JPH0825103B2 - Nut / washer conveyor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a nut for tightening the upper lid of a reactor pressure vessel,
The present invention relates to a nut, a nut for conveying a washer to a predetermined position when the washer is attached and detached, and a washer conveying device.

[Prior Art] Generally, an upper lid of a reactor pressure vessel in a boiling water reactor is fastened by a stud bolt and a nut erected on a vessel body.

FIG. 10 shows an example of a conventional technique for opening and closing the lid of the reactor pressure vessel, which is embedded and fixed at the upper part of the reactor pressure vessel body a and at the upper end of the reactor pressure vessel body a. In the state where a lid e having a hole c to be fitted to the tightening stud b on a flange portion d is placed and a tension is applied to the stud b by a stud tensioner g suspended from a mount f provided on the upper portion. The lid e is tightened by tightening the nut h, and the lid e is lifted and removed by loosening and removing the nut h.

However, in the above method, the work of attaching and removing the nut h is generally performed on the bottom plate k of the water storage tank j, which is provided on the top of the reactor containment vessel i and is used for filling water when replacing the fuel rods.
It is done by a normal worker, but this water tank bottom plate k is almost at the same height as the upper end of the reactor pressure vessel main body a, and the height of the flange d is about 1 m, and tightening is performed. Stud b
Since the protruding length (m) is about 0.6 m, the worker must lift and lower the heavy nut (about 25 kg) about 1.6 m between the bottom plate k of the water tank and the upper end of the stud b. It is extremely labor-intensive and dangerous, and the removed nut h must be placed on the bottom plate k of the water tank once, and it is necessary to individually carry out and carry it out to the outside for the stored water. There was a problem that it took time. Further, in addition to the above-mentioned worker, about two workers are required on the flange d for the work of aligning the stud tensioner g with the stud b, and the mount f and the mount f are provided. It requires a worker who operates the drive device 1 such as a pump on the gantry f, and a worker who performs the progress and instructions of each work on the lid e, which requires a great deal of labor and has a low work efficiency. There was a problem.

Therefore, the applicant has proposed Japanese Patent Publication No. 59-11433 (nut attachment / detachment work equipment), and has achieved labor saving at the time of nut attachment / detachment work, shortening the construction period, and reducing the radiation exposure of workers.

[Problems to be Solved by the Invention] However, in the above-mentioned nut attaching / detaching device, a work of conveying the removed nut to the storage location by simply attaching and detaching the nut, and conveying the nut of the storage location to the position of the stud bolt I was still relying on the manual labor of workers.

In view of such an actual situation, the present invention intends to mechanize a nut transporting operation and perform a complete automation of a series of operations related to the nut attaching / detaching operation.

[Means for Solving the Problems] In order to achieve the above object, in the nut / washer transport device of the present invention, the lifting frame 33 vertically hung on the unit base 7 and pivotally supported by the lifting frame 33. A lifting screw rod 35 extending substantially vertically and the lifting screw rod 35.
And an elevating block 36 that is screwed to the elevating frame 33 and is capable of elevating and lowering substantially vertically to the elevating frame 33, and the elevating screw rod 35.
The servo motor 38 for rotating the
A traverse frame 39 fixed to the traverse frame 39, a traverse screw rod 41 pivotally supported by the traverse frame 39 and extending substantially horizontally, and a traverse frame 39 screwed onto the traverse screw rod 41.
A traverse block 42 that can move substantially horizontally with respect to the servo motor 44 that rotates the traverse screw rod 41.
A cylindrical casing 45 provided on the traverse block 42 and having an opening at the bottom, a sleeve 53 installed in the casing 45 so as to be rotatable in the circumferential direction, and a vertical movement to the sleeve 53. The socket wrench 55 obtained so as not to rotate in the circumferential direction, the servo motor 47 for rotating the socket wrench 55 through the sleeve 53, and the washer H provided on the socket wrench 55 are provided. A pneumatic chuck 57 that can be held and a positioning leg 59 that can be fitted from above to the stud bolt F that fastens the upper lid C to the vessel body B of the reactor pressure vessel A are provided. The unit table 7 is hung up and down on a revolving table 4 which is located above the upper lid C and coaxial with the upper lid C and which turns in the circumferential direction, and is fitted to a nut G screwed to a stud bolt F. Socket shape Forming a switch 55, the positioning leg
The positioning member 59 is attached to the unit base 7 so that the socket wrench 55 is positioned coaxially with the other stud bolt F when the 59 is fitted to the certain stud bolt F, and the servo motors 38, 47 are synchronously controlled. It is characterized by being configured so that it can be performed.

