JPH022677B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device that is suspended from a ceiling, a vertical wall, etc. and is capable of intermittently moving itself along these surfaces, particularly along the surface of a tube sheet in a large heat exchanger. It is suitable for use when performing various types of work.

There are vertical and horizontal steam generators used in power reactors, but in general, vertical tower-shaped steam generators that are adapted from conventional feed water heaters are often used. The lever-shaped steam generator has an open end that passes downward through a horizontally installed ceiling tube plate, and a U that serves as a flow path for high-pressure fluid.
A steam tube is provided.

Normally, the materials used in nuclear reactor-related equipment are carefully selected, and their quality control is also very strict, and various inspections are also carried out when the steam generator product is completed, as mentioned above. However, one of the tasks is to detect abnormalities inside the U-shaped pipe using an eddy current flaw detector and check to see if there are any defects. This can be done by simply inserting the flaw detector upward into the eddy current flaw detector from the open end of the U-shaped tube that opens in the ceiling tube plate, but this must be done in a very narrow space inside the steam generator. This is extremely difficult, especially for small steam generators. This is true not only for vertical steam generators but also for horizontal steam generators, and automation of this work has long been desired.

To this end, it is necessary to create a structure that allows the moving device that supports the flaw detector of the eddy current flaw detection device to be moved arbitrarily along the ceiling tube plate, and also allows this moving device to be hung from the ceiling tube plate. Conventionally, a device has been developed in which the moving device is fixed to the open ends of U-shaped tubes that are opened at regular intervals in a ceiling tube plate using the open ends of the U-shaped tubes.

As shown in Figure 1, which shows the appearance of an example of this conventional moving device, a pair of mutually perpendicular guide rails 2 and 3 are attached to the main body 1 so as to be slidable in the horizontal direction. , 3 and the main body 1, and the main body 1 and the guide rails 2, 3 are relatively moved horizontally by the operation of the drive cylinders 4, 5. . The second guide rail 3 located below the first guide rail is moved up and down relative to the main body 1 together with the drive cylinder 5 by a lifting device (not shown) housed in the main body 1. ing. Clamp cylinders 7 equipped with brackets 6 for mounting work equipment (not shown) are attached to both ends of the first guide rail 2, and similarly, clamp cylinders 8 are attached to both ends of the second guide rail 3. A clamping device 10 is attached to these clamping cylinders 7 and 8 and is equipped with a collet 9 that is inserted into the open end of a U-shaped tube (not shown) and whose diameter can be freely expanded by the operation of the clamping cylinders 7 and 8. connected. Therefore, by actuating the drive cylinders 4 and 5 while alternately fixing the clamping device 10 of the first guide rail 2 and the clamping device 10 of the second guide rail 3 to the U-shaped tube, the entire device is illustrated. This makes it possible to move the tube intermittently along the ceiling tube plate.

However, in this conventional moving device, the installation position of the work equipment is fixed, so it is difficult to frequently replace the work equipment, and changing the position of the work equipment with respect to the ceiling tube board is also extremely troublesome. . Further, since the main body 1 moves vertically relative to the ceiling tube board, there is a high possibility that the device itself will fall, and there is a drawback that heavy working equipment cannot be mounted.

From this point of view, it is an object of the present invention to provide a moving device that allows the position of working equipment to be easily changed and that prevents the main body from moving up and down with respect to the moving guide surface.

The structure of the intermittent movement device for work of the present invention that achieves this objective is such that a large number of guide holes are arranged at a constant interval in a first direction and a second direction intersecting the first direction. a main body to which a guide wheel is rotatably attached, facing the moving guide surface and capable of rolling along the moving guide surface; two holders capable of reciprocating in one direction and the other reciprocating in the second direction, and a plurality of elevating and lowering units each attached to these holders so as to be reciprocatable in a direction perpendicular to the movement guide surface. member, and a collet that is attached to each of these elevating members and that can be freely expanded in diameter at a distal end portion that protrudes from the distal end of the elevating member, and that the distal end portion is inserted into the guide hole and fixed to the guide hole. a plurality of clamping means for obtaining a plurality of clamps; a swing bracket on which a working device is detachably mounted and rotatably attached to the outer periphery of the main body about an axis perpendicular to the movement guide surface; The apparatus further includes a bracket fixing means provided over the main body and regulating the relative rotational position of the swing bracket with respect to the main body.

