JPH0373413B2 - - Google Patents

Abstract

PURPOSE:To enable a plurality of bolts and nuts to be tightened by a remote control, by movably supporting a tool head, which holds a bolt and turns a nut, to a device main unit, removably fixed to a member to be mounted, while providing a bolt and nut supplying mechanism. CONSTITUTION:A device fixes its main unit 13 to a nozzle cover 4 with a strut 6a serving as a guide by a fixing handle 12 while a bolt and nut supplying mechanism 14 to the nozzle cover 4 with a supporting pin serving as a guide. Next, the supplying mechanism 14 successively moves a bolt 9, which temporarily stops a nut 11, to a delivery position. While the main unit 13 provides a tool head 15 to be moved by a radial direction sliding mechanism 16, axial direction sliding mechanism 17 and a rotating mechanism 18, and the tool head 15, holding the bolt 9 in the delivery position to be taken out and transferred to the position of a notch 4a, turns the nut to be tightened. Accordingly, the device can remotely control tightening work or the like in the bolt and the nut for mounting the nozzle cover of a nuclear equipment hazardous of access.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a remote control device for tightening bolts and nuts, and is particularly used for attaching a nozzle cover to a nozzle portion of a steam generator of a pressurized water nuclear power reactor. It is suitable for this purpose.

<Prior Art> One of the most important pieces of equipment in a pressurized water nuclear power reactor is a steam generator that generates steam to rotate turbine blades. This steam generator, together with the reactor vessel, is subject to very strict maintenance and inspection, and various inspections are carried out periodically. If these periodic inspections of the reactor vessel and steam generator can be carried out at the same time, the period of periodic inspection can be shortened, but periodic inspections of the reactor vessel cannot be carried out with water in the vessel. On the other hand, water is removed during periodic inspections of the steam generator, so in order to perform periodic inspections of both equipment at the same time, water in the reactor vessel (same as the primary coolant) must be removed from the steam generator. It is necessary to attach a nozzle cover to the nozzle part of the steam generator in advance to prevent the water from flowing into the steam generator.

<Problems to be Solved by the Invention> However, conventionally, when installing this nozzle cover, the work of installing bolts and tightening nuts was done manually, and these works were performed inside the water chamber of the steam generator. Therefore, there was a problem that not only was there a risk of radiation exposure to the workers, but also that the reliability of tightening was low because the work was carried out under a unique environment.

<Means for solving the problems> The present invention solves the above problems,
The purpose of this is a remote control device for tightening bolts and nuts that can be used to securely tighten bolts and nuts in spaces where human access is dangerous, such as the water chamber of a steam generator. Our goal is to provide the following. The configuration of the bolt/nut fastening remote control device according to the present invention that achieves this objective is as follows:
A device body is detachably attached by a clamp mechanism to a post protruding from a member to be attached to which is attached by a bolt/nut, and a bolt/nut supplies the bolt with a temporarily fastened nut to a predetermined position on the device body. a supply mechanism, a bolt clamp claw that grips the bolt, and a box spanner that turns the nut, and is supported on the device main body so as to be movable in a direction perpendicular to, a direction parallel to, and a direction of rotation with respect to the surface of the member to be attached. The tool head is characterized in that the tool head is provided with a

<Operation> The bolt/nut supply mechanism sequentially supplies bolts with nuts temporarily fastened to a predetermined delivery position, and the tool holder grasps the bolts and moves them to the required fastening position to fasten the bolts/nuts. By doing this, the tightening work of multiple bolts and nuts can be accomplished by remote control.

<Example> An example of the present invention will be described in detail below with reference to the drawings. This embodiment is used for attaching and detaching a nozzle cover to the primary water flow path of a steam generator of a pressurized water nuclear power reactor.

First, a nozzle cover portion of a steam generator to which this embodiment is applied will be explained. Figure 2a is a plan view of the nozzle cover of the steam generator, and Figure 2b is a sectional view of Figure 2a.In Figures 2a and b, the water chamber of the steam generator 1 has a primary A system water flow path 1a is provided, and a hold down ring 2 is fixed to the outer edge of the opening of the primary water flow path 1a, and a nozzle lid 4 is attached thereto via a gasket 3, thereby blocking the opening. The nozzle lid 4 consists of three parts: a lower nozzle lid 5, a center nozzle lid 6, and an upper nozzle lid 7.
A support column 6a is provided protruding from the center position, and support pins 5a and 7a are provided protruding from the lower nozzle lid 5 and the upper nozzle lid 7, respectively. Further, a plurality of bolt mounting notches 4a are formed on the outer peripheral edge of the nozzle lid 4, and a plurality of positioning alignment pins 8 are protruded from the upper surface thereof.