[Operation] When removing the nut G and the washer H from the nut / washer transport device of the present invention, the servo motor 38 raises the elevating block 36,
The traverse block 42 is traversed by 44 and the socket wrench
When the elevating block 36 is lowered by the servo motor 38 after the 55 is positioned right above the stud bolt, the socket wrench 55 is fitted to the nut G screwed to the stud bolt F.

Next, the washer H located below the nut G is held by the socket wrench 55 by the pneumatic chuck 57, and the socket wrench 55 is rotated by the servo motor 47.
When the elevation block 36 is raised by the servo motor 38,
As the socket wrench 55 rotates and rises, the screwing of the nut G with the stud bolt F is released, and the nut G and the washer H are removed from the stud bolt F.

On the other hand, when the work of attaching the nut G and the washer H is performed, the nut wrench 55 screwed to the stud bolt F is fitted to the socket wrench 55, and the pneumatic chuck 57 positions the nut G below the nut G. The washer H that is being held is held in the socket wrench 55, and the traverse block 42 is
To position the socket wrench 55 directly above the stud bolt F.

Next, the servo motor 38 lowers the elevating block 36, and the servo motor 47 causes a socket wrench.
When 55 is rotated, the socket wrench 55 is rotated and lowered, whereby the nut G is screwed into the stud bolt F, and the nut G and the washer H are attached to the stud bolt F.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

The embodiment described below is a case where the upper lid of the reactor pressure vessel is applied to stud bolts and nuts that are fixed to the vessel body.

In the figure, A is a reactor pressure vessel, B is a vessel body, C is a top lid, D and E are flanges, F is a stud bolt, G is a nut, H is a washer, I is a reactor containment vessel, and 1
Is a lid opening / closing device, 2 is a fixed sling, 3 is a leg, 4 is a turning table, 5 is a centering device, 6 is a unit lifting device, and 7 is a unit lifting device.
Is a unit stand, 6 is a stud tensioner, 9 is a stud bolt attaching / detaching device, 10 is a nut and washer conveying device.

First, the outline of the upper lid opening / closing device 1 attached to the upper lid C of the reactor pressure vessel A will be described.

As shown in FIG. 6 to FIG. 8, a mounting piece installed at a plurality of positions on the outer surface of the upper lid C for hanging.
Each leg 3 of the fixed spring 2 in the upper lid opening / closing device 1 is attached to Ca. On the fixed sling 2, a turning table 4 horizontally turning along the pitch circle of the stud bolt F is mounted while being supported by the rollers 11.

The centering device 5 is disposed between the fixed sling 2 and the turning table 4, and moves the turning table 4 back and forth and left and right (horizontal directions) to move the turning table 4 to the pitch circle and the circular center. Is to be placed.

Below the periphery of the turntable 4, working units for carrying out various works, for example, 90 ° apart in the circumferential direction of the pitch circle, that is, the stud tensioner 8 and A plurality of stud bolt attaching / detaching devices 9, nuts, washer conveying devices 10, positioning devices (not shown), etc. are arranged in the unit table 7 (for example, four units each), and A ring-shaped work scaffold 13 in a suspended state is provided on a suspension device 12 such as a chain block. The work scaffold 13 is provided with a lifting device 12
When it is hung up by, it is supported in a state where the peripheral portion is placed on the projecting step portion (bulkhead or the like) on the inner wall of the reactor containment vessel I. When performing various operations thereafter, the suspension device 12 is disconnected (such as a chain) and separated from the swivel table 4 for use.

The unit lifting device 6 is an electric servomotor provided on the revolving table 4 for each one.
14 and a speed reduction mechanism 15 of the electric servomotor 14 and three ball screw jacks 16 connected to the speed reduction mechanism 15 and operated synchronously, and the unit base 7 is moved up and down with respect to the turning table 4. It has a function.

