, Bl2, B2l, B2, B23, Y
A total of seven heat exchanger tubes 4, S32 and B3, can be opposed to each other. Next, the most characteristic features of the present invention, namely, the swing drive device 44 of the arm 40, the stop position detection device 60 of the arm 40, and the clutch/brake device 50 are illustrated in FIGS. 9 to 1-5. To explain, 44 in FIG.
45 is a gear attached to the output shaft of the motor 44; 47 is an inner cylinder rotatably supported by the carrier 13; 46 is an inner cylinder 47; and the gear 45
48 is a spline shaft engaged with the inner cylinder 47, 50 in Figs. 9, 10, 11, and 13 is a clutch/brake device, and 49 in Figs. 9 and 13 is the same clutch/brake device 50. The input shaft 50a is mounted to be movable only in the axial direction with respect to the spline shaft 48, and the gear 46 is adapted to transmit power to the clamp system of the tap shaft and the drive system of the carrier.

Further, the clutch/brake device 50 demagnetizes the coil 50c on the clutch side, and demagnetizes the input shaft 50a and the output shaft 50b.
Also, the brake side coil 50d is energized so that the output shaft 50b is connected to the clutch/brake device 50.
It is designed to be fixed to a fixed frame.

Further, 51 in FIG. 13 is a gear fixed to the output shaft 50b, 53 is a shaft rotatably supported by the arm rotation device main body 58, 52 is a gear fixed to the same shaft 53 and meshed with the gear 51, 10, 11, and 13, 54 is a screw gear fixed to the coaxial shaft 53, 57 is a torque limit adjustment nut screwed to the lower end of the arm support shaft 41, and 56 is attached to the arm support shaft 41 above it. On the other hand, a spacer 55 is fitted so as to be movable only in the axial direction, and a helical gear 59 is loosely fitted to the arm support shaft 41 thereon and meshed with the screw gear 54, and 59 is the helical gear 55. The rotation of the motor 44 is controlled by a torque-limiting disc spring interposed between the arm rotation device main body 58 and the gears 45, 46, the inner cylinder 47, the spline shaft 48, the clutch, the brake device 50, the gear 51,
52, a shaft 53, a screw gear 54, a helical gear 55, a spacer 56, and an arm support shaft 41. Furthermore, even if the arm 40 contacts the stoppers 42 and 43, the clutch side coil 5 of the clutch brake device 50
There is a slight time delay until 0c is demagnetized and the input shaft 50a and output shaft 50b are separated.

If this is left unattended, it will force the drive system mentioned above.
It is configured as described above, and the arm 40 is connected to the stopper 4.
2, 43, the helical gear 55 slips against the spacer 56 and does not apply force to the drive system, thereby functioning as a torque limiter. Next, the stop position detection device for the arm 40 will be explained with reference to FIGS. 10, 11, 12, and 14.

Figure 10 shows an example in which a limit switch and dog are used to detect the stop position while an ecoconder is used to confirm the stop position, and Figure 11 shows an example in which a limit switch and dog are used to detect the stop position. , shows an example of using a cam, a dog, and a limit switch to confirm the stop position. First, to explain from the one in Figure 10, L
l, Ll2, L. l, L2, L23, L32, LO are Al shown in Fig. 4, Al29~19A29A239A3
29A3 or Bl9Bl29B2l, B2, B, 3,
The limit switches Dl2, D2l, D2, D23, D32 installed on the rotating device body 58 to detect the positions of a total of seven heat exchanger tubes 4, B32, B3, are the five limit switches Ll2, L2l, L2, L23, L3
2, a common dog Dl3 is attached to the arm support shaft 41 so as to face the two limit switches Ll and L3 (FIG. 15). 1), and the relative positions of the limit switch and each dog when the arm 40 is in the 2 position shown in FIG. 4 are shown in FIG.

When the arm 40 reaches the B1 position from the B12 position, the limit switch L1 is placed in the 15th position in the notch of the dog D13.
As shown in FIG.
It is sent to the control circuit inside, and further sent from the same control circuit to the clutch/brake device 50, and as mentioned above, the clutch side coil 50c is demagnetized and the input shaft 50a and the output shaft 50b are separated. Arm 40 is stopper 42
It comes into contact with and stops at the 2nd position. At this time, the brake side coil 50d is excited and the output shaft 50b is fixed to the fixed frame of the clutch/brake device 50. Also, arm 40 is B3
The same goes when reaching the B3 position from the 2nd position, the limit switch L comes into contact with the notch of the dog Dl, and operates.
The detection signal obtained at that time is sent to the control circuit in the electric control device 79 via the cable 80 in FIG. 2, and further sent from the control circuit to the clutch/brake device 50,
The clutch side coil 50c is demagnetized, the input shaft 50a and the output shaft 50b are separated, and the arm 40 is moved to the stopper 43.
It comes into contact with and stops at position B3.

