JPH0658433B2 - Articulated manipulator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is an articulated manipulator that is inserted into a reactor at the time of periodic inspection of a nuclear reactor and performs various operations such as inspection and repair of the internal structure of the reactor. Regarding

[Conventional technology]

First, FIG. 4 shows the outline of the structure of the above-mentioned articulated manipulator used for inspection and repair of the in-core structure. In the figure, 1 is a reactor pressure vessel, 1a is a standard pipe drawn from the pressure vessel 1, 2 is a core, 3 is a floor of a building, and 4 is a manipulator. Here, the manipulator 4 comprises a drive unit 5 installed on the floor surface 3, a guide tube 6 inserted into the stand pipe 1a, and a plurality of links 8 connected in series via a joint mechanism 7, An inspection / repair device 9 is attached to the most advanced link. Further, the guide tube 6 is rotated around its axis by the drive of the drive section 5, the link 8 is moved in and out of the guide tube 6, and the joint mechanism 7 of the drive motor incorporated in each link 8 is provided between the links. It is operated by driving through gears, chains, etc.

[Problems to be solved by the invention]

By the way, when the articulated manipulator 4 is inserted into the reactor and the link 8 is moved in and out from the guide tube 6, if the link 8 on the tip side takes a tilted posture as shown in the figure,
The attitude of the link 8 housed in the guide tube, which is subjected to the moment load of the link 8 protruding forward from the guide tube 6, deviates from the vertical attitude, and the end thereof abuts the wall surface of the guide tube 6. Therefore, if the drive section 5 continues to move the link 8 in and out in this state, sliding and galling will occur between the link 8 and the guide tube 6, and the link cannot be smoothly moved in and out, and damage to both sides will occur. A problem that causes sticking occurs.

The present invention has been made in view of the above points, and an object thereof is a multi-joint type manipulator capable of smoothly performing an operation of moving a link in and out to prevent sliding galling between a guide tube and a link. ， In particular to provide that link structure.

[Means for solving problems]

In order to solve the above problems, according to the present invention, a roller that abuts on the wall surface of the guide tube and rolls is provided at the end of the link that constitutes the manipulator.

[Action]

With the above configuration, even when the link protruding forward from the guide tube is tilted when operating the manipulator,
The moment load is applied to the wall surface of the guide tube via the roller provided at the end of the link, and when the link is moved in and out in this state, the roller rolls on the wall surface of the guide tube to move the link. Therefore, there is no possibility that the guide tube and the link will directly slide against each other to cause galling, and the smooth operation of entering and exiting the link can be guaranteed, and at the same time, the guide tube and the link can be prevented from being damaged. it can.

〔Example〕

1 to 3 show the structure of an articulated manipulator according to an embodiment of the present invention, and the same members as those in FIG. 4 are designated by the same reference numerals. That is, according to the present invention, a pair of left and right rollers 10 is provided at the end of the link 8 on the side facing the backrest 6a extending from the tip of the guide tube 6. Reference numeral 7a in FIGS. 2 and 3 is a drive chain equipped in the joint mechanism 7, and is driven by a drive motor (not shown) incorporated in the link 8.

With such a configuration, when the link is pulled out as shown in FIG. 1, the moment caused by the weight of the link 8 protruding ahead of the guide tube 6 is applied to the guide tube 6 and the link 8 accommodated in the tube.
However, since a roller 10 is provided at the end of the link 8 and the roller rolls on the wall surface of the guide tube 6, a sliding galling occurs between them. The link 8 can be smoothly moved in and out of the guide tube 6 without any operation.

〔The invention's effect〕

As described above, according to the present invention, since the end of the link is equipped with the roller that abuts on the wall surface of the guide tube and rolls, the link is moved in and out of the guide tube when operating the manipulator. Even if the posture of the link protruding forward from the guide tube in the process is inclined, the link can be smoothly moved in and out without causing sliding galling between the guide tube and the link.

[Brief description of drawings]

FIG. 1 is a block diagram of an articulated manipulator according to an embodiment of the present invention, FIGS. 2 and 3 are side views and a bottom view showing the detailed structure of the essential parts in FIG. 1, respectively, and FIG. 4 is a nuclear reactor. FIG. 3 is an overall schematic view of an articulated manipulator showing a working state inserted into a furnace. In each figure, 4: manipulator, 5: drive unit, 6: guide tube, 7: joint mechanism, 8: link, 10: roller.

Claims (1)

[Claims] 1. A multi-joint type manipulator which has a plurality of links connected in series via a joint mechanism, pulls out the links from a guide tube, and swings the links to perform various operations. An articulated manipulator characterized in that the end of the link is equipped with a roller that abuts against the wall surface of the guide tube and rolls.