JPS6057542B2 - 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 heat exchanger tubes and the like of a steam generator.

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. 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 Assemble the body so that it can move in another direction perpendicular to the above direction,
Each carrier is provided with a tap shaft that ascends to insert the collet into one of the holes to be worked, and a clamp shaft that descends to bring the collet into close contact with the inner surface of the hole, and the proximal end of the arm is attached to the frame. An automatic working device that is rotatably mounted and has a working device attached to the tip of the arm, the automatic working device having a first guide pipe and a second guide pipe that support the working device so that the working device can move forward and backward, the first guide pipe is fixed to the tip of the arm, and the second guide pipe is detachably and rotatably attached to the first guide pipe, and its purpose is to attach to the work equipment. can be smoothly inserted into and removed from the hole to be worked on.
Another object of the present invention is to provide an improved automatic working device that can smoothly rotate the arm. Next, the automatic working device of the present invention will be explained with reference to an embodiment shown in Figs. 1 to 11. In Figs. A tube sheet 3, 4 is a large number of heat exchanger tubes arranged at equal intervals in the X and Y directions, and 5 in FIGS. 2 to 7 is an automatic flaw detection device (automatic working device). The automatic flaw detection device 5 inspects the area directly below the tube plate 3 with an
and the Y direction to inspect each heat exchanger tube 4. Next, the automatic flaw detection device 5 is
5, 6, and 7, 6 is a U-shaped frame in plan view, 8 is an outer plate, 9 is both sides 6a of the frame 6,
A total of four guide shafts are attached at both ends to the outer plate 6a and both sides of the outer plate 8, and some of them serve as feed screw shafts. Reference numeral 10 denotes a U-shaped planar frame body with both side parts 10a and 10a attached to each guide shaft 9, and a drive motor (not shown).
While driving the motor in the negative direction, the drive motor and the guide shaft 9
When an electromagnetic clutch (not shown) for the frame 10 is installed in a power transmission mechanism (not shown) between the frame 10 and the feed screw shaft, the frame 10 moves outwardly from the frame 6. When the electromagnetic clutch is engaged while driving the drive motor in the (Y, 1) direction between the frame body 10 and the plate 8 in the (Y, 1) 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, 6a, 10a, 1
It has back plates 6b, 6b that connect 0a, and are opposed to each other. Two upper and lower guide shafts 12 are attached at both ends to the side plates 6a, 6a, and 12 are two upper and lower guide shafts attached at both ends to the side plates 10a, 10a, all or part of which are used for feeding. It is attached to a screw shaft. A carrier 13 is attached to the guide shaft 11, and another carrier 14 is attached to the guide shaft 12, which drives the drive motor in the negative direction, while also connecting the drive motor and the guide shaft 11 (the feed screw shaft). ), the carrier 13 moves between the stoppers 15 and 16 (X,
-) direction, the above drive. When the electromagnetic clutch is engaged while driving the dynamic motor in the forward direction, the carrier 13 moves between the stoppers 15 and 16 in the (X, +) direction. Further, while driving the drive motor in the negative direction, an electromagnetic force for the carrier 14 provided in a power transmission mechanism (not shown) between the drive motor and the guide shaft 12 (feed screw shaft) is provided. When a 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 1 is engaged, the carrier 14 14 is adapted to move in the (X, 10) direction between stoppers 17 and 18, respectively. In addition, in the case of the figure,
The walking distance of the frame 10 along the Y direction and the x of the carrier 14
The walking distance along the direction is equal to the distance between the centers of adjacent heat exchanger tubes 4. On the other hand, carrier 13's
The walking distance along the direction has tripled. The reason why only the walking distance of the carrier 13 is tripled 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, 10 and carriers 13, 14 have been explained above, but next, the tap shaft 19 (provided on the carrier 13),
20, and tap shafts 21 and 2 provided on the carrier 14.