At this time, the brake side coil 50d is excited and the output shaft 50
b is fixed to a fixed frame of the clutch/brake device 50. However, Bl2, B2, B excluding the above Bl and BJ positions
2l, B>3, there are no stoppers 42, 43 at the B32 position. What takes its place is the stop position confirmation eco-conder 61 shown in FIG. The positional force to B2, B23, 82, is loaded. Also, the arm 40 is Bl2, B, l.
,B2,,B23,if it reaches the B3 position. Limit switch Ll.

, L2l, L2, L23, and L3 operate. The count number obtained by the econder 61 and the detection signal obtained by each limit switch are
If the arm 40 is in the B12 position, a signal to stop the arm 40 is sent to the clutch/brake device 50 when the arm 40 reaches the same position. The clutch side coil 50c is demagnetized and the input shaft 50a and output shaft 50b are separated, the brake side coil 50d is energized, and the output shaft 50b is fixed to the fixed frame of the clutch/brake device 50. arm 40
is Bl. Stop in position. Next, the stop position detection device shown in FIG. 11 will be explained.

Compared to the one in FIG. 10, the limit switch Ll
, Ll2, L2l, L2, L23, L32, L3 and dog Dl39Dl2? D2l9D29D239D32 is the same, only the econda part is different. This difference is shown in Figures 11, 12, and 14 (Figures 12 and 14 are
1), 64 and 65 are stop position confirmation cams fixed to the arm support shaft 41, and 66 is pivotally connected to the rotating device main body 58 by a pin 68. 67 is a stop position confirmation dog facing the cam 64; 67 is a stop position confirmation dog pivotally connected to the rotating device body 58 by a pin 69 and facing the cam 65; 70, 71 are the stop position confirmation dogs 66, 67; Stopper, 72
springs 73, 74 which pull the dogs 66, 67 toward each other and abut against the stoppers 70, 71;
is a latch for attaching the spring 72 to the dogs 66, 67; L75 is a limit switch attached to the swing device main body 58 so as to face the tip of the dog 66; L76 is opposed to the tip of the dog 67. The relative positions of the cams 64, 65, the dogs 66, 67, and the limit switches L75, L76 when the arm 40 is in the B1 position in FIG. is shown in Figure 14.

When the arm 40 starts to turn from the 2nd position to the BL2 position, the cam 64 starts to rotate in the direction of the arrow a, and the dog 6
6 begins to move outward around the pin 68, but the distance from this center of oscillation to the point of contact between the dog 66 and the cam 64, and the distance between the center of oscillation and the point of contact between the dog 66 and the limit switch L7
, the latter is several times longer than the former, so when the cam 64 starts rotating even a little in the direction of arrow a, the dog 66 moves to the limit switch L7.
Leave 5 immediately. The above action means that the B1 position is counted.

When the dog 66 passes the peak of the cam 64, it comes into contact with the limit switch L75. Further, when the arm 40 reaches the Bl2 position and the next mountain comes, it immediately leaves the limit switch L75.

Arm 40 is B. The same goes for when the following peaks arrive at positions 1, B2, B23, and B32, and each position is counted. Also, contrary to the above, the arm 40 is moved from the 8th position to B.
When turning in the direction of the 1st position, the cam 65 and the dog 6
7 and limit switch L76 count their respective positions.

Also limit switch Ll9Ll29L2l9 and 9L2
39!29L3 and Dog Dl39Dl29D2l9D2
The operation with 9D239D32 is the same as in the case of FIG. In addition, 77 in FIG. 2 is a nozzle installed in the water chamber 1 of the steam generator, 78 in FIGS. 1 and 2 is a manhole installed in the water chamber 1, 79 in FIG. 2 is an electric control device, A cable 80 connects the electric control device 79 and the automatic flaw detection device 5 (a motor 44 and a clutch/brake device 50).
The signals obtained at each of the above-mentioned detection terminals are sent to the control circuit in the electric control device 79. In addition, commands are sent from the control device, that is, the automatic sequence and operation switch, to the motor 44, clutch/brake device 50, etc., and these are set to 0N.
It's starting to be turned off. Reference numeral 81 denotes an inspection device consisting of a hook 7 shear frame 82, a pusher body 83, a motor 84 for driving the body 83, a cord reel 85, a cord 86 pushed and pulled by the body 83, and a guide vibe 87 for the cord 86. 88 is an inspection device attached to the tip end of the cord 86;
9 is a signal processing device, 90 is a data recorder, 91 is a magnetic tape, 92 is a cathode ray tube oscilloscope, 93 is a pen recorder, 94 to 100 are electrical wiring, 101 is a television camera, 102 is a remote control console for the television camera 101;
03 is a tap for attaching the operation console 102 to the tube plate 3, 10
4 is a monitor, and 105 is a cable connecting the monitor 104 and the television camera 101.