FIGS. 3a and 3b are a partial sectional view and a side view of the nozzle lid fixing bolt and nut, respectively, and FIG. 4 is an enlarged sectional view of a fastening portion using the bolt and nut. As shown in FIGS. 3 and 4, the nozzle lid fixing bolt 9 has an overhanging portion 9a and a rotation preventing square portion 6b at the base end, and a recess 9e on the side surface of the overhanging portion 9a.
On the other hand, a male threaded portion 9c is formed on the distal end side, and a clamp shank portion 9d is formed on the distal end. A hexagonal nut 11 to which a washer 10 is integrally attached is screwed in advance to the male threaded portion 9c. Then, a notch 4 formed in the nozzle lid 4
Insert the nozzle lid fixing bolt 9 into the bolt mounting groove 2a formed on the outer periphery of the hold-down ring 2 corresponding to the position of the notch 4a and the notch 4a, and insert the overhanging part 9a of the bolt 9 into the bolt of the hold-down ring 2. The nozzle cover 4 is fixed to the hold-down ring 2 by fitting into the T-shaped groove of the mounting groove 2a and bringing the hexagonal nut 11 into contact with the upper surface of the nozzle cover 4 via the washer 10, and tightening the screw. There is.

The remote control device for tightening bolts and nuts according to the present embodiment is shown in FIG. 1 showing a perspective view of the whole and FIG. 5 showing a schematic side view of the whole, the central nozzle cover 6 of the nozzle cover 4 The main body 1 of the device is detachably attached to a support 6a protruding from the support 6a by a clamp mechanism operated by a fixing handle 12.
3, a bolt/nut supply mechanism 14, a tool head 15 for handling the bolts 9 and nuts 11, and a radial direction for moving the tool head 15 relative to the device body 13 in a direction parallel to the surface of the nozzle lid 4. The slide mechanism 16 and the tool head 15 are connected to the device main body 13.
a two-stage axial slide mechanism 17 that moves the tool head 15 in a direction perpendicular to the surface of the nozzle lid 4 relative to the device body 13; and a rotation mechanism that rotates the tool head 15 in a plane parallel to the surface of the nozzle lid 4 relative to the device body 13. 18. Further, in FIG. 1, 19 is a monitoring camera attached to the tool head 15, and in FIG. 5, 20 is an origin position detector of the rotation mechanism 18.

Next, the tool head 15 will be explained with reference to FIG. In FIG. 6, a bolt clamp motor 21 is housed within a clamp support shaft 22, and a clamp feed screw 24 is connected to the rotating shaft of the bolt clamp motor 21 via a connecting shaft 23. The clamp feed screw 24 is screwed into a female thread formed on the inner periphery of the clamp support shaft 22. Therefore, the clamp feed screw 24 is screwed into the clamp support shaft 22 by the operation of the bolt clamp motor 21.
Move up and down along. Clamp feed screw 24
A bolt clamp pawl 25 is attached to the tip of the bolt clamp pawl 25. The tip of the bolt clamp pawl 25 is divided into a plurality of parts in the shape of a leaf spring and has a tapered outer peripheral surface. It engages with the tapered inner circumferential surface of the tip. Therefore,
When the bolt clamp pawl 25 moves up and down as the clamp feed screw 24 moves up and down, the inner diameter of the bolt clamp pawl 25 expands and contracts due to the action of the tapered surface, thereby tightening the clamp shank portion 9d of the bolt 9. grasp.

On the outer circumference of the clamp support shaft 22, an elevating shaft 26 is supported by a head case 27 via a sliding bearing 28 and a sliding key so as to be able to move up and down in a non-rotatable state, and at the lower end of the elevating shaft 26 via a bearing. A gear 29 is rotatably mounted. A box spanner 31 that fits into the aforementioned hexagonal nut 11 is attached to the lower end of the boss of the gear 29 by a pin 32 with a rubber cushion 30 interposed therebetween. On the other hand, the lifting shaft 26
A feed screw 33 is inserted into the upper clamp support shaft 32, and a compression spring 34 is interposed between the lifting shaft 26 and the feed screw 33 to apply a spring force in the direction of separating them. , the distance between the two is regulated by a plurality of connecting bolts 35.
The feed screw 33 is screwed into a female thread formed on the inner periphery of a gear 36 rotatably supported by the head case 27, while the gear 36 is connected to a motor 37 for feeding the vertical axis.
It meshes with a gear 38 fixed to the rotating shaft. Therefore, when the elevator shaft feed motor 37 is driven, the feed screw 33 moves up and down via the gears 38 and 36, and this movement is transmitted through the compression spring 34 to the elevator shaft 2.
6, the box spanner 31 moves up and down via the gear 29. The distance between the lifting shaft 26 and the feed screw 33 is normally kept constant by a compression spring 34 and a connecting bolt 35. However, when an overload is applied to the lifting shaft 26, the lifting shaft will move against the spring force of the compression spring 34. Since the distance between the feed screw 26 and the feed screw 33 becomes narrower, this distance is detected and the elevator shaft feed motor 37 is controlled.