Figure 6 shows the lifting and lowering and clamping and unclamping mechanisms of
When explained with reference to Fig. 4 (longitudinal and temporary side view taken along the arrow line ■1) and Fig. 7 (longitudinal and other side view taken along the arrow line The shaft 19 is connected to the carrier 1
It is slidably inserted into a vertical hole 23 provided vertically through 3. Further, 24 in FIG. 7 is a stopper for the tap shaft 19, and 25 in FIG. 6 is an inner hole that is provided vertically through the tap shaft 19 and has a middle portion having a smaller diameter than the upper and lower portions.
26 is a clamp shaft slidably inserted into the middle part of the inner hole 25, 27 is a keyway that allows the clamp shaft 26 to move only in the axial direction, and 28 is housed in the lower part of the inner hole 25. a skew gear screwed onto the clamp shaft 26 (threaded shaft), another skew gear 29 meshed with the skew gear 28, and bearings 30, 30 rotatably support the skew gear 28 within the tap shaft 19;
31 is a housing slidably inserted into the upper part of the clamp shaft 26, 32 is a compression spring housed in the upper part of the inner hole 25, and 33 supports the housing 31 so as to be movable only in the axial direction. A nut 26a on the tap shaft 19 side that regulates the upper limit position of the housing 31 is a tapered portion provided at the upper end of the clamp shaft 26, and a taper portion 34 is disposed around the taper portion 26a. The collet on top, 35 is the worm gear, 36
is a worm that meshes with the worm gear 35, 37 is a worm gear that meshes with the worm 36, 38 in FIG. 6 is a pinion provided on the worm gear 37, and 39 is a tap shaft 19 side that meshes with the pinion 38. While the rack drives the drive motor in the negative direction, an electromagnetic clutch (not shown) for the tap shaft 19 is provided in a power transmission mechanism (not shown) between the motor and the worm gear 35. ), the rotation of the drive motor is controlled by the worm gear 35.
Worm 36 Worm gear 37 Pinion 38 Rack 39
It is transmitted to the tap shaft 19 via the tap shaft 19, and the tap shaft 19 starts to rise. Further, the tap shaft 19 rises, the collet 34 enters the heat exchanger tube 4, and the stopper 19a provided at the lower end of the collet 34 moves to the bottom surface 13a of the carrier 13.
When it comes into contact with , a limit 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 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. Furthermore, while the drive motor is rotated in the negative direction as described above, a power transmission mechanism (not shown) between the motor and the skew gear 29 is provided.
An electromagnetic clutch (
(not shown), the rotation of the drive motor 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 be pushed and expanded by the tapered portion 26a of the clamp shaft 26. heat exchanger tube 4
The clamp shaft 26 is in close contact with the inner surface of the clamp shaft 26 and cannot be lowered. However, since the rotation of the drive motor continues, the rotation of the skew gear 29 is controlled by raising the skew gear 28 along the clamp shaft 26 (screw shaft) so that the tap shaft 19 and the carrier 13 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 drive motor continues to rotate, an abnormally large amount of 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 disengages and the skew gear 29 stops, completing the clamping. ing. 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 collet 34 is released from the inner surface of the heat exchanger tube 4, the tap shaft 19 is lowered, and the collet 34 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 described above, but the other tap shaft 20 provided on the carrier 13
has a similar mechanism, and is adapted to move up and down and clamp/unclamp in synchronization with the tap shaft 19. Also, two tap shafts 21 and 22 provided on the carrier 14
The same is true. In addition, 40 in FIGS. 2 and 3 is an arm, and 41 is a base end 40a of the arm 40 on both sides 6a of the frame 6.
