JPH0584866B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an inspection device for maintaining and inspecting a large number of densely packed pipe groups, and in particular, the present invention relates to an inspection device for automatically inspecting a large number of densely packed pipe groups while walking around a narrow space inside the pipe group. The present invention relates to a rail-movable automatic inspection system for pipe groups.

[Conventional technology]

In general, the health of nuclear reactor equipment is checked during each periodic inspection, and inspections of the primary reactor system are performed under the radiation environment unique to nuclear power plants.
Reducing radiation exposure for workers and shortening inspection time are important issues, and remote mobile devices equipped with sensors are being used.

FIG. 9 is a perspective view showing the reactor primary cooling system of the new type converter reactor, in which 81 is the reactor, 82 is the pressure tube assembly,
83 is the calandria tank, 84 is the inlet pipe, 85
is an outlet pipe, 86 is a steam drum, 87 is a main steam pipe,
88 is a downcomer, 89 is a recirculation pump, and 90 is a lower header.

In the figure, more than 200 inlet pipes 84 and outlet pipes 85 of the nuclear reactor 81 are installed, and the number of weld seams is just under 3000 for the outlet pipe and less than 3000 for the inlet pipe.
Over 4,000, totaling over 7,000. The outlet pipe group, which is composed of small-diameter pipes, has a layout pitch of 240 mm x 150 mm to 250 mm in the horizontal routing section, 410 mm around the steam drum and in the vertical section, and the piping pitch of the inlet pipe group is 200 mm x 120 mm in the horizontal routing section. ~250mm, 200mm around the bottom header and vertically. As described above, the inside of the pipe group of the inlet and outlet pipes is narrow and there is no working space for inspectors to approach and perform inspections, and the radiation level in the surrounding area is relatively high. For this reason, there has been a desire to develop a remote automatic inspection device that aims to reduce radiation exposure for inspectors, shorten inspection time, and expand the inspection range to include the inside of pipe groups.

Therefore, when conducting inspections of inlet/outlet pipe groups and developing inspection equipment, we decided to actively use the inlet/outlet pipe groups as scaffolding for the inspection equipment, instead of remotely viewing them as obstacles. Prototyping and development of a remote automatic inspection device that moves automatically depending on the operation is underway.

FIG. 10 is a diagram showing the overall configuration of such a remote automatic inspection device for outlet pipes, and FIG. 11 is a diagram showing how the remote automatic inspection device for outlet pipes moves between pipes. In the figure, 91 is a control device. , 92 is a data display device, 93 is a remote moving device, 94, 95, 96 are pipes, 97, 98 are yokes, 99 to 102 are clamp devices, and 103 is an arm.

In FIG. 10, the remote moving device 93 is remotely controlled by the control device 91, and slides along the pipe and moves in orthogonal directions.
The piping is inspected with the piping clamped. Data such as the position of the inspection device and the inspection results at this time are displayed on the display device 92, and are also stored and accumulated.

Next, the operation of the remote moving device 93 will be explained with reference to FIG.

Clamp devices 99, 100 and 101, 102 are provided at both ends of the yokes 97, 98 at the same spacing as the piping, and these are connected to the control device 9.
The tip is opened and closed in response to a control signal from 1 to grip or release the pipe.
Further, the yokes 97 and 98 are connected by an arm 103, and the other yoke swings in a semicircle with the arm connection point in one yoke as the center and the arm length as a radius.

In the state shown in FIG. 11A, the clamp devices 99, 100 and 101, 102 of the yokes 97, 98 are on and grip the pipes 94, 95.
Next, in the state shown in FIG. 11B, the clamp devices 99 and 100 are opened, and the yoke 97 is swung in a semicircle around the fulcrum of the arm 103 in the yoke 98, as shown in FIG. 11C. ,
Clamp devices 99, 100 are connected to adjacent pipes 95,
96, close the clamp and connect the pipes 95, 9.
Grip 6. Next, as shown in FIG. 11D, the clamp devices 101 and 102 are opened, and the yoke 98 is swung in a semicircle around the connection point of the arm 103 in the yoke 97, and as shown in FIG. , the clamp devices 101 and 102 also move onto the adjacent pipes 95 and 96, close the clamps, and grip the pipes. Thereafter, by repeating this operation, the piping can be moved to a desired position.

