JPH0431055B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is applicable to vacuum refining furnaces such as RH equipment or DH equipment, and metallurgical refining furnaces such as converters, which have a closed cavity except for the furnace opening. The present invention relates to a self-propelled vehicle that images the inner wall of a device having a device and utilizes the image for inspecting damage to the inner wall or observing the refractory coating process.

[Conventional technology]

As an in-core imaging device for such a borehole reactor, there is a
A device described in Japanese Patent No. 54-79104 is known.

This device is equipped with a television camera attached to the head of a pole mounted on a trolley that can be raised and lowered, and inserted into the furnace through the mouth of the refining furnace, which includes pipe holes such as the upper and downcomer pipes. The camera is configured to image an inner wall.

[Problem that the invention seeks to solve]

The area around a refining cavity furnace is usually equipment for charging, discharging, or slag of molten metal, supply pipes for blown gas,
It is extremely cramped as it is equipped with a large number of equipment such as additive element injection equipment and fireproof wall repair equipment.

For this reason, it is desirable for imaging devices to be compact and highly mobile, as well as to be quick and easy to operate. However, conventional devices are either stationary or track-running, which increases equipment costs and reduces mobility. There are technical problems that need to be solved, such as poor performance, extremely inconvenient use for other equipment despite the large initial investment, and interference with other operating equipment and operations. It was a lot.

The purpose of the present invention is to provide mobility, and
An object of the present invention is to provide an imaging device that can be operated quickly.

[Means for solving problems]

According to the present invention, an imaging device is attached to a device that can run in any direction using tires or a caterpillar, and is provided with a mechanism that allows the imaging device to be quickly operated and moved.

The embodiments shown in the accompanying drawings will be explained below.

FIG. 1 is a side view of an imaging device according to the present invention at a stopped position, and FIG. 2 is a schematic top view thereof.

In FIGS. 1 and 2, 1 is a cockpit of a self-propelled vehicle, 2 is a chassis, and 3 is a tire. 4 is an outrigger that fixes the vehicle chassis 2; 5 is a guide hardware provided at the rear of the vehicle chassis 2; 6 is a guide metal fitting 5 that controls the running of the self-propelled vehicle via rolling wheels 7 fitted into the frame of the guide hardware 5; A pedestal 8 is installed to be movable in the direction perpendicular to the long axis of the chassis 2, that is, in the lateral direction, through rolling wheels 9 fitted into the frame of the pedestal 6. In the rack, 10 indicates its traversing cylinder. A bearing device 11 is fixed to the transverse rack 8, and the guide pole 12 is rotatably supported by the bearing device 11 via an arm 13. A guide wheel 14 is rotatably supported on the head of the guide pole 12.

Reference numeral 15 denotes a driving motor with a brake for raising and lowering the guide pole 12, which drives the guide pole 12 in a freely raising and lowering angle through a worm gear 16, the bearing device 11, and an arm 13 fixed to the bearing device 11.

Reference numeral 17 denotes a rolling device 1 having a rotating wheel 18 fitted into the frame of the guide pole 12 so as to be freely movable.
9, the imaging device support pedestal 17 has an imaging pole 21 which is rotatably impeded via a rotation drive device 20 and extends parallel to the guide pole 12 via a bearing device 22. Ori,
An imaging device 23, such as a television camera, is attached to the head. 24 is a guide arm of the imaging pole 21 provided on the guide pole 12.

A winch 25 for raising and lowering the imaging pole 21 is attached to the arm 13, and a lifting wire 26 is connected to the imaging device support pedestal 17 through the guide wheel 14 from the winch 25.

Therefore, when the winch 25 is actuated, the imaging device 23 can be raised or lowered to any desired position within the vertical range of the imaging pole 21.

Reference numeral 27 denotes a cylinder for moving the frame 6, which moves the frame 6 in the axial direction of the vehicle frame 2 via a piston rod 28. Prior to this movement, the driving prime mover 15 with a brake is operated, the guide pole 12 is placed in the downward position shown by the dotted line A, and the guide pole 12 and the imaging pole 21 are moved toward the front of the vehicle chassis 2.

The moving cylinder 27, piston rod 28, etc. constitute a gantry traction device.

An imaging device inspection deck 29 is installed at the front of the vehicle chassis 2, and the imaging device 23 in the downward posture at the A position can be inspected by an operator on the imaging device inspection deck 29.

Reference numeral 30 denotes a driving source operating device for a traveling vehicle, which includes the traversing cylinder 10 and a driving motor 1 with a brake.
5. This is a device that issues operating commands for the rotational drive device 20, the winch 25, and the moving cylinder 27.