On the other hand, a gear 29 that moves up and down together with the lifting shaft 26
The box spanner rotating motor 39 is connected to the reducer 4.
The box spanner 31 is in mesh with a gear 41 connected to the gear 41 via the gears 41 and 29 when the box spanner rotation motor 39 is driven. The teeth of the gear 41 are the hexagonal nuts 11
It has the vertical stroke length necessary for tightening.

Therefore, the hexagonal nut 11 is fastened by gripping the bolt 9 with the bolt clamp pawl 25 while lowering and rotating the box spanner 31.

Next, the bolt/nut supply mechanism 14 will be explained with reference to FIG. Fig. 7a is a plan view of the bolt/nut supply mechanism, Fig. 7b is the - of Fig. 7a.
It is a sectional view, and in the same figure, the case body 42
A positioning hole 42a is opened in the center of the housing, and a connecting portion 42b is provided protruding from the side thereof, and the case body 42 is positioned by fitting the support pin 7a of the upper nozzle lid 7 into the positioning hole 42a. At the same time, it is fixed to the upper nozzle lid 7 at the connecting portion 42b. An inner ring 43 is attached to the upper surface of the case body 42 to form an oval guide groove, into which a plurality of bolt stands 44 are slidably fitted. inner ring 43
A driving sprocket 45 and a driven sprocket 46 are rotatably attached to the inside of the sprocket 4, and a chain 47 with an adapter is attached to both sprockets 4 along the guide groove.
5 and 46, and each adapter of a chain 47 with an adapter is connected to a bolt stand 44, respectively. The drive sprocket 45 is connected to a bolt stand moving motor 48 fixed to the bracket, and the adapter chain 47 is circulated by the drive of the motor 48, thereby moving the bolt stand 44 along the guide groove. Further, a position detector 49 is attached to the bracket for fixing the bolt stand moving motor 48 facing the drive sprocket 45, and a plurality of stop position detection detectors are attached to the drive sprocket 45 in cooperation with the position detector 49. The magnets 50 are attached at required angular intervals corresponding to the number of bolt stands 44, so that the bolt stands 4
4 positioning is performed. That is, the delivery position of the bolt 9 to the tool head 15 is the one where the distance between adjacent bolt stands 44 (see θ in FIG. This is done by a magnet 50.

The bolt stand 44 has a partially cut-out circular support hole into which the overhanging portion 9a of the bolt 9 is fitted, and a ball 52 biased inwardly by a spring 51 is mounted inside the hole. Therefore, the bolt 9 is inserted into the bolt stand 44 while being positioned in the same direction, and the ball 52 is inserted into the recess 9e formed on the side surface of the overhanging portion 9a of the bolt 9.
It is locked by coming into contact with it.

Next, the clamp mechanism and rotation mechanism 18 of the apparatus main body 13 will be explained with reference to FIGS. 8 and 9. Figure 8a is a plan view of the support section of the nozzle lid;
Fig. 9b is a sectional view thereof, Fig. 9a is a plan view of the rotation mechanism section, Fig. 9b is a cross-sectional view taken from Fig. 9a, Fig. 9c is a side view of the origin position detector section, Fig. 9 d is a bottom view of the column attachment part. In FIG. 8, the support column 6a of the central nozzle lid 6 is formed by inserting an inner sleeve 54 slidably in the axial direction into an outer sleeve 53 having a hexagonal outer shape, and the outer sleeve 53 has a mounting flange 66. It is fixed to the nozzle lid 6 via. A fixing pin 56 is connected to the inner sleeve 54 via a link mechanism 55 for changing the acting force, and the fixing pin 56 moves the outer sleeve 5 as the inner sleeve 54 moves.
It appears and disappears from an opening provided in the side wall of No. 3. On the other hand, a guide pin 57 is fixed to the inner sleeve 54, and the tip of the guide pin 57 is slidably fitted into a spiral groove formed in the outer sleeve 53. Further, a fixing handle 12 is attached to the inner sleeve 54, and the fixing handle 12 is always stored in the inner sleeve 54 and is pulled out during operation and folded at 90 degrees with respect to the inner sleeve 54. used bent. That is, when the inner cylinder sleeve 54 is rotated by rotating the pulled out fixing handle 12 by about 120 degrees, the inner cylinder sleeve 54 is lowered by the guide pin 57.
As a result, the fixing pin 56 protrudes from the outer sleeve 53.