Note that the clamp devices 99, 100 are opened in the state shown in FIG. 11A or FIG. 11E, and the slide device 10 is
4, the yoke 98 is slid in the axial direction of the piping by the stroke of the shaft (the prototype device is 10
mm) and stop, clamping device 99,10
Close 0.

Next, the clamp devices 101 and 102 are opened, and the yoke 97 is moved by driving the slide device again.
is advanced by the stroke of the slide shaft in the axial direction of the piping (in the direction of the yoke 98) and stopped, and the clamp devices 101 and 102 are closed.

By performing this repeated operation, the device can move in the axial direction of the pipe. In addition, since it can also move in the opposite direction to the above, it can move in either direction along the axis of the pipe.

This prototype device has a slide stroke of 10 mm, but by increasing the slide stroke distance, it is possible to move over a longer range in one operation.

In this way, after the worker installs it in the initial setting position, the operator repeats the above-mentioned operation by remote control, automatically walking between pipes and inspecting each time, and when all inspections are completed, the worker moves back and returns to the initial setting. Return to position.

[Problems to be solved by the invention]

However, such remote moving devices have a mechanism for moving across piping of equal pitch by semicircular motion with the radius of the piping pitch, so if the piping pitch is different, it is necessary to replace the device with another device, and the piping As the space around the group, the movement space including the piping pitch and the height of the equipment, for example, the exit piping is approximately
Since 500 mm is required, it is difficult to apply it inside a pipe group with a narrow surrounding space, such as a horizontal routing section of an inlet/outlet pipe group.

The present invention is intended to solve the above problems,
Automatic inspection of piping groups using rails that can be inspected without being affected by pipe pitch spacing, and can also inspect the inside of piping groups that are narrow and have relatively high radiation levels, expanding the inspection range. The purpose is to provide equipment.

[Means for solving problems]

To this end, the rail movable automatic piping group inspection device of the present invention has a traveling body that runs on a rail that traverses the piping group and has support arms at both ends that extend in the piping direction, and is rotatable about an axis that extends between the support arms. a main body support member that is attached to the inspection device body and has a guide that extends parallel to the support arm, an inspection device body that is slidably attached to the guide and extends downward; a clamping means for clamping, and a rotating means for rotating the inspection device main body and the clamping means by rotating the main body support member about an axis extending between the support arms, and the rotating means After release, the inspection device main body and the clamp means are rotated to lift up outside the pipe to be inspected, and are also lifted down to the pipe to be inspected when the inspection position is set.

[Effect]

The rail movable pipe group automatic inspection device of the present invention includes:
It moves on a rail that crosses a group of pipes, lifts up the clamping means and inspection device when moving, and lifts down the clamping means and inspection device during inspection, making it possible to walk around and inspect the inside of a group of pipes in a narrow space. Furthermore, by moving the inspection device in the axial direction of the pipes and in the circumferential direction of the pipes, all of the pipe groups can be inspected.

〔Example〕

Examples will be described below with reference to the drawings.

FIG. 1 is a perspective view of an embodiment of the rail moving type automatic piping group inspection device according to the present invention, and FIG. 2 is a diagram showing how the rail moving type automatic piping group inspection device of FIG. 1 moves between pipes. is the rail, 2 is the running body,
3 and 4 are support arms, 5 is a main body support member, 6 is an inspection device main body, 7 is a clamp device, 8 is a shaft, 9, 1
0 is a guide, and 11 and 12 are piping.

In the figure, a rail 1 is provided in a direction perpendicular to the pipes 11 and 12, and a traveling body 2 runs on this rail.
slides. Support arms 3 and 4 are provided protruding from both ends of the traveling body 2, and a main body support member 5 is attached to these so as to be rotatable about a shaft 8, and an inspection device is attached to guides 9 and 10 of this support member 5. The main body 6 is attached. Various sensors such as a TV camera are attached to the surface of the inspection device main body 6 facing the piping. And the running body 2 is arrow A
In the direction, the inspection device main body 6 is aligned with arrows B (Y axis), C, and D.
The clamp device 7 is configured to be driven in the (X-axis) direction and in the arrow E direction by drive sources (not shown). Further, these devices are made of, for example, corrosion-resistant aluminum, and the drive shafts are made of stainless steel or the like.