Reference numeral 31 indicates a video device, such as a monitor television, which is electrically connected to the imaging device 23, and 32 indicates a video typewriter for inserting characters and symbols into the video signal as required.

Next, the operation of the self-propelled vehicle according to the present invention will be described with reference to the accompanying drawings, taking as an example the case where the self-propelled vehicle according to the present invention is used to observe the inner wall of a furnace in a DH device.

First, a self-propelled vehicle is moved near the immersion pipe of the DH device 100 where observation is required, and the outrigger 4
to fix the chassis 2, then move the moving cylinder 27
The guide pole 12 and the imaging pole 21 mounted in the downward position shown in A are moved to the vehicle chassis 2.
Move it to position B at the rear end.

Next, the driving prime mover 15 with a brake is operated to bring the guide pole 12 and the imaging pole 21 into an upright position at position C shown by a solid line. in this case,
The moving cylinder 27 is slightly operated so that the axial center of the immersion tube 101 of the DH device and the axial center of the imaging pole 21 substantially coincide with each other.

Next, the winch 25 is activated, the imaging pole 21 is raised, and the imaging device 23 is moved to the position D indicated by the dotted line.
reach a predetermined height. Next, when the rotary drive device 20 is operated, the inner wall 10 of the DH device 100
It is possible to image a predetermined part of 2 all around,
By making the imaging device 23 tiltable as necessary, the entire surface of the inner wall can be observed with a single operation.

After the observation is completed, the above-mentioned procedure is performed in reverse, but in either case, an interlock is established between each drive source operating device to prevent the imaging pole 21 from colliding with the imaging device inspection deck 29 or the imaged device. Providing equipment is sometimes extremely effective and allows operations to be carried out safely.

Next, even if the inner wall 102 of the furnace is at a high temperature of, for example, 1000° C. or higher, it is easy to deal with this by making the imaging device 23 a heat-insulating structure.

Furthermore, the imaging device 23 is the part that requires the most inspection in this type of device, and the self-propelled vehicle of the present invention has the imaging pole 21 in a downward position as described above, and the imaging device 23
It has the advantage of being able to quickly inspect items 3 and is extremely efficient in actual work.

According to the above work procedure, a self-propelled vehicle with a total length of 7250 mm and a loading weight of 80 tons was equipped with an imaging pole with a height of 5150 mm from the bottom of the outriggers fixed during observation to the top of the imaging device, and the upper limit of the imaging device was set at 3200 mm. Images were taken of the entire lumen of the DH device. Self-propelled cars are
Up to a height of 8350mm above the work surface and 3200mm below
It is possible to measure up to the position, and the lifting speed is 0.5 to 3 m/
Good results were obtained when observed under the conditions of min and turning speed of 0.1 to 0.6 RPM.

〔Effect of the invention〕

Since the self-propelled vehicle of the present invention has the above-mentioned configuration, it can approach the installation location of the cavity device as needed, regardless of the narrow space and time, and quickly image the interior cavity. be able to. Additionally, due to its maneuverability, it has the advantage of requiring a very limited number of equipment compared to a large number of effective equipment, improving workability by 20 to 50% compared to conventional observation equipment.

[Brief explanation of drawings]

FIG. 1 is a schematic side view of the self-propelled vehicle of the present invention, and FIG. 2 is a schematic top view. 1: Cockpit, 2: Chassis, 12: Guide pole,
21: Imaging pole, 23: Imaging device, 29: Inspection deck, 100: Cavity furnace.

Claims (1)

[Claims] 1 A self-propelled vehicle equipped with a self-propelled prime mover and a traveling device, which includes a pedestal mounted movably in the traveling direction on a guide hardware provided at the rear of the chassis of the self-propelled vehicle, and a traverse cylinder mounted on the pedestal. a traversing rack installed so as to be movable in the lateral direction; a guide pole rotatably supported by a bearing device fixed to the traversing rack; and a support shaft fixed to the traversing rack. a driving device that drives the pole to move up and down; an imaging device support pedestal that is movably engaged with the guide pole via a rolling device; and an imaging device support pedestal that is fixed to the arm hardware of the guide pole and pivoted to the tip of the guide arm. a pedestal winding device that pulls the imaging device support pedestal with a wire through a guided roller; an imaging pole that is rotatably supported on the support pedestal via a rotary drive device and has an imaging device on its head; Driving the gantry traction device provided at the front of the vehicle, an imaging device inspection deck provided at the top of the gantry traction device, an imaging device electrically connected to the imaging device, and each of the movable elements. What is claimed is: 1. A self-propelled vehicle for imaging a lumen with a lumen device, characterized by having a control room equipped with a source operating device.