JPH0249461B2 - HEKIMENKENSASOCHI - Google Patents

Description

[Detailed Description of the Invention] This invention relates to a wall surface inspection device, and is particularly for inspecting welds and other conditions inside a hollow container that is completely sealed except for a small opening. , relates to an inspection device.

For example, as shown in FIG. 1, a nuclear fuel reprocessing facility handles liquid having a high level of radioactivity, and tanks 1 are housed inside shielded cells 2. The floor of this cell 2 is provided with a metal lining 3 in case of leakage. However, since this means of accessing the floor allows only the tube 4 with an extremely small diameter, an inspection means using a small self-propelled visual inspection device is required. However, with conventional inspection equipment, after passing through a small-diameter tube, the visual head can freely change to accurately grasp all the internal sides, floors, slots, and top surfaces; development was desired.

This invention was developed in response to such demands by attaching vertically symmetrical driving wheels and vertically symmetrical omnidirectional casters to the frame, which allows the frame body to move in any direction. Furthermore, by arranging the viewing head on the main and sub-arms that can be rotated, raised and bent, the viewing direction can be changed freely, making it possible to reliably inspect internal side walls, floors, grooves, holes, etc. , main into the frame body,
The sub-arm and other parts are foldable, allowing the device to pass through extremely narrow spaces.

That is, the wall surface inspection device according to the first invention of the present application has a frame body having a hollow space in the center, a pair of driving wheels on both sides, an omnidirectional caster at the rear end, and a rotating unit at the tip of the frame body. A main arm is connected to the undulation unit so that it can be rotated and raised and lowered, and a sub-arm is connected to the tip of the main arm via a bending unit so that it can be raised and lowered, and a wrist unit is provided at the tip of the sub-arm. The visual sensor is supported in a freely undulating manner, a tensioner for the lead cable of the visual sensor is provided on the inner side facing the omnidirectional caster provided at the rear end of the frame main body, and rolling balls are provided on both sides of the frame main body. , and each of the above-mentioned members is arranged in vertically symmetrical positions on the frame main body, and a second invention provides a device according to the first invention, and an industrial television camera for monitoring this device. , an industrial television case is connected to the support rod via a swivel unit and an undulating unit so that it can be rotated and raised, an industrial television camera is disposed inside the industrial television case, and a zoom lens is disposed at the tip thereof; This apparatus is characterized in that it comprises a second device, which is formed by a lighting lamp holder rotatably coupled to the tip of the television camera by a drive unit. The present invention will be described below based on illustrated embodiments. FIG. 2 is an explanatory diagram showing a situation in which the inside of the sealed cell 2 is inspected using the inspection apparatus according to the present invention.

In the figure, DV-2 is a carrier device inserted through a tube 4, to which a fiberscope 27 is connected as an example of remote viewing means. All operations can be remotely controlled from the amber area 5 outside the cell. While operating the DV-2 carrier device, it is possible to grasp its own position and know the status of the cable.
An industrial television DV-0 for monitoring is also used.
Note that 6 is a groove provided in the floor inside the closed cell.

The configuration of industrial television DV-0 is shown in FIG. As shown in the figure, this device has a punching mechanism consisting of a rotating unit 121 and a lifting unit 122, and the head is inserted through the tube 4 to zoom up the lining surface shown in Figure 1. . That is, the turning unit 121 is a unit that is rotatable about the support rod 120, and the undulation unit 122 is a unit that rises and falls in the vertical direction perpendicular to the axis of the support rod. A zoom lens 124 is connected to the industrial television camera built in the industrial television case 123, and can be freely rotated and raised by the rotating unit 121 and the undulation unit 122 in the same way as the industrial television camera. . 125 is a lighting lamp holder, for example, a motor drive unit 12;
By means of a driving device 127 driven by lens 6, the tip of the zoom lens 124 can be brought into a folded state.