Hereinafter, an embodiment in which the intermittent movement device for work according to the present invention is applied to movement of a reroll device used for tube plate clevis closing work in a vertical steam generator will be described in detail with reference to FIGS. 2 to 7. do. Fig. 2 showing the external appearance of this embodiment, Fig. 3 a showing its planar shape, and its cross section taken along line B-B;
As shown in FIGS. 3b and 3c, each showing a cross section taken along the line C-C, the disc-shaped main body 11 has two fluid pressure rods equipped with piston rods 12 and 13 that reciprocate in directions perpendicular to each other. Cylinders 14 and 15 are installed, and holders 18 and 19 that support a set of three vertical hydraulic cylinders 16 and 17 are fixedly installed at the tips of these piston rods 12 and 13, respectively. Linear guide members 20 and 21 are provided between the piston rods 19 and the main body 11 to guide the movement of the holders 18 and 19 as the piston rods 12 and 13 reciprocate. The piston rods 22 of the fluid pressure cylinders 16 and 17 are each hollow, and as shown in FIG. 5, which is an enlarged cross-section taken along the line V-V in FIG. A cylindrical collet holder 24 that holds a wedge-shaped collet 23 with its diameter expandable.
is installed protrudingly. Further, a clamping cylinder 25 is connected to the other end of the piston rod 22, and a piston rod 26 of this clamping cylinder 25 passes through the inside of the piston rod 22, and has a conical tip 2 that can be locked to a collet 23.
7 is fixed to the tip. Therefore, the piston rods 22 of the fluid pressure cylinders 16 and 17 are raised to move the collector holder 24 to the heat exchanger tubes 29 of the tube plate 28.
After the piston rod 26 of the clamp cylinder 25 is lowered, the clamp 27
The collet 23 is pushed out and the heat exchanger tube 29
This pressure bonding force allows the main body 11 to be suspended from the tube plate 28. As a matter of course, the positions of the six collector holders 24 must correspond to the intervals between the heat exchanger tubes 29 opening in the tube plate 28, and in this embodiment, the main body 11 is arranged with at least three collectors. Since it is designed to support the heat exchanger tube 29, even if one of them cannot be used due to the blind plug provided in the heat exchanger tube 29, the remaining two can be used to support the main body 1.
1 can be suspended, and work equipment that is heavier than conventional equipment can be mounted. or,
The main body 11 is provided with a plurality of casters 31 (five in this embodiment) each having wheels 30 that can freely roll on the surface of the tube plate 28 .
By driving one of the piston rods 12 and 13 of 4 and 15, the wheels 30 of the caster 31 roll on the surface of the tube sheet 28, and the main body 11 moves parallel to the tube sheet 28. A rotating cylinder 3 is connected to the outer peripheral edge of the main body 11 via an annular rotation guide member 32.
3 is rotatably attached to the main body 11, and as shown in FIG. A pinion 37 connected to a drive motor 36 mounted via a bracket 35 is engaged. In addition, in order to fix the rotating tube 33 at a specific rotational position, the rotating tube 33 has a locking groove 3.
A positioning ring 39 having a number 8 formed at a plurality of locations is fixed, and a roller 4 that can be engaged with this locking groove 38 is fixed.
A positioning cylinder 42 having a piston rod 41 with a piston rod 41 attached to the tip thereof is installed in the main body 11, and in this embodiment, the positioning ring 39, roller 40, positioning cylinder 42, etc. constitute a bracket fixing means. There is. Furthermore, as shown in FIG. 6, which shows the working state according to this embodiment, the rotating cylinder 33 is provided with a rotating bracket 44 that detachably supports a rerolling device (work equipment) 43. A guide cable 45 in the form of a band is hung down to guide the movement of the reroll device 43 when it is attached or detached.

