JPS6216797B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus that enables visual work by remote control, and is particularly suitable for an apparatus having an annular observation surface on the ceiling.

Naturally, boilers and their attached superheaters, feed water preheaters, air preheaters, condensers, etc. play a major role in steam engines and various power plants that directly utilize thermal energy. Heat exchange devices or heat exchangers are frequently used in various processes in various chemical industries including petrochemical and petroleum industries. In particular, multi-tubular cylindrical heat exchangers, which are common as large-sized heat exchangers, have a wide range of applications and can be used satisfactorily in the high-temperature and high-pressure equipment industry.

By the way, a steam generator is known as one such multi-tubular cylindrical heat exchanger, and unlike this steam generator, it is not equipped with heat transfer tubes (steam tubes) through which high-temperature, high-pressure fluid passes. To ensure that there are no major accidents or breakdowns, we conduct regular inspections for defects and abnormalities not only during production, but also during operation. One of these inspections is to visually check whether there are any abnormalities in the seal welds between heat transfer tubes and tube branches, or in the seal welds of the blind plugs that are filled into both ends of defective heat transfer tubes. There is.
However, in cases where there are hundreds to thousands of heat transfer tubes or where the partition chamber (water chamber) is narrow, it is extremely hard work for the observer to directly enter the partition chamber and continue visual inspection for a long time. In vertical steam generators, the work is directed upwards, which significantly increases the difficulty of visual work.

From this point of view, the present invention utilizes the ends of heat transfer tubes fixed to the ceiling tube plate of a steam generator, which have been previously announced, to create a walking robot or a spherical robot that can move along the ceiling tube plate while hanging from the end. To provide a visual inspection device that can be assembled to a guide device such as a manipulator that can be stably installed in a partitioned room forming a structure, and enables visual inspection, which was conventionally a complete on-site operation, to be performed while being monitored externally by remote control. The purpose is to

The configuration of the visual inspection device of the present invention that achieves this purpose includes a pedestal that is attached to the tip of the guide device so as to be able to rise and fall freely, and one end that rotates with respect to the pedestal around an axis parallel to the up-and-down direction of the pedestal. a plurality of mutually parallel link arms that are movably pivoted; a link arm driving means that is incorporated into the pedestal and rotates the link arms; A casing is pinned to the other end of the arm and moves in parallel with a radius equal to the link length of the link arm as the link arms rotate; The casing includes a flat mirror, and a relay optical system that forms an optical path between the flat mirror and an imaging device housed in the casing.

Hereinafter, a visual inspection device according to the present invention will be described below.
Regarding an embodiment that can be assembled into the manipulator shown in No. 33288, see Figures 1 to 4 assuming a visual inspection of the seal welded part of the blind plug filled in the steam capillary of a vertical steam generator. As will be explained in detail, a guide device such as a walking robot disclosed in Japanese Patent Publication No. 53-17121 may be used in place of the manipulator used in this embodiment.

As shown in Figure 1, which shows the appearance of the work condition,
A manipulator 100 carries out the operation of transporting the visual inspection device 10 to a predetermined steam tube 2 among a large number of steam tubes 2 fixed to the tube plate 1. A fixed base 1 for a manipulator 100 installed in a manhole 5 communicating with a hemispherical water chamber 4 at the lower end of a cylindrical shell 3
01 and a pedestal 10 fixed by a support ball 102 and a support arm 103 in a water chamber 4 partitioned by a partition wall 6.
A swivel base 105 is installed on the swivel base 105, and a telescoping main arm 107 that is swingably supported by an elevating arm 106 is installed on the swivel base 105.
is installed. This main arm 107
A small arm 109 is connected to the tip of the cylindrical body 1 with a semicircular tip via a swinging mechanism 108.
A visual inspection device 10 is detachably attached to a small arm 109 which can be freely rotated.

As shown in FIG. 2, which is a transparent view of the internal structure and parts of the viewing device 10 and the small arm 109 after being disassembled and enlarged, the small arm 109 is attached to the swinging mechanism 108 using its mounting hole 111. The main arm 107 is integrated with the main arm 107 by a bolt (not shown) inserted into the bolt hole 112. A guiding keyway 11 is provided on the inner surface of the cylindrical body 110.
3 and a relief groove 1 parallel to this guiding keyway 113
14 are carved in the vertical direction, and this cylindrical body 1
A lock cam 115 that can protrude from the inner surface of the small arm 109 is swingably attached to the small arm 109. This lock cam 115 abuts a piston 117 held within a spring loaded cylinder 116, to which a pneumatic tube 118 is connected.