The structure of the DV-2 carrier device is shown in FIG. All units incorporated into the frame 21 are substantially vertically symmetrical. As shown in the figure, the frame main body 21 has a boat shape, for example, and has driving wheels 22a, 22b provided at both ends thereof, each having an independent drive unit 23a, 22b.
The arm 24 and the sub-arm 32 can be folded and stored in a space between the boat-shaped frame main bodies. A spherical omnidirectional ball caster 25 is fitted to the rear end of the frame body, and the driving wheel 22
a, 22b can be freely and arbitrarily followed. A tensioner 26 made up of a pair of rolls facing each other vertically is provided inside facing the omnidirectional ball caster 25, and a fiber scope 27 is passed between the tensioners 26 and 26 to keep it in a constant tension state. In addition, this fiberscope 27
Thereafter, the ball passes through the middle of the omnidirectional ball caster and is led out of the frame body 21. A main arm 24 is connected to the distal end of the frame body via a turning unit 28 and a levitating unit 29, so that the main arm 24 can be freely rotated and erected. That is, the swing unit 28 is located at the tip of the frame body 21 and is capable of pivoting around a vertical axis, and the undulating unit 29 is a unit that can be tipped over and raised in a direction perpendicular to this. A bending unit 31 is provided at the tip of the main arm 24, and a sub-arm 32 is connected to this, making the sub-arm 32 movable. A wrist unit 33 is attached to the tip of the sub arm 32,
The visual sensor 35 can be raised and lowered freely. The visual sensor 35 is connected to the fiberscope 27 described above. The above-mentioned main arm 24 and sub-arm 32 have a length that is equal to or less than the vertical length of the central space of the frame main body 21 when stretched, so that the main arm and the sub-arm fit into this space. Make sure it is equipped and ready for storage. Although not shown in FIG. 4, at least one set of rollover balls are provided on both sides of the frame body so that the device is always set horizontally to the floor when it touches the ground. Keep it.

Although the configuration of the present invention is as described above, inspection of the inside of a sealed cell using this is shown in FIGS. 3 and 5.
This is done as shown in the figure.

First, to explain from the industrial TV DV-0 shown in FIG. , the tube 4 can be easily passed through by driving the turning unit to align it in a straight line. After passing through the tube 4, the support rod 120 is fixed, and the illumination lamp holder 125 is raised and positioned in front of the zoom lens 124 to prevent direct illumination of the illumination light. In addition, in this state, the direction of the zoom lens 124 is the same as that between the undulation unit 122 and the rotation unit 121.
It can be oriented in any direction using the pan/tilt mechanism. Therefore, in the second invention using this, the state of the DV-2 can be completely grasped.

Next, the operation of the DV-2 will be explained with reference to FIGS. 4 and 5. First, this device must be inserted through the tube 4. At the time of this insertion, the swing unit 28 rotates the main arm 24 in advance to position it at the center of the frame 21, and in this state operates the bending unit 31 to fold the sub arm 32 into the main arm 24. 29
When the manipulator is placed face down, the manipulator is attached to the frame body 21.
(see Figure 6a). In this state,
DV-2 can easily pass through tube 4.
Suspended from tube 4 and lowered to the floor
DV-2 automatically positions the device in the vertical direction and starts preparing for the next run. That is, the device DV
-2 has a vertically symmetrical structure and is equipped with a rollover ball 40 (see Figure 6 d) on its side, so even if you lie down and touch the floor, you will be rolled over to either the left or right. It will be placed horizontally to the floor. The horizontal DV-2 is moved by the bending unit 31 after the main arm 24 is raised by the hoisting unit 29 and moved in a predetermined direction by the swivel unit 28 as shown in FIG. 6b. The sub arm 32 is extended from the main arm 24, and the fiberscope 27 is directed in the required direction by means of the wrist unit 33 (FIG. 6b). Since the main arm 24 has an appropriate length, it can be viewed from a considerable height. Since the resolution of visual inspection using the fiberscope 27 varies depending on the number of fibers, it is important to have the ability to approach the surface to be inspected. Furthermore, if the driving wheels are operated in this state, the fiberscope 27 will be perpendicular to the traveling direction, allowing inspection while the vehicle is traveling. Figure 6c
shows the condition of visual inspection of the hole. It is basically the same as the side inspection. That is, this is a state in which the undulation unit 29 and the bending unit 31 are operated and the wrist unit 33 is directed downward. FIG. 4 shows that this is rotated by 90 degrees using the rotation unit 28, and the groove 36 can be visually observed continuously.

