JPS6233992B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a moving device for moving piping arrays existing in various large-scale systems, for example, for performing inspection, maintenance work, etc.

In large systems such as chemical plants and nuclear reactors, it is necessary to maintain the integrity of each component and welded parts of the structure during operation, and for this reason, we conduct inspections and maintenance work by patrolling the inside of the equipment. It is necessary to do this. However, these systems tend to become larger and more densely packed, making it extremely difficult for workers to inspect their internal parts and access maintenance parts.

In particular, nuclear power plants are required to undergo periodic inspections from the perspective of safety management, but inspections during their use (in-service) are mandatory.
Even when conducting inspections (ISI), inspectors are severely restricted from staying inside the reactor for long periods of time to prevent radiation exposure. In other words, it is possible to inspect the complex environment inside a nuclear reactor without human assistance.
There is a strong need for equipment that can transport equipment for maintenance and provide secure footing for these operations.

The area around the steam drum 11 in a nuclear reactor as shown in FIG. 1 can be cited as an object of such inspection and maintenance, for example. This steam drum 11 has 28 stainless steel riser pipes 1 at intervals of 450 mm, for example in the new converter currently in operation.
There are four rows of 2's passing through it. As part of ISI work for a nuclear reactor, the integrity of the welded portion 13 of each riser 12 to the drum 11 must be inspected one after another for each riser 12 by ultrasonic flaw detection.

Conventionally, for ultrasonic flaw detection of pipe welds,
A device is being considered in which an annular track is artificially installed around the outer circumference of these pipes and an ultrasonic flaw detector is automatically rotated along this track. However, although such equipment is large-scale, manual work is required to move this equipment to another pipe when the inspection of one pipe is completed. Not only is this inefficient, but it also requires the inspector to approach the area to be inspected and maintained.

It is also being considered to install another scaffold near the pipe group installation site, and move the ultrasonic flaw detector at the tip of the long-armed manpilulator close to the pipe weld while moving on this scaffold. However, due to constraints on the current manpilulator mechanism and drive system, it is difficult to stretch the multi-jointed manpilulator into a narrow pipe while moving the ultrasonic flaw detector at the tip along the circumference of the welded part reliably and with good reproducibility. It is extremely difficult to do so. Moreover, it is not substantially desirable to set a trajectory for moving the manpilulator body around the location where the pipe group is installed.

This invention was made in view of the above points, and uses the set piping group itself to freely move the piping group and apply the inspection and maintenance equipment to the inspection and maintenance parts. The object of the present invention is to provide a moving device on piping that can be transported and used as a scaffold to effectively perform inspection, maintenance, and other work.

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows the configuration as seen from the outside, and shows first and second clippers 1 that grip two adjacent pipes 12 arranged at equal intervals.
4a and 14b. This clipper 14a, 1
4b consists of a main body part 16 supported on the upper side by support shafts 15a and 15b, respectively, and a pair of swinging opening/closing members 17a and 17b provided on the lower side of this main body part 16 so as to be freely openable and closable on both sides. Opening/closing member 17
A, 17b are set in a closed state with a through hole through which the piping to be gripped is inserted between them and the main body 16, and the support shafts 15a, 15b are set to be parallel to the piping to be gripped. be done. The support shafts 15a, 15b are attached to the yoke 18 at intervals equal to the distance between the pipes.
15b acts as a neck that supports the clippers 14a, 14b, and supports the clippers 14 against the yoke 18.
a, 14b can be controlled to rotate, and can also be controlled to extend and contract along the axis.

FIG. 3 explains the relationship between such a moving device and a plurality of pipes 12a, 12b, etc. For example, clippers 14a, 14 are attached to pipes 12b, 12c.
b, and by closing the opening/closing members 17a, 17b, the clippers 14a, 14b grip the pipes 12b, 12c, and the moving device is fixedly set at its position on the pipe row. That is,
For example, it will act as a scaffold for inspection and maintenance work.

From this state, the clipper 14 is
Open the opening/closing members 17a and 17b of a, and open the piping 12b.
At the same time as releasing the grip state on the pipe 12c,
If the yoke 18 is rotated around the spindle 15b of the clipper 14b which is still gripping the clipper 14a,
rotates as shown by arrow 19 and dashed line,
The new pipe 12d is now adjacent to the pipe 12d. In this state, the opening/closing member 17 of the clipper 14a
If the pipe 12d is gripped with the pipes a and 17b closed, this moving device has moved one row of pipes.