The stud tensioner 8 is configured by combining a tensioning function of applying tension to the stud bolt F and a nut rotating function of rotating and loosening the nut G in a state where the stud bolt F is extended. An elevating mechanism 17 is provided on the unit table 7, and the operation of the elevating mechanism 17 causes the tensioner 8 supported in a state of vertically penetrating the unit table 7 to move up and down in synchronization with the moving speed of the rotating nut G. It has a function to move.

Further, the nut / washer conveying device 10 further rotates the nut G loosened by the stud tensioner 8 to remove it from the stud bolt F, or screw the nut G into the stud bolt, and at the same time, attach the nut G and the washer H to the work scaffolding. It is conveyed to a required position above 13 and is operated to be supported by a pin-shaped nut supporting mechanism 18 arranged at the same pitch angle so as to correspond to each stud bolt F.

The stud bolt attaching / detaching device 9 includes a stud bolt chuck part 26, a wrench part 27, and a stud bolt lifting device 28.
After the nut G and the washer H are removed,
The stud bolt F is chucked by the chuck portion 26, the stud bolt F is rotated by the wrench portion 27, and the stud bolt lifting device 28 chucks in synchronization with the lifting speed of the stud bolt F accompanying the rotation of the stud bolt F by the wrench portion 27. The part 26 and the wrench part 27 are moved up and down, and the stud bolt F is pulled out and screwed in.

In addition, a suspension piece 19 that is formed to project upward, a center platform 20 that surrounds the suspension piece 19, and a center platform 20 above the center of the fixed sling 2.
A turning motor 21 such as an electric servomotor, which is a drive source for turning the turning table 4 and is mounted on the vehicle, and a rack and pinion mechanism for turning the turning table 4 when the turning motor 21 is operated are provided. A swing platform 22 formed on the upper surface of the swing table 4 is disposed around the center platform 20, and the swing platform 22 is used to give commands based on the execution of various operations. The operation panel 23 etc. are installed.

The nut and washer conveying device 10 will be described in detail below with reference to FIGS.

The nut / washer transfer device 10 includes an elevating part 30 vertically installed on a unit table 7 supported by a turntable 4, and the elevating part 30.
The transverse section 31 attached to the transverse section 31 and the chuck section 32 attached to the transverse section 31 are provided.

Hereinafter, the elevating part 30, the traverse part 31, and the chuck part 32 will be sequentially described.

An elevating frame 33 is vertically installed on the unit base 7, two vertical elevating guides 34 are attached to the elevating frame 33, and an elevating screw rod 35 is rotatably provided substantially in the middle of the elevating guide 34. The elevating block 36 is slidably fitted to the elevating guide 34 and screwed to the elevating screw rod 35. An electric servomotor 38 is connected to the lifting screw rod 35 via a speed reducer 37.

 The traverse portion 31 is fixed to the elevating block 36.

Two traverse guides 40 are horizontally attached to a traverse frame 39 fixed to the elevating block 36, and a traverse screw rod 41 is rotatably provided substantially in the middle of the traverse guide 40. The traverse block 42 is slidably fitted to the traverse guide 40, and the traverse screw rod 41 is screwed. In addition, the traverse screw rod 41 is connected to the electric motor through the speed reducer 43.
44 are connected.

The chuck portion 32 described above is attached to the transverse block 42.

The casing 45 attached to the traverse block 42 has an axis that can match the axis of the stud bolt F, and the reducer 46 and the electric servomotor 47 are mounted on the upper surface of the casing 45 so as to match the axis of the casing 45. An output shaft 48 of the speed reducer 46 is projected inside the casing 45. The casing 45 includes a wrench socket holder portion 49 and the wrench socket holder portion 49.
The center side leg 50 and the outer leg 51 are left and the chuck part 52 is removed so as not to interfere with the adjacent nuts G, G.

Bearing the sleeve 53 on the wrench socket holder 49
A wrench socket 55 is slidably spline-fitted to the sleeve 53. The wrench socket 55 is slidably connected to the output shaft 48, and a spring 56 urges the wrench socket 55 downward. The wrench socket 55 is hollow so that the head of the stud bolt F can be loosely inserted, and its lower end is formed with rectangular teeth so that it can be fitted into the recess of the nut G.