In such a configuration, as shown in FIG. 2A, the rail 1 is fixed to the inspection target location using a fixture using a method described later, and the traveling body 2 is attached to the rail 1. Next, the clamp device 7 that was gripping the pipe 11 is released, and the main body support member 5 is rotated around the axis 8, as shown in FIG. Lift up 90° counterclockwise and secure. In this state, the traveling body 2 is slid in the direction of arrow A (FIG. 2 C) to move to the position of the next pipe 12 to be inspected, and at this position, as shown in FIG.
Rotate clockwise to lift down the inspection device main body 6 and clamp device 7 by 90 degrees, and remove the clamp device 7.
Clamp the pipe 12 with. At this time, the grip position of the pipe is corrected by releasing the clamp device 7 and driving the Y-axis drive mechanism (not shown) to correct the position of the inspection device body along the guides 9 and 10 by the stroke range. do. In this way, it is set at the inspection position, and various sensors such as a TV camera installed in the inspection device body are connected to the piping 12 by a drive source (not shown).
Inspections such as a visual inspection and a volumetric inspection are performed while moving around the body, and the inspection results are displayed on a display device (not shown) and processed by a data processing device.

The movement of each of these devices is performed by remote control in automatic mode and manual mode, but in addition to this, the inspection device itself has a built-in microcomputer and the inspection procedure can be stored in advance. The inspection may proceed automatically.

Next, the configuration of each part will be explained in more detail.

FIG. 3 is a front view of one embodiment of the clamping device.
21 is a fixed claw, 22 is an air cylinder, 23 is a clamp claw, and 24 is a pipe.

This embodiment is an arm direct drive system in which one air cylinder 22 operates two clamp claws 23 to clamp the pipe. That is, the piping 2 is clamped by two clamp claws 23 operated by a link mechanism of one fixed claw 23 and a double-shaft driven air cylinder 22.
It is structured to hold 4. This air cylinder has, for example, an air pressure of 5 to 7 kg/cm ² , a cylinder stroke of 20 mm (Max), and a clamping force of 10 kgf. Completion of clamping is confirmed by a micro switch (not shown) provided on the clamp claw 23.

FIG. 4 is a side view showing a lift mechanism for lifting the inspection device main body, where 31 is a rotary actuator, 32 is an inspection device main body, and 33 is a clamp claw.

The lift mechanism in this embodiment is of a rotary actuator drive type, for example, 5 to 7
A rotary actuator 31 with an operating air pressure of Kg/cm ² lifts up or lowers the inspection device main body 32 provided with various sensors by 90 degrees.

At this time, the clamp claw 33 is attached to the inspection device main body 32.
Since the inspection device main body 32 is lifted up or lifted down, the clamp claw 33 is also lifted up or lifted down.

FIG. 5 is a side view showing the sliding mechanism when the traveling body slides on the rail, where 41 is a DC motor, 42 is a gear, 43 is a rail, 44 is a traveling body,
45 is a rack, 46 is an inspection device main body, and 47 is a clamp claw.

The slide mechanism in this embodiment moves the traveling body 44 in the rail direction by one pitch (or a specified pitch) of the entrance/exit pipe by transmitting the driving force of the DC motor 41 to the rack 45 of the rail 43 via the gear 42. The moving speed is, for example, 50 to 100 mm/min. The position of the inspection device main body 46 is detected by a gear 42 and an encoder rotating at a predetermined ratio, and a detection pulse signal is transmitted to a control device and digitally displayed on a position display device on a control panel. By using this slide mechanism in combination with the aforementioned lift mechanism and clamp mechanism, it is possible to move between pipe groups.