In this case, the spindles 15a and 15b are rotated by the same amount in the same direction by a mechanism installed in the yoke 18, and the rotational force applied to the spindle 15b causes the yoke 18 to rotate as described above. The yoke 15a is always rotated so that its opening/closing members 17a and 17b are always directed in the direction of the pipe row. In addition, in a state related to the rotation mechanism for the support shafts 15a, 15b, the opening/closing members 17a, 17b of the clipper 14a on the side to be rotated are controlled, and after the gripping state on the pipe 12b is released, the clipper 14a moves to the pipe 12d. In this state, the pipe 12d is gripped.

FIGS. 4 and 5 show the above-mentioned moving device in more detail, with clippers 14a and 14b.
The opening/closing members 17a and 17b are pins 20a and 20 located outside the lower end of the main body 16, respectively.
b, and is rotatably attached, and is set to open by, for example, leaf springs 39a and 39b. A chain 21 is provided on the inner side of each of the opening/closing members 17a and 17b, which is in contact with the main body 16.
Both ends of the chain 21 are connected to each other, and this chain 21 is engaged with a gear 23 that is eccentrically protruded from the surface of a bevel gear 22. This gear 23 is rotatably set relative to the bevel gear 22, and as the bevel gear 22 rotates, the chain 21 is pulled upward.
It is also loosened downward, which sets the gripping state and open state of the pipe. The bevel gear 22 is rotationally controlled by a bevel gear 25 that is rotated by a geared motor 24, and a rotation command is sent to the geared motor 24 from a control circuit in relation to the rotational movement of the yoke 18. Given.

A sprocket 27 rotated by a geared motor 26 is provided at a portion of the yoke 18 corresponding to an intermediate position between the support shafts 15a and 15b. Also,
The support shafts 15a and 15b are installed in a housing 28 that rotates as one unit, and are set to be movable in the axial direction within the housing 28. A sprocket 29 is integrally provided on the outer periphery of the housing 28. . The sprocket 29 and the sprocket 27 corresponding to the support shafts 15a and 15b are
A chain 30 is placed between each of the support shafts 15a and 15 by rotation of the geared motor 26.
b so that each of them is rotated at the same rotational angular velocity in the circumferential direction.

That is, if the geared motor 26 is rotated while the clipper 14b grips the pipe 12c and the gripper 14a is released, the rotation of the support shaft 15b with respect to the yoke 18 causes the yoke to move as explained in FIG. 18 is now rotated.
At this time, due to the rotation of the support shaft 15a, the clipper 1
4a is always facing the direction of the piping row, and the yoke 1
It is rotated together with 8. That is, the rotating operation of the yoke 18 and the opening/closing operation of the clippers 14a and 14b as explained in FIG.
6 and 24, respectively, and by driving and controlling these motors 26 and 24 by a sequence control circuit, this moving device moves step by step on the pipe row. be.

As described above, the support shafts 15a and 15b are set to be movable in the axial direction within the housing 28 attached to the yoke 18. The tips of the support shafts 15a, 15b inserted into the housing 28 are nuts 31, and a ball screw 32 set coaxially with the support shafts 15a, 15b is screwed into the nut 31. be done. The ball screw 32 is taken out through the bottom of the housing 28, connected to a geared motor 33 attached to the outside of the housing 28, and rotated by the motor 33. That is, the rotation of the geared motor 33 causes the support shafts 15a, 15b to be controlled to expand and contract with respect to the yoke 18.

That is, by alternately releasing the gripping state of the clippers 14a and 14b and controlling the expansion and contraction of the support shafts 15a and 15b, this moving device is moved in the direction along the pipe.
In addition to the movement in the direction in which the piping rows are lined up as explained in the figure, the movement can be controlled in any direction on the piping row.

Here, a guide 34 that forms a circumferential orbit when the opening/closing members 17a, 17b are closed is provided on the end faces of the clippers 14a, 14b perpendicular to the piping, and a control orbit 35 formed by a rack tooth is provided on the inner periphery of the guide 34. provided. And for this guide 34,
For example, an inspection device 36 such as an ultrasonic flaw detector is fitted and moved along a circumferential trajectory, going around the outer periphery of the pipe to be gripped to perform inspection work.
In this case, the inspection device 36 is provided with a drive gear 37 and meshed with the control track 35, so that the inspection device 36 is self-propelled around the outer circumference of the pipe.

FIG. 6 shows that this moving device is connected to pipes 12a and 12b.
This figure sequentially shows the process of moving along the yoke. First, the pipes 12a, 12b are gripped by the clippers 14a, 14b as shown in figure A, then the support shafts 15a, 15b are extended as shown in figure B, and the yoke is moved. 18 in the direction indicated by the arrow. Then, as shown in Figure C, the clipper 14b is released from the gripping state and the support shaft 15 is
b, move this clipper 14b in the direction of the arrow, and at this location, use the clipper 14b to close the pipe 12b.
grasp. In this state, if the clipper 14a is similarly moved close to the yoke 18, D
As shown in the figure, one step of the moving operation of this moving device is completed.