A pneumatic chuck 57 is provided on the inner surface of each of the center side leg 50 and the outer side leg 51 of the chuck portion 32.

Pneumatic chuck 57 should have nut G at the position corresponding to washer H.
The required number (3 sets in the figure) is provided at the position corresponding to
It has the structure shown below.

The outer shape has an arc shape along the outer peripheral surfaces of the nut G and the washer H, and is formed in a hollow shape with an elastic material such as rubber. Further, as shown in FIG. 6, the cross-sectional shape is such that the center side is recessed when the internal pressure is not applied, and the center side is projected as shown by the two-dot chain line in the figure when the internal pressure is applied. or,
An air pressure source (not shown) is connected to each pneumatic chuck 57 via an air supply port 58, and compressed air can be supplied to and discharged from the pneumatic chuck 57 by opening and closing a valve such as a solenoid valve. .

Numeral 59 in FIGS. 2 and 3 is a positioning leg extending downward from the unit base 7 and fitted to the stud bolt F and nut G to position the stud bolt attaching / detaching device 9, nut and washer conveying device 10. is there.

The electric servomotors 38 and 47 are controlled in speed by a control device (not shown).

Hereinafter, an opening / closing operation on the upper lid C of the reactor pressure vessel A and a nut / washer transfer operation accompanying the opening / closing operation will be described.

A state in which the upper lid opening / closing device 1 stored on the operating floor or the like is hung by a crane or the like and lowered onto the reactor pressure vessel A, and the legs 3 of the fixed sling 2 are attached to the attachment piece Ca of the upper lid C. At the same time, by operating the centering device 5, the turning center of the turning table 4 is aligned with the center of the pitch circle of the stud bolt F, whereby the upper lid opening / closing device 1 is installed on the reactor pressure vessel A.

The suspension device 12 is actuated to lower the work scaffolding 13 to the projecting step portion on the inner wall of the reactor containment vessel I, and the stud bolt F, the nut, and the chuck portion 32 of the washer carrier device 10 are moved in the radial direction of the pitch circle. Align with.

The turning table 4 is turned by the operation of the turning motor 21, and the stud bolt F to be loosened and the stud tensioner 8 are horizontally aligned.

The unit lifting device 6 is operated to lower the unit base 7 and each working unit from the turntable 4, and
The positioning legs 59 provided on the unit base 7 are fitted from the lower position of the stud tensioner 8 to the stud bolts F spaced apart by, for example, several pitches, and precise positioning in the circumferential direction of the pitch circle is performed by fine adjustment.

In this alignment state, the nut and washer conveyor
The reference numeral 10 designates the stud bolt F at the same position as the stud tensioner 8 as a work target and stands by in the vicinity thereof.

By operating the stud tensioner 8, the grip portion F _b of the stud bolt F is grasped and pulled up,
With the stud bolt F extended, the nut G is rotated to loosen the nut G.

Next, the stud tensioner 8 is moved up and retracted to a position above the stud bolt F.

With respect to the nut G and the washer H that have been loosened, the nut and washer conveying device 10 removes the nut G and the washer H from the stud bolt F and conveys them to a predetermined storage location.

Chuck portion 32 held above the stud bolt F,
The traverse block 42 is rotated in the horizontal direction (radial direction) by the rotation of the traverse screw rod 41 driven by the electric motor 44, whereby the stud bolt F is aligned.

While the compressed air is not supplied to the pneumatic chuck 57, the electric servomotor 38 is driven to rotate the lifting screw rod 35 and lower the lifting block 36. Lift block 3
6, the traverse portion 31, and the chuck portion 32 are lowered into one body, and the lower end of the wrench socket 55 accommodates the head of the stud bolt F and the upper end of the nut G meshes with each other.
0, the outer leg 51 is fitted into the nut G and the washer H.

When the rotational position of the wrench socket 55 is not aligned with the nut G, the meshed state is not reached and the wrench socket 55 is pushed up against the spring 56 by the nut G. ing.