, 6a, an arm support shaft rotatably supported on the outer surface of the arm support shaft 40;
b is the tip of the arm 40, 42 and 43 are stoppers,
In this embodiment, when the automatic flaw detection device 5 stops,
The center of rotation is made to coincide with the center of the heat exchanger tubes 4, and the distance from the center of rotation to the center of the inspection equipment 67, which will be described later, is set to be an integral multiple of the pitch of the heat exchanger tubes 4, for example, five times. Therefore, when the automatic flaw detection device 5 stops, the center of rotation and the center of the inspection device 67 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 with l-18,
A state in which the center of the inspection equipment 67 is aligned with the center of the heat exchanger tube 4 of Jl3-18 is shown. At that time, when the arm 40 is rotated 180 degrees, the inspection equipment 67 is
l3-189j12-1119j11-1129uta-1
139-1129j4・-111,j13-18,
In FIG. 4, Al, Al. ,A2l9A29'A2
39mm 29A3 or BL98 29B49B2, B2
3, B32, and B3, a total of seven heat exchanger tubes 4 can be opposed to each other. Note that when the drive motor (not shown) is started in the forward direction, the arm 40 moves. When the drive motor is started in the negative direction in the B1→8 direction, the arm 40 is moved in the 8→8 direction.
It can be turned in the B1 direction. Furthermore, when the inspection equipment 67 reaches each of the above positions, it is detected by an arm stop position detection device that is linked to the rotation of the arm support shaft 41, and a detection signal from the detection device is sent to the clutch/brake device. It is sent to the clutch side to disconnect the drive system between the drive motor and the arm support shaft 41. At this time, if the arm support shaft 41 is fixed by the brake side of the clutch/brake device, the arm 40 and the inspection equipment 67 can be stopped at the respective positions, but these stop position detection devices and the clutch・Illustration of the brake device has been omitted. Next, the most characteristic feature of the present invention will be explained with reference to an embodiment shown in FIGS. 4, 9, 10, and 11. 44 in FIGS. The first guide vibe 45 fitted into the arm 40 has two nuts that fix the first guide vibe 44 to the distal end 40b of the arm 40. Steel balls 5 are placed on the outer peripheral surface along the line 1.
A shallow groove is provided to receive a portion of the zero. Further, 46 in FIGS. 9, 10, and 11 is the second guide vibe, 47 in FIG. 10 is the four steel ball insertion holes provided at the top of the second guide vibe 46, and 48 is the second A stop ring fitting groove provided in the middle part of the guide vibe 46, 4
Reference numeral 9 denotes a male threaded portion provided at the bottom of the second guide vibe 46. The upper hole of each steel ball insertion hole 47 has a size that allows a portion of the steel ball 50 to protrude toward the first guide vibe 44 but does not allow it to pass through, and the lower hole has a size that allows the steel ball 50 to pass through. I have it too. Further, 51 in FIGS. 9 and 11 is a retainer having four holes at equal intervals through which the steel balls 50 pass, and 52 is a cover for the steel balls 50.
A shallow groove for receiving the steel ball 50, which is the shallow groove provided on the outer circumferential surface of the first guide vibe 44, is provided on the inner circumferential surface along the line of arrow 1 in the figure, and below the shallow groove is provided the first guide vibe 44. A deep groove for receiving the steel ball 50 is connected to the shallow groove on the outer peripheral surface of the guide vibe 44 of No. 1 other than the groove. It is provided. Further, the upper inner circumferential surface of the cover 52 is provided with a groove for fitting a stop ring, and the lower inner circumferential surface of the cover 52 is provided with a spring receiver. A stop ring 53 is fitted into a stop ring fitting groove 48 provided in the middle of the second guide vibe 46, and serves as a stop for the cover 52 downward. A stop ring 54 is fitted into a stop ring fitting groove provided on the inner peripheral surface of the upper part of the cover 52, and serves as a stop for the retainer 51 upward. Further, 55 is a compression spring interposed between the spring receiver provided on the inner peripheral surface of the lower part of the cover 52 and the retainer 51, and when assembling each of the parts 46 to 55, the stop ring 53 is inserted into the stop ring. The cover 52 is fitted into the groove 48, the cover 52 is fitted around the second guide vibe 46, and the spring 55 and the retainer 51 are fitted into the second guide vibe 46.