On the other hand, as shown in FIG.
A column mounting portion 59 having a hollow portion with a hexagonal cross section into which the outer cylinder sleeve 53 is fitted is provided upright, and a hole 59a into which the aforementioned fixing pin 56 is fitted is formed on the inner surface of the column mounting portion 59. Therefore, the strut attaching portion 59 is fixed to the central nozzle lid 6 by fitting the outer cylinder sleeve 53 into the strut attaching portion 59 and fitting the fixing pin 56 into the hole 59a thereof.
A rotating mechanism 18 is rotatably supported on the support column mounting portion 59 via a bearing, and the rotating mechanism 18 is rotationally driven by a rotating motor 60. Further, the rotation mechanism 18 is provided with a rotation position detector 61 and a brake 62. Further, a dog 63 is fixed to the main body plate 58 and is engaged with the above-mentioned origin position detector 20 attached to the rotation mechanism 18. The initial position and angle of the rotation mechanism 18 are set, and in the event of an accident such as a power outage, a brake 62 is activated to prevent the rotation mechanism 18 from running out of control.

Further, 64 is a connector, through which a cable is wired to the device main body 13, and through a slip ring 65 provided between the main body plate 58 and the rotation mechanism 18, to the bolt/nut supply mechanism described above. A cable is also wired to 14.

Further, the rotation mechanism 18 is equipped with the aforementioned axial slide mechanism 17.
The above-mentioned radial slide mechanism 16 is mounted on the radial slide mechanism 16, and a tool head 15 is attached to the tip of the radial slide mechanism 16.

In such a configuration, the bolt/nut supply mechanism 14 positions the bolt 9 to which the hexagonal nut 11 is temporarily fixed in advance at a predetermined delivery position, and the radial slide mechanism 16 , the axial slide mechanism 17 , and the rotation mechanism 18 tool head 1
5 to its delivery position. Then, the bolt 9 is grasped by the bolt clamp claw 25 of the tool head 15, and the bolt 9 is taken out from the bolt stand 44 by moving the tool head 15, and the bolt 9 is moved to the position of the notch 4a of the nozzle lid 4, and then Next, the hexagonal nut 11 is rotated using the box spanner 31 to tighten the bolt and nut.
In this way, the nozzle lid 4 is attached by repeating the sequential delivery of the bolts 9, movement to the required position, and fastening of the bolts and nuts. Incidentally, when removing the nozzle lid 4, the reverse process is executed.

<Effects of the Invention> As described above in detail with reference to one embodiment, according to the present invention, it is possible to reliably tighten a plurality of bolts and nuts by remote control in a space where it is dangerous for people to approach. It becomes possible. Therefore, for example, the installation of bolts and nuts that fix the nozzle lid of a steam generator,
Removal work can be performed remotely, significantly reducing radiation exposure for workers. In addition, approximately 20 bolts and nuts are required to secure the nozzle lid, but the bolt and nut supply mechanism can automatically supply the bolts and nuts, which reduces work time and allows the bolts and nuts to be tightened. Since it is possible to electrically control the tightening torque, it is easy to manage the tightening torque, and the reliability of tightening can be improved.

[Brief explanation of drawings]

FIG. 1 is an overall perspective view of one embodiment of the present invention, and FIG.
Figure a is a plan view of the nozzle lid part of the steam generator;
Figure b is a cross-sectional view of Figure 2 a, Figures 3 a and b are partial cross-sectional views and side views of bolts and nuts for fixing the nozzle lid, respectively, and Figure 4 is an enlarged cross-sectional view of the fastening part using bolts and nuts. , FIG. 5 is an overall schematic side view of an embodiment of the present invention, FIG. 6 is a sectional view of the tool head, FIG. 7 a is a plan view of the bolt/nut supply mechanism, and FIG. 7 b is FIG. 7 a. 8a is a plan view of the support column of the nozzle lid, FIG. 8b is a sectional view thereof, FIG. 9a is a plan view of the rotating mechanism, and FIG. - sectional view, FIG. 9c is a side view of the origin position detector section, and FIG. 9d is a bottom view of the strut mounting section. In the drawing, 1 is a steam generator, 2 is a hold-down ring, 3 is a gasket, 4 is a nozzle lid, 6a is a column, 9 is a bolt, 11 is a hexagonal nut, 12 is a fixing handle, 13 is the device body, 14 is bolt·
Nut supply mechanism, 15 a tool head, 16 a radial slide mechanism, 17 an axial slide mechanism,
18 is a rotation mechanism, 25 is a bolt clamp claw, 31
is a box spanner.

Claims (1)

[Claims] 1. A device body that is detachably attached by a clamp mechanism to a column that protrudes from a member to be attached to which is attached by a bolt/nut, and a bolt/nut that supplies the bolt with a temporarily fastened nut to a predetermined position on the device body. It has a nut supply mechanism, a bolt clamp claw that grips the bolt, and a box spanner that turns the nut, and is movable in the direction perpendicular to the surface of the member to be attached, in parallel, and in the direction of rotation. A remote control device for fastening bolts and nuts, characterized in that it comprises a supported tool head.