The device of the present invention is an industrial television shown in FIG.
By using it together with DV-0, the inspection device DV-
This is the most efficient method as it allows you to visually determine the position of item 2.

As described above, according to this invention, since the rotational direction and speed of the driving wheels that move the device are controlled by an independently variable drive source, not only is the movement completely free, but also the visual head is the main and sub-arms. Since it is located at the tip and can be changed freely, it is possible to inspect things such as side surfaces, floor surfaces, grooves, and hole tops from all angles with the necessary magnification (visual accuracy).

Furthermore, since the main and sub arms can be completely housed within the frame, this device can pass through extremely narrow spaces.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram showing the inside of a cell of a nuclear fuel reprocessing facility showing an example of an object to be inspected by the wall surface inspection device according to the present invention, and FIG. 2 is an explanatory diagram showing the inside of a cell of a nuclear fuel reprocessing facility. FIG. 3 is a perspective view of an industrial television device which is a part of the inspection device according to the present invention, and FIG. 4 is an explanatory diagram showing the usage state of the device. FIG. FIGS. 5a to 5d are explanatory diagrams showing how the device of the present invention is used. DV-0...Industrial TV, 120...Support rod, 122...Luffing unit, 121...Swivel unit, 123...Industrial TV case, 124
...Zoom lens, 125...Lamp holder for illumination, 126...Illumination lamp drive unit, 21...
...Frame body, 22a, 22b...Driving wheel, 28
... Swivel unit, 29 ... Lifting unit, 25
...Omnidirectional caster, 24...Main arm, 26...
...Tensioner, 27...Fiberscope, 3
1...Bending unit, 32...Sub-arm, 33...
...Wrist unit, 35...Visual sensor.

Claims (1)

[Scope of Claims] 1 A pair of driving wheels are arranged on both sides of a frame body having a space in the center, and an omnidirectional caster is arranged at the rear end, and a swing unit and a luffing unit are connected to the tip of the frame body. The main arm is connected to the main arm so that it can be rotated and raised, and the sub-arm is connected to the tip of the main arm via a bending unit so that the visual sensor can be moved up and down. A tensioner for the lead cable of the visual sensor is provided on the inner side facing the omnidirectional caster provided at the rear end of the frame main body, and rolling balls are provided on both sides of the frame main body, and each of the above members is attached to the frame. A wall surface inspection device characterized in that the main body is vertically symmetrically positioned. 2 A pair of driving wheels are arranged on both sides of the frame body which has a space in the center, and an omnidirectional caster is arranged at the rear end, and a swing unit and a hoisting unit are connected to the tip of the frame body, and the main arm is swiveled to this. A sub-arm is connected to the tip of the main arm via a bending unit so that it can be undulated, and a wrist unit provided at the tip of the sub-arm supports the visual sensor in a undulating manner. A tensioner for the lead cable is provided on the inside facing the omnidirectional caster provided at the rear end of the frame body, and rollover balls are provided on both sides of the frame body, and each of the above members is placed in vertically symmetrical positions on the frame body. As an industrial television camera for monitoring the first device, a television case is connected to a support rod through a swivel unit and a undulation unit so as to be able to rotate and raise and lower; A second device is constructed by disposing an industrial television camera inside the case and a zoom lens at its tip, and a lighting lamp holder rotatably connected to the tip of the television camera case by a drive unit. Device.