The second guide vibe 46 is inserted between the second guide vibe 46 and the cover 52, and then the retainer 52 is pushed down against the spring 55 to connect the lower hole of the steel ball insertion holes 47 provided in the second guide vibe 46 and the retainer 51. Then, each steel ball 50 is inserted from inside the second guide vibe 46 so as to span the hole of the retainer 51 and the deep groove of the cover 52, and then the stopper nog 54 is inserted into the upper inner surface of the cover 52. While each steel ball 50 is inserted into the stop ring insertion groove provided in the stop ring, the pressing force on the retainer 52 is released, and the retainer 52 is pushed up by the spring 55 until it abuts against the stop ring 54. Steel ball insertion hole 4 provided in the guide vibe 46 of
It is supported between the upper hole of 7 and a shallow groove provided in the inner peripheral surface of the cover 52. At this time, a portion of each steel ball 50 projects inward from the inner peripheral surface of the second guide vibe 46. In addition, 56 in FIG. 2 is a nozzle provided in the water chamber 1 of the steam generator, 57 in FIGS. 1 and 2 is a manhole provided in the water chamber 1, and 58 in FIG. 2 is an electric control. equipment, 59
60 is a cable connecting the electric control device 58 and the automatic flaw detection device 5 (power line for the drive motor, clutch/brake device, etc., signal line for the stop position detection device, etc.); 60 is a pusher mount 61 and a pusher body 62; A pusher 67 is an inspection device consisting of a motor 63 that drives the main body 62, a cord reel 64, a cord 65 pushed and pulled by the main body 62, and a guide vibe 66 that guides the cord 65. So, the above guide vibe 66
As shown in FIG. 9, the upper end of the second guide vibe 4
The male threaded portion 49 of No. 6 is screwed into the male threaded portion 49 of
It is fixed by a clamp band 68 so as not to come off, and the inspection equipment 67 is attached to the upper end of the cord 65.

2, 69 is a signal processing device, 70 is a data recorder, 71 is a magnetic tape, 72 is a cathode ray tube oscilloscope, 73 is a pen recorder, 74 to 80 are electrical wiring, 8
1 is a television camera; 82 is a remote control console for the television camera 81; 83 is a tap for attaching the console 82 to the tube plate 3;
84 is a monitor, and 85 is a cable connecting the monitor 84 and the television camera 81. Next, the automatic flaw detection device 5
Explain the effect of To start the work, move the automatic flaw detection device 5 from the manhole 57 into the water chamber 1 using the remote control device (
(not shown) and attach it to the tube sheet 3. Next, the guide vibe 66 is raised and the second guide vibe 46
The upper part of the guide vibrator 44 is inserted into the lower part of the first guide vibe 44. At this time, each steel ball 50 and retainer 51 are pushed down by the lower end of the first guide vibe 44, and each steel ball 50 enters a deep groove provided on the inner circumferential surface of the young bar 52, and is moved to the second guide vibe. It retracts from the inner peripheral surface of 46. In other words, the second guide vibe 46 is fitted into the first guide vibe 44 without being hindered by the steel balls 50. When the upper end of the second guide vibe 46 hits the lower end of the first guide vibe 44 and the respective vibes 46 and 44 are connected, push up the lower end of the cover 52 to engage the deep groove. Each steel ball has 50
is engaged with a shallow groove provided on the outer circumferential surface of the first guide vibe 44, and then the above-mentioned pushing up force of the cover 52 is released.
