JPS6256459B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a traveling device capable of traveling both vertically and horizontally, such as an ultrasonic flaw detection device for welding lines of a nuclear reactor pressure vessel.

Figures 1 and 2 show the weld lines of the reactor pressure vessel and the ultrasonic flaw detection equipment that inspects them.

As shown in these figures, the reactor shielding wall 2
The reactor pressure vessel 1 surrounded by is assembled by welding along a vertical welding line 3 and a circumferential welding line 4.

The weld lines 3 and 4 are then inspected using ultrasonic flaw detection equipment. The ultrasonic flaw detection equipment includes a vertical track 5 constructed along a vertical weld line 3 and having a drive transmission member 7 inside, and a weld line 4 extending in multiple stages in the height direction of the reactor pressure vessel 1. It comprises a horizontal track 6 which is constructed along the line and has a drive transmission member 8 inside, a turntable 9 provided at the intersection of both tracks 5 and 6, and an ultrasonic flaw detection device 12 having an ultrasonic probe 11. There is. The ultrasonic flaw detection device 12 has a drive section, and the drive section includes a drive source, a drive transmission member, and a pinion 1 connected thereto.
3, the pinion 13 meshing with the rack 7 of the vertical track 5 or the rack of the horizontal track 6. Therefore, the ultrasonic flaw detection device 1
2 is changed direction by a turntable 9 at the intersection of the tracks 5 and 6, and by cooperation of the drive unit and the racks formed on the tracks 5 and 6, the direction is changed in the vertical direction.
It is operated to travel in the circumferential direction, which is the horizontal direction, so that the weld lines 3 and 4 can be inspected, respectively.

By the way, when the power source of the driving part of the ultrasonic flaw detection device 12 is cut off, the ultrasonic flaw detection device 12 is guided from the horizontal track 6 to the vertical track 5 by remote control, and the wire, etc. It was towed away and brought back.

The present invention provides for a traveling device such as the above-mentioned ultrasonic flaw detection device to travel vertically at a low speed in consideration of its own weight when the power source such as power supply or air is cut off, and to move the traveling device to its mounting position. The purpose of this invention is to provide a vertical and horizontal traveling device that can be safely pulled back.

The first feature of the present invention is that the traveling device is provided with a vertical drive source and a horizontal drive source separately, and the driving device is provided with a power source that connects the vertical drive source and the drive transmission member of the vertical track. A transmission member, a power transmission member that connects the horizontal drive source and the horizontal track drive transmission member are separately provided, and a deceleration device that operates only when a power source such as a power source is cut off to the vertical drive source. This configuration was able to reliably achieve the above objective.

Further, the second feature of the present invention is that the traveling device is provided with one drive source, and a reduction gear that operates only when a power source such as a power source is cut off is attached to the drive source, and the drive source is connected to the drive source. A power transmission member that connects the drive connection member of the vertical track and a power transmission member that connects the drive source and the drive connection member of the horizontal track are provided, and the drive source and the drive connection member of the horizontal track are connected. The power transmission member is provided with a clutch that allows the power transmission member to freely rotate when the power source is cut off and operates the power transmission member under normal conditions.This configuration also ensures that the above purpose is achieved. This is what we were able to achieve.

Hereinafter, the present invention will be explained based on the drawings.

3 to 5 show an embodiment of the first aspect of the present invention. This embodiment has welding lines 3, 4 in the vertical direction of the reactor pressure vessel 1 shown in FIGS. 1 and 2, and in the circumferential direction, that is, in the horizontal direction.
This figure shows a case in which the present invention is applied to ultrasonic flaw detection equipment for inspecting.Racks 7 and 8, which are drive transmission members, are formed inside vertical and horizontal tracks 5 and 6, respectively. A turntable 9, which is a direction changing device, is provided at the intersection of the vertical and horizontal tracks 5 and 6. Further, although there is an attachment position for the traveling device 14 at a preset position due to radiation and the like, it is omitted in FIGS. 3 to 5.

The traveling device 14, which is an ultrasonic flaw detection device, includes a fourth
As shown in the figure and FIG. 5, a motor 15 as a vertical drive source and a motor 16 as a horizontal drive source are provided separately.

A brake 17, which is a speed reducer, is attached to the vertical motor 15 and operates only when the power is cut off.

The motor 1 which is the driving source in the vertical direction
5 and a rack 7 which is a drive transmission member of the vertical track 5 are connected via a power transmission member, and the power transmission member is a gear train 19 connected to the motor 15 and a rack 7 which is a drive transmission member of the vertical track 5. The pinion 21 is connected to the rack 7 and meshes with the rack 7.

On the other hand, the motor 16 which is the drive source in the horizontal direction
and the rack 8, which is a drive transmission member for the horizontal track 6, are connected via another power transmission member, and the power transmission member is connected to the motor 16.
The gear train 20 is connected to the gear train 20, and the pinion 22 is connected to the gear train 20 and meshes with the rack 8.

The traveling device 14 of the embodiment described above operates as follows.