That is, according to the device configured as described above, it is possible to move freely on a large number of pipe rows set in a steam drum of an electronic furnace, for example, in the direction in which the pipes are lined up, and further in the direction in which the pipes extend. In either the stopped state or the moving state, the pipe is gripped by the clipper and performs various inspection and maintenance functions, such as transporting the maintenance equipment, and also functions as a scaffold during inspection and maintenance work. Moreover, since the clipper, which is the fixing means in this moving device, grips the piping that is subject to inspection and maintenance, inspection and maintenance devices can be combined with this clipper. This allows it to be effectively used for work purposes.

In the above embodiment, one pair of clippers is attached to one yoke, but in particular, one pair of clippers is attached to one yoke.
It is not necessary to provide a structure in which one clipper is attached to each of the pair of support shafts 15a and 15b.

For example, as shown in FIG. 7, frames 38a and 38b are attached to the support shafts 15a and 15b at both ends of the yoke 18, and a plurality of frames, for example three, are attached to each of the frames 38a and 38b. The clippers 14a, 14b,
14c, 14d, 14e, and 14f. In this case, frames 38a, 38
b is a means similar to the mechanism related to the chain 30 described above, so that even when the yoke 18 rotates, it always faces parallel to the piping row,
Three clippers in each of the frames 38a and 38b are controlled to open and close on a frame-by-frame basis.

That is, with this configuration, as shown in FIG. 8, the state shown in FIG. 3 can be further enlarged and moved in the direction in which the pipe rows are lined up, and the gripping force on the pipe rows is strengthened and ,inspection,
Effective in improving maintenance work efficiency.

In the above embodiment drawings, the frames 38a and 38b are arranged on the surface of the yoke 18, but this is due to the weight balance etc.
The frames 38a and 38b may be arranged on one side of the frame. Further, in this embodiment, the pipes are moved in units of three, but the yoke 18 may be set in accordance with the spacing of the pipe rows, and the yoke 18 may be moved step by step for each pipe row. In this case, by setting a plurality of yokes 18 in parallel, sufficient strength can be obtained, and the force acting on one pipe can be sufficiently reduced.

As described above, according to the present invention, it is possible to obtain a moving device that is installed on a row of piping existing in a large system such as a chemical plant or a nuclear reactor, and can move freely on the row of piping. It enables various inspections, maintenance work, etc. on piping rows such as pipes to be carried out effectively without the need for inspectors to approach them, and is effective for carrying out work in narrow or dangerous environments. It is.

[Brief explanation of the drawing]

FIG. 1 is a diagram for explaining an object to which a moving device according to the present invention is used, FIG. 2 is a diagram showing a moving device according to an embodiment of the present invention, and FIG. Diagrams for explaining the moving state; FIG. 4 is a front view showing the moving device in more detail and partially cut away; FIG. 5 is a plan view, and FIG. 6 is a moving process of the moving device in the direction of the piping. A diagram explaining
FIG. 7 is a diagram for explaining another embodiment of the present invention, and FIG. 8 is a diagram for explaining the movement process of this embodiment. 12a, 12b... Piping, 14a, 14b... Clipper, 15a, 15b... Support shaft, 16... Main body, 1
7a, 17b...opening/closing member, 18...yoke, 21,
30... Chain, 22... Bevel gear, 24, 26,
33...Geared motor, 31...Nut, 32...Ball screw.

Claims (1)

[Scope of Claims] 1. A yoke that corresponds orthogonally to a plurality of parallel piping rows, and a pair of support shafts provided at both ends of the yoke and set parallel to the piping rows. , a plurality of clippers set at intervals corresponding to the piping rows that are provided in relation to each of the spindles and are opened and closed so as to grip the piping, and the yoke is rotated about one of the spindles as a fulcrum. In response to the operation of this rotation drive mechanism, a clipper related to the other support shaft is opened, and this clipper closes and grips the other piping while the clipper is set to correspond to the rotation of the yoke. 1. A moving device on a piping row, characterized in that it is equipped with a clipper opening/closing mechanism. 2. The device according to claim 1, wherein the pair of support shafts are set to be expandable and retractable along an axis with respect to the yoke. 3. The clipper opening/closing mechanism includes an eccentric rotation mechanism and a mechanism for connecting this mechanism with a member for opening and closing the clipper, and the clipper opening/closing mechanism is driven in accordance with the eccentric angle of the eccentric rotation mechanism. The device according to paragraph 1.