During actual work, the entire device is inserted through the manhole 47 formed in the water chamber 46, and the caster 3 is first inserted as shown in Figures 7a to 7d showing the work procedure.
All six collector holders 24 are inserted into the heat transfer tubes 29 so that one wheel 30 is in contact with the tube plate 28, and the collectors 23 are pushed open to suspend the device from the tube plate 28. (See Figure 7a). From this state, the reroll device 43 is sent in to attach the swing bracket 44 (sixth
(see figure), the reroll device 43 is swiveled into position via the control cable 48 or the entire device is moved relative to the tube sheet 28. When rotating the reroll device 43, first operate the positioning cylinder 42 to move the piston rod 41 backward, remove the roller 40 from the locking groove 38, and then
The drive motor 36 is driven to rotate the rotating cylinder 33 by a predetermined amount, the piston rod 41 of the positioning cylinder 42 is projected, and the roller 40 is moved into a predetermined locking groove 3.
8. When moving the entire device to the right in FIG. 3b with respect to the tube plate 28, actuate the clamping cylinder 25 on the side supported by one holder 18 from the state shown in FIG. 7a. After the piston rod 26 is raised together with the collector 27 to release the engagement of the collet 23 with the heat exchanger tube 29, the fluid pressure cylinder 16 attached to one of the holders 18 is actuated to remove the collet holder 24 from the heat exchanger tube 29. Then, the fluid pressure cylinder 14 to which one holder 18 is connected is operated to displace the holder 18 with respect to the main body 11 by an amount corresponding to the distance to the adjacent heat transfer tube 29 (see FIG. 7b). After that, the fluid pressure cylinder 16 is operated again to send the collet holder 24 into the next heat exchanger tube 29, and then the clamping cylinder 25 is operated to expand the diameter of the collet 23 and move the collet holder 24 into the next heat exchanger tube 29.
The collet 23 is integrally connected to the collet 9 (see FIG. 7c). This time, the clamp cylinder 25 supported by the other holder 19 is actuated to disengage the collet 23 from the heat transfer tube 29, and the fluid pressure cylinder 16 attached to the other holder 19 is actuated. and collect holder 24
When the fluid pressure cylinder 14 is operated again after being removed from the heat exchanger tube 29, the main body 11 is displaced with respect to the holder 18, which is integrated with the tube plate 28, by an amount corresponding to the distance between the adjacent heat exchanger tubes 29. However, in this case, the wheels 30 of the caster 31 roll on the surface of the tube plate 28, and there is no vertical movement of the main body 11, so the possibility of falling accidents is much greater than in the conventional case. (see Figure 7d). After that, collect 2 on the other holder 19 side again.
3 was fixed in the heat exchanger tube 29 located next to it,
By repeating such operations, it becomes possible to intermittently move the entire device by an amount corresponding to the interval between the heat exchanger tubes 29. Note that it goes without saying that movement in a direction perpendicular to this is also performed in the same manner.
Furthermore, although in this embodiment the entire device is moved along the ceiling tube plate, it is also possible to move it along a vertical movement guide surface such as the tube plate of a horizontal heat exchanger. be.

As described above, according to the intermittent movement device for work of the present invention, the bracket on which the work equipment is detachably attached is rotatably attached to the main body via the bracket fixing means, so the work equipment can be moved without rotating the entire device. It is possible to rotate and fix the work equipment at any position relative to the main body, and the work equipment can be replaced and positioned quickly and easily. In addition, only the clamp mechanism for fixing the main body to the moving guide surface is moved in a direction perpendicular to the moving guide surface, so that the main body can only be moved in the direction along the moving guide surface. There is almost no fear of falling off the moving guide surface.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing the general appearance of a conventional intermittent movement device for work, Fig. 2 is a perspective view showing the schematic structure of an embodiment of the intermittent movement device for work according to the present invention in a broken state, and Fig. 3a. 3b is a sectional view taken along line B-B, FIG. 3c is a sectional view taken along line C-C of FIG. 3a, and FIG. Fig. 5 is an enlarged view of the cross section taken along the line V-V in Fig. 3b, Fig. 6 is a work conceptual diagram showing the replacement work status of the working equipment, and Figs. 7 a to d are work process diagrams showing the principle of movement. It is. In addition, the symbols in the figure are as follows: 11 is the main body, 14, 15, 16, 17 are fluid pressure cylinders, 18, 19 are holders, 23 is a collet, 24 is a collet holder, 25 is a clamp cylinder, 27 is a clamp, and 28 is a Tube plate, 29 is a heat transfer tube, 30 is a wheel, 31 is a caster, 33 is a rotating cylinder, 34 is an internal gear, 36 is a drive motor, 37 is a pinion, 38 is a locking groove, 40 is a roller, 42 is for positioning Cylinder, 43 is a reroll device, 44
46 is a water chamber, and 47 is a manhole.

Claims (1)

[Claims] 1 facing a moving guide surface in which a large number of guide holes are arranged at regular intervals in a first direction and a second direction intersecting the first direction, and rolling along this moving guide surface; a main body on which guide wheels to obtain are rotatably attached; and one of the guide wheels attached to the main body is capable of reciprocating in the first direction and the other is movable in the second direction with respect to the main body. two holders, a plurality of elevating members attached to each of these holders so as to be able to reciprocate in a direction perpendicular to the movement guide surface, and a plurality of elevating members attached to each of these elevating members and protruding from the tip of the elevating member. a plurality of clamp means each having a collet whose diameter can be freely expanded at a tip thereof and whose tip can be inserted into the guide hole and fixed to the guide hole; A swing bracket rotatably attached to the outer periphery of the main body about an axis perpendicular to the guide surface, and a swing bracket provided between the swing bracket and the main body to control the relative rotational position of the swing bracket with respect to the main body. An intermittent movement device for work, comprising a regulating bracket fixing means.