That is, when moving in the horizontal direction during normal operation, the motor 16 is started and the motor 1
The running gear 14 is operated along the horizontal track 6 via a power transmission line which passes through the rack 6, the gear train 20 and its pinion 22 to the rack 8 of the horizontal track 6.

In addition, when moving in the vertical direction during normal operation, another motor 15 is started, and the traveling device 14 passes through the power transmission path via this motor 15, the gear train 19, and its pinion 21 to the rack 7 of the vertical track 5. is operated to travel along a vertical track 5. During this normal operation, the brake 17, which is a speed reducer, does not operate.

If the power is cut off during use, the traveling device 14
is moved as follows.

That is, if the power is cut off while the traveling device 14 is located within the horizontal track 6, the rack 8 of the horizontal track 6 and the motor 16 without a brake will be damaged, as shown in FIG. Connected gear train 2
0 pinion 22 is engaged. Therefore, when the wire is towed by remote control, the traveling device 14 is operated to travel along the horizontal track 6 at high speed through the rack and pinion 8, 22.

When the traveling device 14 reaches the intersection, the turntable 9 changes direction. When the running gear 14 is turned towards the vertical track 5, the rack 7 of the vertical track 5 and the pinion 21 of the gear train 19 connected to the motor 15 with the brake 17 are engaged. In addition, the brake 17 operates when the power is cut off. When the traveling device 14 moves to the vertical track 5 in this state where the power is cut off,
Along this vertical track 5, the vehicle is operated at a low speed by the action of the brake 17. The running gear 14 can therefore be safely pulled back into the mounting position indicated by the reference numeral 10 in FIG.

Next, FIG. 6 shows an embodiment of the second invention of the present invention.
The motor 23 is provided with a brake 24, which is a speed reducer, and a gear train 25, which are connected to the motor 23. The brake 24 is designed to operate only when the power is cut off.

Further, an intermediate shaft 26 is attached to the traveling device 14, and the rack 7 of the vertical track 5 is attached to the intermediate shaft 26.
A pinion 27 meshing with the rack 8 of the horizontal track 6, a pinion 28 meshing with the rack 8 of the horizontal track 6, and a clutch 29 are provided. A pinion 27 meshing with the rack 7 of the vertical track 5 is formed integrally with the intermediate shaft 26 and is connected to a gear train 25. A pinion 28 meshing with the rack 8 of the horizontal track 6 is mounted such that it can rotate freely relative to the intermediate shaft 26. The clutch 29 is connected to the traveling device 14.
During normal operation, a pinion 28 that meshes with the rack 8 of the horizontal track 6 is connected to the intermediate shaft 26, and is turned off when the power is cut off, allowing the pinion 28 to rotate freely relative to the intermediate shaft 26.

In the embodiment shown in FIG. 6, the brake 24 is not operated during normal operation, and the pinion 28, which includes a clutch 29 and engages the rack 8 of the horizontal track 6, is connected to the intermediate shaft 26. .

Therefore, during this normal operation, the traveling device 14
is located in the horizontal track 6, the motor 2
3, the gear train 25, the pinion 27, the intermediate shaft 26, and the pinion 28, and then the drive is operated at high speed through the power transmission system that reaches the rack 8 of the horizontal track 6, and when moving into the vertical track 5, the motor 23 and the gear Rack 7 of vertical track 5 via row 25 and pinion 27
The vehicle is operated at high speed through a power transmission system that leads to

When the power is cut off, the brake 24
starts operating, the clutch 29 is disengaged, and the pinion 2 engages with the rack 8 of the horizontal track 6.
8 is set so that it can freely rotate with respect to the intermediate shaft 26.

As a result, the pinion 28 can freely rotate with the rack 8 of the horizontal track 6 when the running gear 14 is located in the horizontal track 6 when this power supply is cut off.
Since these are in mesh with each other, the traveling device 14 can be operated at high speed along the horizontal track 6 in accordance with the traction speed controlled by remote control, regardless of the action of the brake 24.

When the traveling device 14 moves into the vertical track 5 when this power supply is cut off, the motor 23 and the gear train 2
5 and the pinion 27 connected to the intermediate shaft 26 to reach the rack 7 of the vertical track 5. In this state, the brake 24 is activated, so the operation of the brake 24 makes it difficult to travel. The device 14 is operated at low speed along the vertical track 5.

Next, FIGS. 7 and 8 show another embodiment of the second invention, in which two rows of racks 30 and 31 are formed on the vertical track 5, and racks 30 and 31 in two rows are formed on the horizontal track 6. A row of racks 32 is formed. Pinions 35 and 36 are provided adjacently so as to be able to engage with the racks 30 and 31, respectively, and a clutch 37 for engaging and disengaging the pinions 36 is also provided. One pinion 35
is connected to a gear 33 that is connected to a motor with a brake (not shown). Note that this pinion 35 is designed not to mesh with the rack 32 of the horizontal track 6. The other pinion 36 is formed to be able to freely rotate with respect to the intermediate shaft 34,
and the rack 31 of the vertical track 5 and the horizontal track 6
The rack 32 is provided so as to be able to engage with the rack 32. The clutch 37 connects the pinion 36 to the intermediate shaft 34 during normal operation, and is disconnected when the power is cut off, allowing the pinion 36 to rotate freely.