At this time, the cover 52 is pushed down by the spring 55 until it hits the stop ring 53, and each steel ball 50 engages with a shallow groove provided on the inner peripheral surface of the cover 52. That is, each steel ball 50 engages with a shallow groove provided in the first guide vibe 44 and the cover 52, so that the first guide vibe 44 and the second guide vibe 46 are coupled. Next, we move on to the flaw detection work on the heat exchanger tube 4. (1) When the automatic flaw detection device 5 is moved one pitch in the (X, -) direction, the clamp shafts 26 of the tap shafts 21 and 22 are raised, and each collet 34 are separated from the inner surfaces of the adjacent heat exchanger tubes 4, and the tap shafts 21,
22 is lowered, each collet 34 is taken out from inside each of the heat transfer tubes 4, and the tap shafts 21 and 22 are unclamped. 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 one pitch relative to each of the heat exchanger tubes 4, and
You will be facing the position directly below No. 4. Next, the tap shaft 21,
22 is raised, each collet 34 is inserted into each of the heat exchanger tubes 4, and the clamp shafts 26 of the tap shafts 21 and 22 are lowered to bring each collet 34 into close contact with the inner surface of each of the heat exchanger tubes 4. Then, the tap shafts 21 and 22 are clamped. Next, the clamp shaft 26 of the tap shafts 19, 20
by raising each collet 34 to the adjacent heat exchanger tube 4.
The tap shafts 19 and 20 are lowered again, and the respective collets 34 are taken out from the respective heat exchanger 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, so that the carrier 14 does not move and the frame 6
, 10, etc. move in the (X, -) 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
, -) direction to face the position directly below the adjacent heat exchanger tube 4. Next, the tap shafts 19 and 20 are raised, and the respective collets 34 are inserted into the heat exchanger tubes 4.The clamp shafts 26 of the tap shafts 19 and 20 are then lowered, and the respective collets 34 are inserted into the inner surfaces of the heat exchanger tubes 4. The tap shafts 19 and 20 are clamped in close contact with the tap shafts 19 and 20. The device 5 thus returns to the state shown in FIG. 3 and completes the one-pitch walking operation in the (X, -) direction. (■) The above device 5 (X
, +) direction, tap axis 19
, 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 shafts 21, 22 are clamped, the carrier 14 does not move, and the frames 6, 10, etc.
It moves in the X, +) direction, moves one pitch, and stops at stopper 1.
7 stops when it comes into contact with the carrier 14. At this time, the colets 34 of the tap shafts 19 and 20 also move by one pitch in the (X, +) direction, and come to face the position directly below the adjacent heat exchanger tube 4. Next, clamp the tap shafts 19 and 20,
The tap shafts 21 and 22 are unclamped in sequence, and the carrier 14 is further moved in the (X, 10) direction until it abuts against the stopper Sl8, and the tap shafts 21 and 22 are clamped. Thus, the device 5 returns to the state shown in FIG.
) completes a one-pitch walking operation in the direction. (■) When making the device 5 walk 3 pitches in the (X, -) direction, (
Same procedure as described in 1), except that tap axis 19
, 20, then move the device 5 to (X,-)
All you have to do is move it 3 pitches in the direction. (■) To move the device 5 three pitches in the (X, +) direction, follow the same procedure as described in (■), but start by unclamping the evening knob shafts 21 and 22, and then move the device 5 ( X, +) direction 3
Just move the pitch. (■) The above device 5 is (Y, -
) If you want to walk one pitch in the direction of (1) or (
■) Same operation as described in item 1), except that the tap shaft 19,
Starting from unclamping 20, it is sufficient to move the device 5 one pitch in the (Y, 1) direction. (■) The above device 5 (
To move the device 5 one pitch in the direction (X,
It is sufficient to move l pitches in the +) direction. As explained above, the tap shafts 19, 20, 21, 22 are connected to the clamp shaft 2.
6 alternately, move the carriers 13 and 14 in the X direction and the frames 6 and 10 in the Y direction, and move (X, -)
Walking in the (X, +) (Y, -) (Y, +) direction.
Furthermore, each time the user stops walking, the arm 40 is rotated 180 steps and the heat exchanger tube 4 is inspected using the inspection equipment 67. That is, when the arm 40 finishes walking and stops, the arm 40 reaches B.