By operating a solenoid valve (not shown), the inner diameter of the pneumatic chuck 57 that feeds the compressed air to the pneumatic chuck 57 facing the washer H is reduced to grip the washer H. Since compressed air is not supplied to the pneumatic chuck 57 for the nut G, the nut G rotates with respect to the casing 45.

The servo motor 47 is driven to rotate the wrench socket 55.

When the lower end of the wrench socket and the upper end of the nut are not fitted to each other, the wrench socket 55 is engaged when it is slightly rotated.

When the wrench socket 55 is rotated, the nut G rotates and the screw action ascends.

The above-mentioned servo motor 38 is driven in synchronization with the servo motor 47, and raises the elevating block 36 to raise the chuck portion 32 at a speed corresponding to the rising speed of the nut G. Since the washer H is held by the pneumatic chuck 57 as described above, it rises together with the nut G.

When the nut G is rotated until the screw engagement with the stud bolt F is completely released, the drive of both servo motors 38, 47 is stopped, and compressed air is sent to the pneumatic chuck 57 corresponding to the nut G to feed the nut G. Hold.

The servo motor 38 is further driven to raise the nut G including the washer H to a position above the stud bolt F.

Next, the electric motor 44 is driven to move the chuck portion 32 to the outside via the traverse block 36 to align the shaft centers of the nut G and the washer H with the shaft center of the nut support mechanism 18.

Elevating screw rod 3 driven by servo motor 38
5, lower the chuck 32 through the lifting block 36,
The nut G and the washer H are fitted into the chuck portion 32. When the compressed air of the all-pneumatic chuck 57 is eliminated, the nut G and the washer H are released from the holding state. In this state, if the servo motor 38 raises and the electric motor 44 traverses to the center side, the nut removal work is initially performed. Return to position.

With the above, the removal work of the nut G and the washer H and the carrying work are completed, but the nut G and the washer H are stored at the positions corresponding to the removed stud bolts F, respectively.

When the nut G and the washer H are removed and the stud bolt is ready for removal, the stud bolt F is removed by the stud bolt attaching / detaching device 9.

The stud bolt F removed by the stud bolt attaching / detaching device 9 is conveyed to a required location. If necessary, the stud bolt on the small diameter portion F _c which is formed between the threaded portion Fa and the grasping portion F _b at F, for example autonomously fitted around the two split sleeve-like spacer described above Then, it is placed on the flange D, and the stud bolt F is suspended by the spacer.

Remove all nuts G and washers H, stud bolts F
After pulling out, the suspension device 12 and the work scaffold 13 are connected to each other, and the work scaffold 13 is lifted up, whereby the reactor containment vessel I
It is floated from the protruding step on the inner wall of the fixed sling 2 and is suspended from the fixed sling 2. At the same time, a crane or the like is connected to the hanging piece 19 of the fixed sling 2 so that the fixed sling 2 together with the swivel table 4, the upper cover C, and the work scaffolding. Suspend 13 etc. together and transport to the operating floor for storage.

Since the work of closing the upper lid C is performed by substantially the reverse process of the work of removing the upper lid C described above, detailed description thereof will be omitted.

Briefly, the upper lid C stored on the operating floor, the stud bolts F, etc. suspended from the upper lid C are hung together with the fixed sling 2 and the turntable 4 by a crane or the like, Lower it onto the furnace pressure vessel A and make settings such as each alignment. As for the stud bolts F that are not suspended on the upper lid C, all the stud bolts F are transported to the vicinity of the upper lid C and the flange D of the container body B, and are inserted into the screw holes. Then, the attachment / detachment device 9 for the stud bolt F is operated to sequentially screw the stud bolts F into the standing state.

The nut G and the washer H are fitted into the stud bolt F by the nut and washer conveying device 10 in the reverse order.

After that, the nut G is activated by the operation of the stud tensioner 8.
Is finally tightened, and the work of fastening the upper lid C and the container body B is performed.

In this series of operations, the nut washer is removed, fitted, and conveyed, all of which are mechanized, so that the operation is performed smoothly and quickly, and the work directly involved by the worker is greatly reduced.

The nut / washer conveying device of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention.

[Effects of the Invention] As described above, the nut / washer conveying device of the present invention can exhibit the following excellent effects.