Next, the operation of the automatic 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. ,
Further, the tap shafts 21 and 22 are lowered, and the respective collets 34 are taken out from inside the heat exchanger tubes 4, and the tap shafts 21 and 22 are lowered.
Perform 22 unclamps.

Next, move the carrier 14 from the position shown in Figures 3 and 4 (X, -)
direction until it abuts against the stopper 17. At this time, the collets 34 of the tap shafts 21 and 22 move by one pitch with respect to each of the heat exchanger tubes 4, and come to be located directly below the adjacent heat exchanger tubes 4 and 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, 20 are raised to separate the respective collets 34 from the inner surfaces of the adjacent heat transfer tubes 4, and the tap shafts 19, 20 are lowered to separate the collets 34 from each of the above-mentioned heat transfer tubes 4. Take it out from the heat tube 4 and unclamp the tap shafts 19 and 20. 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 and the frames 6, 10
etc. move in the (X, 1) direction, move by one pitch, and stop when the stopper 18 comes into contact with the carrier 14. At this time, the collets 34 of the tap shafts 19 and 20 are also (X, -)
It moves one pitch in the direction and faces the position directly below the adjacent I heat exchanger tube 4. Next, the tap shafts 19 and 20 are raised, and each collet 34 is inserted into the heat exchanger tube 4.
Also, lower the clamp shafts 26 of the tap shafts 19 and 20,
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 clamped. Thus, the device 5 returns to the state shown in FIG.
Complete the pitch walking maneuver. (■) The above device 5 (X,
10) When walking one pitch in the direction, tap shaft 19,
20 is 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 shafts 21 and 22 are clamped, and the carrier 14 does not move, but the frames 6, 10, etc. move in the (X, +) direction, move by one pitch, and the stopper 17 hits the carrier 14. Stops when it touches. At this time, tap axis 1
The collets 34 of 9 and 20 also move one pitch in the (X, +) direction and face the position directly below the adjacent heat exchanger tube 4.
Next, clamp the tap shafts 19 and 20 and tap shaft 21.
, 22 are sequentially unclamped, and further unclamping of carrier 1 is performed.
4 in the (X, +) direction until it abuts against the stopper 18, and the tap shafts 21 and 22 are clamped. Thus, the device 5 returns to the state shown in FIG.
Complete the pitch walking maneuver. (■) The above device 5 (X,
-) direction, follow the same procedure as described in (1), but start from unclamping l of the tap shafts 19 and 20 and move the device 5 three pitches in the (X, -) direction. That's fine.

(■) To move the device 5 three pitches in the (X, +) direction, follow the same procedure as described in (■), but start by unclamping the tap shafts 21 and 22, and move the device 5 (X, , +) direction by three pitches.

(V) When moving the device 5 one pitch in the (Y, 1) direction, follow the same procedure as described in (1) or (■), but start by unclamping the tap shafts 19 and 20, and 5 by one pitch in the (Y, -) direction.

(■) When moving the device 5 one pitch in the (Y, +) direction, follow the same procedure as described in (D or (■)), but starting from the unclamp axis of the tap shafts 21 and 22, It is sufficient to move the device 5 one pitch in the (Y, +) direction.

As explained above, the tap shafts 19, 20, 21, 22
are alternately clamped by the clamp shaft 26, and the carrier 1
3 and 14 in the X direction and the frames 6 and 10 in the Y direction to walk in the (X, -) (X, +) (Y, -) (Y, +) directions.

Also, every time you stop walking, arm 40 is
The heat exchanger tube 4 is rotated and inspected by an inspection device 88 attached to its tip.

That is, when the arm 40 finishes walking and stops, the arm 40 reaches B1 (
And if it is stopped at the A1) position, the cord 86 is fed out, the inspection device 88 is inserted into the heat exchanger tube 4 at the B1 position,
Perform inspection. When the inspection is finished and the cord 86 is pulled back to take out the inspection equipment 88 from the heat exchanger tube 4, the motor 44 is started in the forward direction and the arm 40 is turned in the direction of the B12 position.