FIG. 6 is a diagram for explaining an X-axis drive mechanism for driving various sensors provided in the inspection device in the circumferential direction of the pipe, and FIG. 6A is a front view and FIG. 6B is a plan view. In the figure, 51 is a DC motor, 52 is a timing belt, 53 is a C gear, 54 and 55 are pinions, and 56 is a clamp claw.

The X-axis drive mechanism of this embodiment uses a timing belt drive system in which two pinions rotate the C gear from the output shaft of the DC motor 51 via the timing belt 52. At least one pinion is engaged with the C gear 53. Also, 370 degrees (10
The rotation speed (circumferential speed) is, for example, 100 to 500 mm/min. The stroke end of the X-axis is determined by automatically stopping movement in the X-axis direction by operating a micro switch via a lever by the dog to which the C gear is attached. Further, the position in the X-axis direction is detected by an encoder attached to the rear of the DC motor 51, and a detected pulse signal is transmitted to the control device and digitally displayed on a position display device on the control panel.

Figure 7 is a diagram for explaining the Y-axis drive mechanism that slides the inspection device main body in the direction of the piping axis, and is 61
is a DC motor, 62 is a gear, 63 is a ball screw,
64 is the inspection device main body, 65 and 66 are guides, 67
is a rail, and 68 is a pipe.

The Y-axis drive mechanism in this embodiment is a ball screw that moves in the Y-axis direction by guiding an inspection device main body 64 equipped with various sensors with two guides 65 via a DC motor 61, a gear 62, and a ball screw 63. This is the drive method. The end of the stroke is detected by a micro switch and activated by the micro switch.
Automatically stops movement in the Y-axis direction. The position in the Y-axis direction is detected by an encoder attached to the rear of the DC motor 61, transmitted as a pulse signal to the control device, and digitally displayed on a position display device on the control panel.

In this way, the inspection device main body 64 can perform position correction in the Y-axis direction within a predetermined range.

FIG. 8 is a diagram for explaining the method of fixing the rail, and FIG. 8A is a side view, and FIG. 8B is a plan view.
In the figure, 71 is a rail, 72 and 73 are rail fixtures, 74 is an air cylinder, and 75 and 76 are piping.

In this embodiment, rail fixtures 72 and 73 are provided at both ends of the rail 71 to fix the rail. The rail 71 is composed of a guide section and a rack section (not shown) for linearly moving the inspection device main body along the welded portion of the pipe group. As shown in FIG. 8B, the rail fixture has a built-in air cylinder 74, and when fixing the rail to the pipes, the piston shaft is connected to the two pipes 75 and 75 by the spring inside the cylinder.
Stretch between 76. When removing the rail, operate the air cylinder to retract the piston shaft and remove the rail from the piping.

In addition, in the above embodiment, a case was explained in which sensors such as a TV camera and an ultrasonic probe are installed in the main body of the inspection device, but in addition to this, welding jigs and repair jigs for maintaining piping can also be used. It goes without saying that it may be mounted on the main body of the inspection device as necessary.