The viewing device 10 includes an elevating section 11 fitted into a cylinder 110 of a small arm 109 and a main body 12 supported by the elevating section 11 so as to be movable up and down.

A pair of guide keys 13 that engage with guide key grooves 113 are provided on the elevating section 11 and project upwardly and downwardly, and a tapered engagement groove 14 that can engage with the lock cam 115 of the small arm 109 is formed in a semicircle of the elevating section 11. It is engraved on the cylindrical body 15 which has a shape. A ball screw 18 is vertically connected to a lifting motor 16 installed inside the cylinder 15 via a coupling 17, and a ball nut 1 is connected to the ball screw 18.
9 are screwed together. This ball nut 19 is fixed to a carriage 22 which is slidably fitted to two guide rods 20 extending vertically via a ball bush 21. A pair of holders 23 are placed on the sides of a holder 23 that houses the carriage 22. A limit switch 24 for detecting upper and lower ends is fixed. A counter 25 for detecting the vertical position of the carriage 22 and an electromagnetic brake 26 for momentarily stopping the rotation of the ball screw 18 are attached to the lower end of the ball screw 18.

On the other hand, a striker 28 that can come into contact with the upper and lower end detection limit switches 24 is provided on the side of the pedestal 27 of the main body 12, which is fixedly supported by a bolt (not shown) to the carriage 22 of the elevating section 11. At the bottom of this frame 27 is a drive gear 2.
A rotating motor 30 with a rotation motor 9 attached is installed. The drive gear 29 includes a pair of left and right transmission gears 3.
1 are meshed with each other, and the proximal ends of link arms 32 extending parallel to each other are fixed to these transmission gears 31, and the link arm driving means is constituted as a whole. The distal ends of the vertically opposing link arms 32 are respectively connected by pivot pins 33, and the rotating member 3 is connected to the pivot pin 33 so that these form a parallelogram link mechanism.
4 is fitted. A potentiometer 35 for detecting the rotational position of the rotational member 34 is connected to the rotational shaft 36 of the transmission gear 31 at the upper part of the pedestal 27. The length of the link arm 32 up to the center is approximately half the diameter of the steam capillary 2. A casing 38 that supports an industrial television camera 37 vertically upward is connected to the rotary member 34 via bolts 39, and the upper end of this casing 38 is connected to the industrial television camera 37 and has an optical path. A borescope 40 is attached that bends the shaft at right angles. As shown in FIG. 3, which is an enlarged and partially extracted view of the tip of the borescope 40, the tip of the borescope 40, which is used as a relay optical system, has a seal welded part of a blind plug (not shown). A holder 43 is mounted to swingably support a tilting shaft 42 to which a plane mirror 41 that guides light into the borescope 40 is integrally attached.
This tilting shaft 42 has a semicircular transmission gear 47 that meshes with a drive gear 46 connected via a gear head 45 to a tilting motor 44 for rocking the plane mirror 41.
is fitted. The tilting end of the plane mirror 41 is detected by a limit switch 49 that can come into contact with a striker 48 fixed to both ends of the tilting shaft 42, respectively. A light guide (not shown) is annularly attached to the inner peripheral wall of the borescope 40 for illuminating the seal welding area using a plane mirror 41, and this light guide and an industrial television camera 37
A cable 50 containing an image information transmission line (not shown) is led out from the lower end of the casing 38 via a hanging fitting 51 connected to the holder 23 of the elevating section 11. In this embodiment, in order to enable use in a high-temperature atmosphere, a cooling hose 52 for supplying cooling gas from the outside to the gap between the casing 38 and the industrial television camera 37 is connected via a hanging fitting 51. Casing 3
It is connected within 8.

Since it is configured like this, first of all, water chamber 4
Small arm 1 of manipulator 100 installed inside
09 is moved to just above the manhole 5, and the visual inspection device 10 is attached to the small arm 109. The working procedure is to insert the cylindrical body 16 of the elevating part 11 from below the cylindrical body 110 of the small arm 109 while aligning the guide key 13 and the guiding key groove 113, and the guide key 13 will cause the cylindrical body 16 to rotate. Since the lock cam 115 is restrained, by pushing up the lifting portion 11 as it is, the lock cam 1 is pushed up until the lock cam 115 and the tapered engagement groove 14 engage with each other as shown in FIG. 4a.
15 is pushed back. After the lock cam 115 and the tapered engagement groove 14 are engaged as shown in FIG. 4b, air pressure is applied to the spring-equipped cylinder 116 to press the piston 117 against the lock cam 115, completely integrating the two.