When the arm 40 reaches the Bl2 position and the stop position detection device 60 detects this state, the clutch/brake device 50
The clutch side coil 50c is demagnetized to separate the input shaft 50a and the output shaft 50b, the brake side coil 50d is energized, the output shaft 50b is fixed to the fixed frame of the clutch/brake device 50, and the arm 40 is Stop at Bl2 position. At this time, the cord 86 is fed out and the inspection equipment 88
is inserted into the heat exchanger tube 4 at the same Bl2 position and inspected. After completing the inspection, pull back the cord 86 and insert it into the inspection equipment 8.
8 from the heat transfer tube 4, the brake side coil 50d is demagnetized to release the output shaft 50b, while the clutch side coil 50c is energized to connect the input shaft 50a and the output shaft 50b, and the arm 40 Rotate it toward the Bl3 position.

The same goes after that, and the arm 40 is B2l, B2, B23,
Each time it stops at the B32 or B3 position, the inspection device 88 is inserted into and removed from the heat exchanger tube 4 to inspect each heat exchanger tube 4. When the inspection of the seven heat exchanger tubes 4 is completed as described above, the automatic flaw detection device 5 is caused to walk one pitch in one of the directions mentioned above.

When the robot stops after walking, the motor 44 is started in the negative direction, the arm 40 is rotated from the B3 position to the 8th position, and stopped, and another seven heat exchanger tubes 4 are inspected.

As described above, the present invention provides the first and second carriers 13, 14.
is attached to the first and second frames 6, 10 so that they can move in one direction, and the frames 6, 10 are assembled so that they can move in the other direction orthogonal to the above direction, and the frame is raised. Tap shaft 19 for inserting the collet 34 into one of the holes 4 to be worked on
22 and a clamp shaft 26 that descends to bring the collet 34 into close contact with the inner surface of the hole 4 are provided on each of the carriers 13 and 14, and the base end 40a of the arm 40 is connected to the frame 6,
10 or one thereof, and a working device 88 is attached to the tip 40b of the arm 40. In the automatic working device 5, a swing drive device 44 of the arm 40 and a stop position detection device 60 of the arm 40 are provided. and,
a clutch/brake device 50 that disconnects the arm 40 from the swing drive device 44 and stops the arm 40 when receiving a detection signal from the detection device 60;
Since the same clutch/brake device 50 is provided between the arm 40 and the swing drive device 44, the arm 40
can be stopped at a predetermined position where the center of the work equipment 88 and the center of the hole 4 to be worked coincide with each other.

Although the embodiments of the present invention have been described above, the present invention is, of course, not limited to these embodiments, and can be modified in various ways without departing from the spirit of the present invention. .

[Brief explanation of drawings]

Fig. 1 is a partially cutaway perspective view of the steam generator, Fig. 2 is a partially longitudinal side view showing the automatic working device according to the present invention in use, Fig. 3 is its plan view, and Fig. 4. is a plan view showing one embodiment of the automatic working device, FIG. 5 is a perspective view thereof, and FIG. 6 is a longitudinal cross-sectional side view taken along the line ■-■ in FIG.
Figure 7 is a vertical side view taken along the line ■-■ in Figure 6, Figure 8 is an explanatory diagram showing the inspection range, Figure 9 is a side view taken along the line ■-■ in Figure 4 FIG. 10 is a longitudinal sectional side view showing an example of the stop position detection device taken along line X-X in FIG. 9, and FIG. 11 shows another example of the stop position detection device taken along line X-X in FIG. A longitudinal side view, FIG. 12 is a cross-sectional plan view taken along the arrow ■-■ line in FIG. 11, and FIG. 13 is a cross-sectional plan view taken along the arrow x
-A cross-sectional bottom view taken along the line
FIG. 2 is an explanatory diagram showing the relationship between each limit switch and each dog of the stop position detection device shown in FIG. 1; 4... Hole to be worked on, 5... Automatic work device, 6...
First frame, 10... Second frame, 13... First carrier, 14... Second carrier, 19-22...
- Tap shaft, 26... Clamp shaft, 34... Collet, 40... Arm, 40a... Base end of arm 40, 40b... Tip end of arm 40, 44... Rotating drive device , 50...Clutch Brake device, 60...
- Stop position detection device for arm 40, 88...work equipment.

Claims (1)

[Claims] 1. Attach the first and second carriers to the first and second frames so that they can move in one direction, and assemble the same frames so that they can move in the other direction orthogonal to the above direction, and raise them. Each carrier is provided with a tap shaft for inserting the collet into one of the holes to be worked on, and a clamp shaft for lowering and bringing the collet into close contact with the inner surface of the hole, and the base end of the arm can be rotated around the frame. In an automatic working device in which a working device is attached to the tip of the arm, the arm has a rotation drive device, a stop position detection device for the arm, and a detection signal from the detection device is received. It has a clutch/brake device that separates the arm from the swing drive device and stops the arm, and the detection device and the clutch/brake device.
An automatic working device characterized in that a brake device is provided between the arm and the swing drive device.