In the embodiment shown in FIGS. 7 and 8, the pinion 36 is connected to the intermediate shaft 34 via the clutch 37 during normal operation, and the traveling device 14 is connected to the pinion 36 through the clutch 37.
is located in the horizontal track 6, the gear 33
The traveling device 14 is operated at a high speed through a power transmission system that extends through the pinion 35, intermediate shaft 34, and pinion 36 to the rack 32.

Further, when the traveling device 14 moves into the vertical track 5, the two rows of racks 30, 31 of this vertical track 5
Pinions 35 and 36 mesh with each other, and the traveling device 14 is operated powerfully and at high speed through a power transmission system that includes the gear 33, these pinions 35 and 36, and the racks 30 and 31.

Next, when the power is cut off, a brake (not shown) is activated, and the clutch 37 is disengaged, allowing the pinion 36 to rotate freely relative to the intermediate shaft 34.

As a result, when the traveling device 14 is located within the horizontal track 6, the pinion 36 rotates freely as shown in FIG.
The traveling device 14 is towed by remote control and is operated at high speed regardless of the action of the brakes.

When the traveling device 14 moves to the vertical track 5, the pinion 35 connected to the intermediate shaft 34 engages with the rack 30, as shown in FIG. Travel operation is performed at low speed.

Note that in the present invention, an air or hydraulic motor may be used instead of the power source.

The present invention has the configuration and operation described above,
According to the first invention, when the power source is cut off, the traveling device can travel in the vertical direction at a low speed that takes its own weight into account, so that it can be safely towed to a predetermined mounting position.

Further, according to the second invention, since only one power source is required, there is a special effect of reducing costs in addition to the effects of the first invention.

[Brief explanation of the drawing]

FIG. 1 is a partially enlarged explanatory view of the installation of an ultrasonic flaw detection equipment including a nuclear reactor pressure vessel and an ultrasonic flaw detection device which is an example of the object of the present invention, and FIG. 2 is a schematic explanatory view of the entire same. Figures 3 to 5 show an embodiment of the first aspect of the present invention when it is adopted in ultrasonic flaw detection equipment. Figure 3 is a front view showing the installed state, and Figure 4 is a running view. Figure 5 is an enlarged view of the device when it is located on a horizontal track, as seen from a direction perpendicular to the horizontal track, and Figure 5 is an enlarged view of the traveling device when it is located on a vertical track, as seen from a direction that is perpendicular to the vertical track. . FIG. 6 is an enlarged view showing an embodiment of the second aspect of the present invention. Figures 7 and 8
The figure shows another embodiment of the second invention.
Figure 7 is an enlarged view of the traveling device when it is positioned on the horizontal track, viewed from the direction perpendicular to the horizontal track.
FIG. 8 is an enlarged view when the traveling device is positioned on the vertical track, viewed from a direction perpendicular to the vertical track. 3, 4... Welding line of reactor pressure vessel, 5, 6...
... Vertical and horizontal tracks, 7, 8... Rack that is a drive transmission member for vertical and horizontal tracks, 9... Turntable that is a direction changing device, 10... Mounting position of traveling device, 14... Traveling device, 15 , 16... Motor as a driving source in vertical and horizontal directions, 17... Brake as a speed reducer, 19, 20... Gear train, 2
1, 22... Pinion of gear train, 23... Motor as a driving source, 24... Brake, 25... Gear train, 26... Intermediate shaft, 27, 28... Pinion,
29...Clutch, 30, 31...Rack of vertical track, 32...Rack of horizontal track, 33...Gear, 34...Intermediate shaft, 35, 36...Pinion,
37...Clutch.

Claims (1)

[Scope of Claims] 1. A traveling device capable of traveling between a vertical track and a horizontal track having a drive transmission member via a direction change device, the traveling device having a vertical drive source and a horizontal drive source. A power transmission member that connects the vertical drive source and the vertical track drive transmission member, and a power transmission member that connects the horizontal drive source and the horizontal track drive transmission member are separately provided. . A vertical and horizontal traveling device, characterized in that a reduction gear that operates only when a power source such as a power source is cut off is attached to the vertical driving source. 2. In a traveling device that can travel between a vertical track and a horizontal track that have a drive transmission member via a direction change device, the traveling device is provided with one drive source, and this drive source is disconnected from a power source such as a power source. A speed reducer that operates only when the vehicle is tilted is installed, and a power transmission member that connects the drive source and the vertical track drive connection member and a power transmission member that connects the drive source and the horizontal track drive connection member are provided. In addition, the power transmission member connecting the drive source and the horizontal track drive connection member includes a clutch that allows the power transmission member to rotate freely when the power source is cut off and operates the power transmission member under normal conditions. A vertical and horizontal traveling device, characterized in that it is provided with: