JPH0333209B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a self-propelled inspection device that moves over an object to be inspected, such as a large container, and conducts inspections such as visual tests.

For example, in a large vessel a as shown in Figure 1 installed in a nuclear power plant, there are many welded parts d extending vertically and horizontally, and it is necessary to conduct visual tests of the welded parts d on a regular basis. However, since the large container a is located in a radiation atmosphere and cannot be approached by workers, it is considered that a self-propelled inspection device that can be remotely operated is used.

As an example, a track is set up along the welded part of an object to be inspected such as a large container, and a traveling inspection vehicle equipped with a built-in television camera is moved along the track as a guide.
A traveling inspection device that indirectly performs a visual test through a television camera has been considered, but this traveling inspection device requires the installation of a large-scale track that follows the many welds of the object to be inspected, making the inspection difficult. The drawback is that the system becomes complex and large-scale.

Further, as shown in FIGS. 2A and B, a support arm 2 is erected on the self-propelled inspection vehicle 1 having an endless track so as to be swingable, and an arm 3 is connected to the support arm 2 so as to be extendable and retractable. A self-propelled inspection vehicle equipped with a TV camera 4 rotatably mounted on the arm 3 is also being considered, but this self-propelled inspection vehicle is capable of visual inspection up to several meters in height. For even higher test objects, the support arms 2 and 3 become longer, making accurate visual inspection difficult and impractical. If there is a wall c etc., the wall c or the like will hinder self-propelled operation and operation, making inspection impossible.

The present invention is a self-propelled inspection device developed in view of the above-mentioned circumstances, and includes a wire support mechanism that is rotatably installed on the top of an object to be inspected and supports and suspends the base side of the wire; It has a wire winding drum that is equipped with a self-propelled and direction changing mechanism and has a built-in claw mechanism that scoops up and fixes the wire, and moves over the object to be inspected by winding the wire with the wire winding drum. It is characterized by being equipped with a traveling inspection vehicle equipped with a television camera with a variable field of view, and its purpose is to simplify the guiding mechanism of the traveling inspection vehicle attached to the large container, that is, the object to be inspected, and to The object of the present invention is to provide a self-propelled inspection device which eliminates the above-mentioned drawbacks by allowing a traveling inspection vehicle to move along the entire area of the object to be inspected, simplifying the structure and improving self-propelled performance.

The present invention has the above-mentioned structure, and includes a wire support mechanism that is erected on the top of an object to be inspected so that it can be rotated, and that freezes, supports, and hangs the base side of the wire, and a self-propelling and direction changing mechanism. The wire winding drum has a built-in claw mechanism that scoops up and fixes the wire, and is equipped with a television camera with a variable field of view that moves over the object to be inspected as the wire is wound by the wire winding drum. The test vehicle is equipped with a self-propelled and direction-changing mechanism and a TV camera with a variable field of view. It is fixed to a wire winding drum, and by winding the wire with the wire winding drum, the traveling inspection vehicle can be moved along the wire hanging direction above the object to be inspected, and the wire support mechanism can be rotated. Therefore, the traveling inspection vehicle can move in a direction perpendicular to the hanging direction by changing direction and moving on its own in a hanging state, so it can be moved over the entire surface of the object to be inspected, and the traveling inspection vehicle can The on-board television camera allows direct visual inspection along the surface of the object to be inspected, significantly improving inspection performance, and the wire support mechanism that supports the wire attached to the object to be inspected has an extremely simple structure, resulting in significant improvements. In addition to cost reduction, it can be easily attached to an existing object to be inspected, can be inspected even in a narrow place, and has the versatility to be used over a wide range of areas.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. An embodiment of the present invention is shown in FIGS. 3 to 8. In FIG. 3, a is the object to be inspected, that is, a large container, b is the pedestal of the large container a, c is the wall, f is the floor, d is a welded part of a large container a to be subjected to a visual test, and in this embodiment, a wire support mechanism 10 is connected to the top of the large container a via a pole 11.
is erected so as to be able to turn by an appropriate mechanism not shown, and the base side of the wire 12 is connected to the wire support mechanism 10, supported and suspended, and the wire 12
are arranged with ample space from above the large container a to the floor surface f, and since the wire support mechanism 10 is rotatable, the wire 12 can be suspended to an appropriate position on the large container a and rearranged. It further includes a traveling inspection vehicle A that moves over the large container a by scooping up, fixing, and winding the wire 12.

In addition, the running inspection vehicle A is shown in FIGS. 4 to 8.
The details are shown in the figure, and on the front end side of the vehicle body 100 there is a central guide roller 2 that guides the wire 12.
10. A pair of left and right auxiliary rollers 110, 110 and balls 120, 120 are rotatably arranged,
The balls 120, 120 are placed on the floor f and the large container a.
The structure is such that it rotates in contact with the outer surface of the vehicle body 100 and serves to guide the movement of the vehicle body 100.

Further, on the rear side of the vehicle body 100, a drive roller 130 for self-propulsion, its drive mechanism, and a direction changing mechanism for the drive roller 130 are disposed.
The drive roller 130 is rotationally driven via the timing belt 133 and the pulley 132b to rotate the vehicle body 10.
0 is self-propelled, and the direction of the drive roller 130 is changed by a motor 141 via a pulley 142a, a timing belt 143, and a pulley 142b, and the direction of the vehicle body 100 is changed.

Furthermore, a drum 200 for winding the wire 12 is rotatably disposed in the center portion of the vehicle body 100 (slightly toward the tip end).
The drum 200 is rotated by a motor 240 via a pulley 220a, a timing belt 230, and a pulley 220b.
A claw mechanism for scooping and fixing the wire 12 is built inside.

The pawl mechanism will be described in detail in Figs. 7 and 8.
As shown in the figure, there is a wire 1 inside the drum 200.
A pair of claws 150a, 15 that scoop and grab 2.
0b are arranged facing each other, and the claws 150a, 150
b is the gear 15 meshed by the motor 151;
2a, 152b, pulleys 153a, 153b, timing belts 154a, 154b, and pulleys 155a, 155b. The timing belt 1
In order to rotate the pulley 155a attached to the rotating shaft 157a of the pawl 150a via the pawl 154a, the pawl 1
50a is rotated around a rotating shaft 157a. At the same time, the pawl 150b is connected to the pulley 15 through the timing belt 154b that meshes with the pulley 153b.
5b, it rotates around a rotating shaft 157b facing the claw 150a.

Further, at the tips of the claws 150a, 150b, spring bodies 159a, 159b made of arcuate thin plates are provided with flexibility so as to move along the floor surface f and scoop up and hold the wire 12. are connected to each other, and a protrusion 201 having a recess at the tip is attached at the rotational position of the claws 150a, 150b.

Furthermore, on the side of the vehicle body 100, a fourth
As shown in FIG. 5, a television camera 300 for conducting a visual test is installed.
A gear 320 is connected to the tip side of the 0 by a motor 310.
Mirror 33 that is rotated via a and 320b
0 is attached, and when the mirror 330 is set at position P, the television camera 300 is configured as a variable field of view television camera that allows the television camera 300 to visually observe the front.

As shown in FIG. 6, guide covers 290, 290 are provided on both sides of the lower end of the vehicle body 100 (floor surface f) to prevent the wire 12 from moving freely in the X direction.
is provided.

The illustrated embodiment has the above-mentioned configuration, and to explain the operation and effect, as shown in FIG. The drum 200 is moved above the wire 12 on the floor f by direction change and visual observation by the television camera 300.
After arranging the claws 150a and 150b orthogonally, the motor 151 rotates the claws 150a and 150b in the θ direction (see FIG. 7). At that time, the claws 150a, 150
The spring bodies 159a and 159b at the tips of b contact the floor f and bend, move along the floor f, and the wire 12
The scooped out wire 12 is attached to the claw 150.
The wire 12 is moved along the concave shapes of the protruding portions 201 to the center portions of the protrusions 150a and 150b, and further, the wire 12 is fixed in the recess of the protruding portion 201 by rotation of the protruding portions 150a and 150b.

Next, when the drum 200 is rotated by the motor 240, the wire 12 is wound along the tracing groove 202, and the traveling inspection vehicle A is indexed by the wire 12 wound around the winding groove 203 of the drum 200. 3, and rises along the outer surface of the large container a shown in FIG. Note that the end fitting 12a of the wire 12 shown in FIG. 3 serves to fix the wire 12, and when winding the wire 12, the clutch of the motor 131 with a clutch is released to allow the drive roller 130 to rotate freely. ing.

By winding up the wire 12 by the drum 200, the traveling inspection vehicle A can move up along the outer surface of the large container a, that is, the object to be inspected, and move to the top. The wire support mechanism 10 can be inspected and
Since the traveling inspection vehicle A can turn, the traveling inspection vehicle A can change direction at any position while hanging from the wire 12, and can move to a desired position in the lateral direction. Therefore, the entire outer surface of the large container a, that is, the object to be inspected, can be directly viewed through the television camera 300, and the traveling inspection vehicle A moves along the outer surface of the object to be inspected, allowing visual observation from a close and equal distance. , inspection accuracy is significantly improved.

Further, the traveling inspection vehicle A has an auxiliary roller 11
0 and 110, the wire 12 is smoothly moved from the floor f onto the object to be inspected, that is, the large container a, without turning over, etc., and the wire 12 is further inspected by the guide covers 290, 290 and the guide rollers 210, 210. The vehicle is prevented from tilting, the movement of the vehicle body 100 is stabilized, and the vehicle body can be smoothly moved along the welded portion d.

As described above, according to this embodiment, the inspection performance is significantly improved, and the mechanism on the side of the inspected object that guides the traveling inspection vehicle, that is, the wire support mechanism erected on the top of the inspected object, and the wire support mechanism hanging down. It has an extremely simple structure, significantly reducing equipment costs, and can be easily attached to an immediately installed object to be inspected, and the traveling inspection vehicle can be easily run and moved even in narrow spaces, making it widely used. It has the versatility that can be used.

In the above embodiment, the explanation was mainly given to a large container of an atomic couplant, but it can also be applied to general inspections of large-scale test objects, test objects arranged in narrow spaces, etc. be.

Although the present invention has been described above with reference to embodiments, it goes without saying that the present invention is not limited to such embodiments, and that various design modifications can be made without departing from the spirit of the present invention. .

[Brief explanation of drawings]

Figure 1 is an external view of a large container showing an example of an object to be inspected for visual testing, Figures 2 A and B are front and side views showing an example of a previously developed self-propelled inspection vehicle; FIG. 3 is an external view of an object to be inspected and a wire support mechanism showing an embodiment of the present invention, FIG. 4 is a side view of a running inspection vehicle showing an embodiment of the present invention, and FIG. 5 is a side view of the same running inspection vehicle. 6 is a front view showing the left side of FIG. 4, FIG. 7 is an axial longitudinal sectional view of the wire winding drum of FIG. 5, and FIG. 8 is a sectional view of the - portion of FIG. 7. It is. a: Inspected object (large container), A: Running inspection vehicle,
10: wire support structure, 12: wire, 100:
Running inspection vehicle (vehicle body), 150a, 150b: Claw mechanism (claw), 200: Wire winding drum, 300:
TV camera, 330: Mirror.

Claims (1)

[Claims] 1. A wire support mechanism that is rotatably installed on the top of the object to be inspected and supports and suspends the base side of the wire;
It has a wire winding drum that is equipped with a self-propelling and direction changing mechanism and has a built-in claw structure that scoops up and fixes the wire, and moves over the object to be inspected by winding the wire with the wire winding drum. A self-propelled inspection device characterized by comprising a traveling inspection vehicle equipped with a television camera with a variable field of view.