1) Pneumatic chuck 57 holds both washer H and nut G in socket wrench 55, and positioning leg 59 ensures that socket wrench 55 is coaxial with stud bolt F to which nut G is to be attached and detached. Because it is located
It is possible to efficiently carry out the work of attaching and detaching the nut G, and it is possible to shorten the work period and reduce the radiation exposure of the worker.

2) Since the servo motor 38 for raising and lowering the raising / lowering block 36 and the servo motor 47 for rotating the socket wrench 55 are synchronously controlled, at a speed matching the ascending / descending speed of the nut G which is raised and lowered while being rotated by the socket wrench 55. Lift block
36 moves up and down surely.

[Brief description of drawings]

The drawings show an embodiment in which a nut and a washer conveying device according to the present invention are applied to a stud bolt and a nut for fastening an upper lid of a reactor pressure vessel, and FIG. 1 is a perspective view of essential parts. 2, FIG. 2 is a front view of the main part of which a part is shown in cross section, FIG. 3 is a front side view of the same, FIG. 4 is a front plan view of the same, and FIG. 6 and 6 are cross-sectional views of the pneumatic chuck, FIG. 7 is a perspective view of an upper lid opening / closing device equipped with the nut and washer conveying device, and FIGS. 8 and 9 omit part of the upper lid opening / closing device. A front view and a plan view, and FIG. 10 are explanatory views showing a conventional example. 10 is a nut / washer conveying device, 33 is a lifting frame, 35 is a lifting screw rod, 36 is a lifting block, 38 is a servomotor, 39 is a traverse frame, 41 is a traverse screw rod,
42 is a traverse block, 44 is a servo motor, 45 is a casing, 47 is a servo motor, 53 is a sleeve, 55 is a socket wrench, 57 is a pneumatic chuck, 59 is a positioning member, A is a reactor pressure vessel, B is a vessel barrel. , C is an upper lid, F is a stud bolt, G is a nut, and H is a washer.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yasuo Goto, No. 1 Shin-Nakahara-cho, Isogo-ku, Yokohama-shi, Kanagawa Ishi Kawashima Harima Heavy Industries, Ltd. Yokohama No. 1 factory (56) References JP 61-8238 (JP, JP, 8138) A)

Claims (1)

[Claims] 1. An elevating frame (33) suspended from a unit base (7), an elevating screw rod (35) pivotally supported by the elevating frame (33) and extending substantially vertically, and an elevating screw rod ( A lifting block (36) that is screwed into the lifting frame (33) and can move up and down substantially vertically to the lifting frame (33), a servo motor (38) for rotating the lifting screw rod (35), and the lifting and lowering A transverse frame (39) fixed to the block (36), a transverse screw rod (41) pivotally supported by the transverse frame (39) and extending substantially horizontally, and screwed to the transverse screw rod (41) and A traverse block (42) that can move substantially horizontally with respect to the traverse frame (39)
A servo motor (44) for rotating the traverse screw rod (41), a tubular casing (45) provided in the traverse block (42) with an open bottom, and the casing (45). A sleeve (53) installed so as to be rotatable in the circumferential direction, and a socket wrench (55) installed so as to be able to move up and down substantially perpendicularly to the sleeve (53) and not rotatable in the circumferential direction. , A servomotor (47) for rotating the socket wrench (55) via a sleeve (53), and a pneumatic chuck (57) provided on the socket wrench (55) and capable of holding a washer (H). And the reactor pressure vessel (A)
Positioning legs (59) that can be fitted from above to stud bolts (F) that fasten the upper lid (C) to the container body (B) of
And a unit table (7) is moved up and down on a revolving table (4) located above the upper lid (C) of the reactor pressure vessel (A) coaxially with the upper lid (C) and rotating in the circumferential direction. Socket wrench (55) with a shape that can be hung as much as possible and can be fitted with a nut (G) screwed into a stud bolt (F)
The positioning member (59) so that the socket wrench (55) is positioned coaxially with the other stud bolt (F) when the locating leg (59) is fitted to the stud bolt (F). A nut / washer transporting device, characterized in that the servomotors (38) (47) are mounted on a unit base (7) so that they can be synchronously controlled.