〔Effect of the invention〕

As described above, according to the present invention, it is only necessary to install the inspection device at a position (initial setting position) that is easy for workers to access on the outer periphery of the pipe group such as inlet/outlet pipes, and after that, it can be operated in automatic mode or manual mode from the control panel. Many other inspections of inlet/outlet pipes do not require human intervention, as they are controlled remotely by mode or automatically move between groups of pipes according to commands from the built-in microcomputer, resulting in a significant reduction in radiation exposure compared to manual flaw detection. can be achieved. Until now, welded parts on the outer periphery of piping groups,
However, since the device of the present invention can automatically walk around the inside of a group of pipes and inspect each time, it is possible to inspect all the welded parts. This makes it possible to perform many inspections, greatly expanding the inspection range. Also,
Since the present invention moves along a rail that crosses a group of pipes, it is possible to move between groups of pipes even if the pipe pitches are different, and the movement of the clamp mechanism when clamping to the pipes is small compared to conventional ones. Therefore, it is possible to further expand the inspection range inside the pipe group. Furthermore, since it can also be moved in the axial direction of the piping, inspection is possible even if the welding location is misaligned.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of an embodiment of the rail moving automatic piping group inspection device according to the present invention, FIG. 2 is a diagram showing how the rail moving automatic piping group inspection device of FIG. 1 moves between pipes, The figure is a front view of one embodiment of the clamp device, FIG. 4 is a side view showing a lift mechanism for lifting the inspection device main body, and FIG. 5 is a side view showing a slide mechanism when a traveling body slides on a rail. Figure 6 is a diagram for explaining the X-axis drive mechanism that drives various sensors installed in the inspection device in the circumferential direction of the pipe, where A is a front view, B is a plan view, and Figure 7 is a Diagram 8 for explaining the Y-axis drive mechanism that slides the inspection device main body in the direction of the piping axis.
The figures are diagrams for explaining how to fix the rails. Figure A is a side view, Figure B is a plan view, Figure 9 is a perspective view showing the reactor primary cooling system, and Figure 10 is a remote automatic control system for the outlet pipe. FIG. 11 is a diagram showing the overall configuration of the inspection device, and is a diagram showing how the remote automatic inspection device for outlet pipes moves between pipes. DESCRIPTION OF SYMBOLS 1... Rail, 2... Running body, 3, 4... Support arm, 5... Main body support member, 6... Inspection device main body, 7... Clamp device, 8... Axis, 9, 10...
... Guide, 11, 12 ... Piping, 21 ... Fixed claw, 22 ... Air cylinder, 23 ... Clamp claw, 24 ... Piping, 31 ... Rotary actuator, 32 ... Inspection device main body, 33 ... ...clamp claw, 41...DC motor, 42...gear, 43...
...Rail, 44...Running body, 45...Rack, 4
6... Inspection device main body, 47... Clamp claw, 51
...DC motor, 52 ...Timing belt, 5
3...C gear, 54, 55...pinion, 56...
... Clamp claw, 61 ... DC motor, 62 ... Gear, 63 ... Ball screw, 64 ... Inspection device body, 65, 66 ... Guide, 67 ... Rail, 6
8... Piping, 71... Rail, 72, 73... Rail fixture, 74... Air cylinder, 75, 76
……Piping.

Claims (1)

[Claims] 1. A running body that runs on a rail that crosses a group of pipes and has support arms at both ends that extend in the pipe direction, and a running body that is rotatably mounted on a shaft that extends between the support arms and is parallel to the support arms. a main body support member having a guide extending in the direction, an inspection device main body slidably attached to the guide and extending downward, a clamping means attached to the inspection device main body and clamping the pipe to be inspected during inspection, and the support member. a rotating means for rotating the inspection device main body and the clamp means by rotating the main body support member around an axis extending between the arms; A rail movable automatic pipe group inspection device characterized in that the means is rotated to lift up outside the pipe to be inspected, and lift down to the pipe to be inspected when the inspection position is set. 2. The rail movable automatic pipe group inspection device according to claim 1, wherein the inspection device main body is equipped with various sensors such as a TV camera and an ultrasonic probe. 3. The rail movable automatic pipe group inspection device according to claim 1, wherein the inspection device main body includes a welding jig and a repair jig. 4. The rail movable automatic pipe group inspection device according to claim 1, wherein the rail is fixed to the pipe by a rail fixing means. 5. The rail movable pipe group automatic inspection device according to claim 4, wherein the rail fixing means fixes the rail to the pipes by pushing a piston shaft between the pipes using an air cylinder. 6. The rail movable automatic pipe group inspection device according to claim 1, wherein the inspection device is driven in the pipe circumferential direction by a C-type gear meshing with a pinion driven by a motor via a timing belt. 7. A plurality of pinions are provided, and at least one
Claim 6 in which the gear always meshes with the C-type gear.
Rail movable pipe group automatic inspection device described in Section 2. 8. The rail movable automatic pipe group inspection device according to claim 1, wherein the inspection device main body is driven in the pipe axial direction by a ball screw driven by a motor. 9. The rail movable automatic pipe group inspection device according to claim 1, wherein the clamping by the clamping means is performed by a fixed claw and a clamping claw operated by an air cylinder.