If it is stopped at the 1 (and A1) position, the cord 65 is fed out, the inspection device 67 is inserted into the heat exchanger tube 4 at the area position, and an inspection is performed. After the inspection is completed, the cord 65 is pulled back and the inspection equipment 67 is taken out from the heat transfer tube 4, and then the arm 40 is swiveled to the B12 position and the inspection is carried out in the same manner. The same goes after that, and the arm 40 is moved to B2l, B2, B. 2
3, B32, every time it stops at the B3 position, the inspection equipment 67
is inserted into and removed from the heat exchanger tubes 4 to inspect each heat exchanger tube 4. Moreover, when the inspection of the seven heat exchanger tubes 4 is completed as described above, the automatic flaw detection device 5 is made to walk one pitch in any of the above directions, and when it has finished walking and stopped, the arm 40 is rotated from the B3 position to the B1 position. After stopping, another seven heat exchanger tubes 4 are inspected. Also, when all the heat exchanger tubes 4 have been inspected, the cover 52
Push down the lower end against the spring 55 to insert each steel ball 50 into the deep groove provided on the inner circumferential surface of the canniper 52, while pulling down the guide vibe 66 to separate the first guide vibe 44 and the second guide vibe. 46, and then the automatic flaw detection device 5 is taken out from the water chamber 1 through the manhole 57. 4. The reason why the second guide vibe 46 is attached to the first guide vibe 44 using two shallow grooves and the steel ball 50 to make it rotatable as described above is that even if the arm 40 turns, the guide vibe 66 does not move. This is to prevent twisting. Further, as described above, the steel balls 50 and the retainer 51
The reason why the cover 52 and the spring 55 are provided is that the first and second guide vibes 44 and 46 can be easily controlled by remote control.
This is to allow quick attachment and detachment. Also each guide vibe 4
The reason why the inner surfaces of the vibrators 4, 46, and 66 are continuous is to prevent damage to the inspection equipment 67 that moves within each vibrator. The present invention provides the first and second carriers 13, 1 as described above.
4 is attached to the first and second frames 6, 10 so as to be movable (in one direction), and each of the same frames 6, 10 is assembled so as to be movable in the other direction orthogonal to the above direction, and is lifted. The tap shaft 1 inserts the collet 34 into one of the holes 4 to be worked on.
9 to 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 connected to the carriers 13, 14.
The base end portion 40a of the arm is connected to the frame body 6, respectively.
In the automatic working device 5 in which the working device 67 is rotatably attached to one or one of the arms 40 and the working device 67 is attached to the distal end portion 40b of the arm 40, first and second guide vibes movably support the working device 67. 44 and 46, the first guide vibe 44 is fixed to the distal end portion 40b of the arm 40, and the second guide vibe 46 is fixed to the distal end portion 40b of the arm 40.
Since it is detachably and rotatably attached to the first guide vibe 44, the work equipment 67 can be smoothly inserted into and removed from the work target hole 4. In addition, since the second guide vibe 46 is rotatably attached to the first guide vibe 44 as described above, the arm 40 can be rotated smoothly without twisting the guide vibe 66. It is. 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 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.
Fig. 7 is a vertical side view taken along the arrow ■-■ line in Fig. 6, Fig. 8 is an explanatory diagram showing the inspection range, Fig. 9 is a longitudinal side view showing the main parts, and Fig. 10 is the second guide. Partial longitudinal side view of the vibrator,
FIG. 11 is a cross-sectional plan view taken along the arrow 1-1 line in FIG. 9. 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... First Guide vibe, 46...Second guide vibe, 67...
...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 and raise each frame so that they can move in the other direction perpendicular to the above direction. 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 are provided on each of the carriers, and the base end of the arm is rotated to the frame. In an automatic working device in which the working equipment is attached to the tip of the arm, the working equipment has first and second guide pipes that support the working equipment so that the working equipment can move forward and backward, and the first guide pipe An automatic working device, characterized in that the second guide pipe is fixed to the tip of the arm and detachably and rotatably attached to the first guide pipe.