Next, the visual device 10 attached to the tip of the main arm 107 rotates, extends and contracts, and moves up and down.
is conveyed to the water chamber 4 immediately below the end of any steam tube 2, ie, to the location where a blind plug that requires visual inspection is sealed and welded. Here, the swinging mechanism 108
It is possible to correct the posture of the visual inspection device 10 by
This correction allows the tilting axis 42 to be made parallel to the tube plate 1.

Once the visual inspection device 10 has been moved directly below the end of the predetermined steam tube 2, the lifting motor 16 is operated to rotate the ball screw 18 and the carriage 22 is raised together with the casing 38. Detected by. In addition, the overrun is caused by the operation of the upper and lower end detection limit switch 24 and the striker 28, and the lifting motor 16 is
This is prevented by immediately stopping the electromagnetic brake 26. By raising and lowering this casing 38, it is possible to adjust the size of the image of the seal welded part.
The illumination light from the light guide is irradiated onto the seal welding part by the plane mirror 41, and the reflected light enters the industrial television camera 37 again via the plane mirror 41, and its image can be monitored outside the water chamber 4. Since the seal welding part is annular, a parallelogram link mechanism is activated by operating the rotation motor 30, and the rotation member 34 rotates together with the casing 38 with a diameter approximately equal to the diameter of the steam capillary 2. Therefore, even when it is desired to obtain an enlarged image of the seal welded part, the viewing device 10 can be moved accurately following the seal welded part. Note that if the viewing position is deviated, the viewing position is corrected by operating the tilting motor 44 to change the tilting position of the plane mirror 41. In addition, in a high temperature atmosphere, cooling gas is supplied to the casing 38 via the cooling hose 52.
to protect the industrial television camera 37 from heat.

Once the visual inspection of the seal weld area has been completed,
The small arm 109 is moved directly above the manhole 5 again, air is removed from the spring-loaded cylinder 117, and the viewing device 10 is pushed upward against the small arm 109 with a stronger force than when it was inserted, as shown in FIG. 4c. Then, the lock cam 115 again overcomes the elastic force of the spring 118 and rotates backward, and the guide key 13 comes out of the guide keyway 113. In this state, the cylindrical body 16 of the elevating part 11 is connected to the cylindrical body 110 of the small arm 109.
If the guide key 13 is rotated against the small arm 109, the guide key 13 moves to the escape groove 114, so even if the viewing device 10 is pulled down, it will not be affected by the lock cam 115, and the viewing device 10 can be removed from the small arm 109. I can do it.

As described above, according to the visual inspection device of the present invention, it is possible to visually inspect the surface to be observed with complete remote control, and since the device itself is small and lightweight, it can be used in confined spaces without any problems. can.

[Brief explanation of the drawing]

Fig. 1 is a cutaway perspective view showing a state in which the visual inspection device according to the present invention is attached to a manipulator to observe the seal welded part of a blind plug filled in a steam capillary of a vertical steam generator, and Fig. 2 shows a small section of the manipulator. An exploded perspective view showing the structure of the arm and the viewing device attached to it. Figure 3 is an enlarged perspective view of the tip of the borescope. Figures 4 a to c show the procedure for attaching and detaching the viewing device to the small arm of the manipulator. FIG. In the drawings, 1 is a tube plate, 2 is a steam tube, 10 is a viewing device, 11 is a lifting section, 12 is a main body, 13 is a guide key, 14 is a tapered engagement groove, 15 is a cylinder body,
16 is a lifting motor, 18 is a ball screw, 19 is a ball nut, 22 is a carriage, 27 is a frame, 3
0 is a rotating motor, 32 is a link arm, 33 is a pivot pin, 34 is a rotating member, 37 is an industrial television camera, 38 is a casing, 40 is a borescope, 41 is a plane mirror, 42 is a tilting axis, 44 is for tilting A motor, 50 a cable, 100 a manipulator, 109 a small arm, 110 a cylindrical body, 113 a guiding keyway, 114 a relief groove, 115 a lock cam, 116 a cylinder with a spring, and 117 a piston.

Claims (1)

[Claims] 1 A pedestal mounted to the tip of the guide device so as to be able to rise and fall freely, and a plurality of mutually parallel shafts each having one end fixed to the pedestal so as to be rotatable around an axis parallel to the direction of elevation of the pedestal. a link arm, a link arm driving means that is incorporated into the pedestal and rotates these link arms, and a link arm drive means that is pinned to the other end of the link arm about an axis parallel to the up-and-down direction of the pedestal, and that drives the link arms. a casing that moves in parallel with a radius equal to the link length of the link arm as it rotates; a plane mirror that is tiltably attached to the casing in a state facing the surface to be observed;
A viewing device comprising a relay optical system that forms an optical path between the plane mirror and the imaging device housed in the casing.