JPH07136971A - Articulated arm device - Google Patents

Abstract

PURPOSE:To provide an articulated arm device suited to easily inspect a narrow, complicated clearance part such as a clearance between the rotor blade and stator blade of a turbine. CONSTITUTION:The rear end part of an arm 1a is rotatably connected to the tip part of the other arm 1b by an engaging shaft 48 so as to form a strip articulated arm 1 of plural arms 1a-1f. A pair of wires 10 are fitted in the width direction of each arm. These wires are wound by an arm adjusting part 2 supporting the arm if at the end so as to be able to bend the arm in a desired direction, and an inspecting device such as an image scope 3 is fitted to the arm 1a at the tip.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inspection device such as an imagescope for a narrow and intricate gap portion such as a gap between turbine moving blades and stationary blades. The present invention relates to an articulated arm device suitable for crawling.

[0002]

2. Description of the Related Art A turbine installed in a nuclear power plant or a thermal power plant is an extremely large facility. When regularly inspecting these facilities or when trouble occurs, for example, when inspecting turbine blades or stationary vanes, the conventional method is to disassemble the vehicle compartment, and then reassemble the vehicle compartment after the inspection is completed. Turbine operation is restarting.

[0003]

By the way, much time and labor are required for disassembling the passenger compartment of a large turbine or for reassembling after the inspection. Therefore, the inspection period becomes long, and the turbine operation must be stopped during that period, which hinders the energy supply and the inspection cost is enormous. Therefore,
Without disassembling the vehicle interior, for inspection of turbine blades and vanes during simple periodic inspection, or for inspection to grasp the situation of blades and vanes just like when trouble occurs, There is a demand for the development of means that enable quick inspection.

The present invention has been made in order to meet such a demand, and is for easily inspecting a narrow and complicated gap portion such as a gap between a moving blade and a stationary blade of a turbine. It is an object to provide a suitable articulated arm device.

[0005]

In order to solve the above problems, in the articulated arm device according to the present invention, the rear end portion of the main arm can be pivoted to the tip end portion of another main arm by an engaging shaft. A multi-joint arm configured by connecting a plurality of main arms in a strip shape, a pair of wire attachment members arranged side by side in the width direction of each main arm constituting the multi-joint arm, and the multi-joint An arm adjusting unit that supports at least the final main arm of the arm and that has a wire winder having a logarithm of the wire mounting member, and the wire winding unit having one end fixed to the wire mounting member and the other end corresponding thereto. A wire engaged with the vessel and an inspection device attached to the frontmost main arm of the articulated arm.

[0006]

[Operation] According to the above means, one of the wire winders in each pair is operated to wind the wire, and the other wire winder is operated to loosen the wire. Thus, the arm having the wire attachment member to which the tip of the wire is fixed can be rotated in the winding direction of the wire. Therefore, the articulated arm can be made to meander by appropriately rotating each arm around the engagement axis. Therefore, insert the tip of the multi-joint arm into the gap between the rotor blades and stator blades of the turbine, for example, and monitor the front with an inspection device such as an imagescope, and adjust the arm to the gap direction and angle. By bending and advancing the articulated arm device, it is possible to confirm the entering direction of the arm and observe and inspect the state of the moving blade and the stationary blade.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an articulated arm device according to the present invention will be described in detail below with reference to FIGS.

FIG. 1 is a side view showing the overall construction of an embodiment of an articulated arm device according to the present invention, and FIG.
It is the figure which expanded the articulated arm part of the articulated arm apparatus shown in FIG. 3 is a plan view of the tip portion of the multi-joint arm portion shown in FIG. 2, and FIG. 4 is a side view of FIG. As shown in FIG. 1, the multi-joint arm device according to the present invention is roughly divided into a multi-joint arm 1, an arm adjusting section 2, and an image scope 3 in the present embodiment. The part of the multi-joint arm 1 will be described.

As shown in detail in FIGS. 2 to 4, the articulated arm 1 includes six main arms 1a and 1a in this embodiment.
It is configured by a combination of b, 1c, 1e, 1d, and 1f. That is, the rear end of the earliest first main arm 1a is rotatably coupled to the front end of the second main arm 1b by the engagement shaft 4a, and the rear end of the second main arm 1b is moved to the first end. The third main arm 1c is rotatably connected to the tip of the main arm 1c by an engaging shaft 4b. Similarly, by rotatably connecting the rear end of the front main arm to the front end of the rear main arm in order by the engaging shaft, the six main arms are connected in a strip shape and the final sixth arm is connected. The rear end portion of the main arm 1f is rotatably held by the fixed portion 5 by the engagement shaft 4f.
Therefore, each main arm 1a, 1b, 1c, 1e, 1d, 1
f are connected in a staircase pattern.

A guide arm 61a is provided on the side surface of the second main arm 1b so as to be positioned on an extension line of the first main arm 1a. Further, guide arms 61b and 62a are provided side by side on the side surface of the third main arm 1c, and the guide arm 61b is located on the extension line of the second main arm 1b and at the same time, the guide arm 62a.
Are juxtaposed so as to be located on the extension line of the guide arm 61a and the first main arm 1a. The guide arm 62a includes the third main arm 1c and the front and rear main arms 1c.
It is connected by engagement shafts 4b and 4c which are rotatably connected to b and 1d.

Similarly, the fourth main arm 1d has guide arms 61c, 62b, 63a, the fifth main arm 1d has guide arms 61d, 62c, 63b, 64a, and the sixth main arm 1f. Are guide arms 61e, 62
d, 63c, 64b and 65a are arranged in parallel.

The guide arms provided in parallel with the main arms are simply provided in parallel with the engaging shafts 4c, 4d, 4
The parts rotatably coupled by e, 4f, etc. are alternately arranged, and they are sequentially fixed to each main arm integrally by, for example, adhesion. As described above, each of these guide arms is, of course, on an extension of the front main arm or guide arm.

A wire attachment 7 having a width approximately equal to the width of the main arm is provided near the front end and the rear end of each main arm 1a-1f. The wire attachment 7 has a pair of wire attachment pins 8 as shown in detail in FIG. Further, on both side surfaces of each of the main arms 1a to 1f,
The groove 9 is formed so as to be continuous with the wire attachment pin 8 of the wire attachment 7. One end of the wire 10 is fixed to each of the wire mounting pins 8 of the wire mounting tool 7 provided on the rear end side of each of the main arms 1a to 1f, and the other end of the wire 10 is fixed to the fixing portion. It extends to the 5 side.
The groove 9 is also formed on both side surfaces of each guide arm.

Next, the arm adjusting section 2 will be described.
As shown in FIG. 1, the arm adjustment unit 2 is connected to the multi-joint arm 1, holds the fixed unit 5, and holds the multi-jointed arm 1 via the fixed unit 5. Two wire winders 11 are provided on each plane of the arm adjusting unit 2 for each main arm. That is, the wire winders 11aL and 11a for the first main arm 1a
R, wire winder 11b for the second main arm 1b
L and 11bR, and similarly, wire take-up devices 11fL and 11fR for the sixth main arm 1f are provided below.
The installation situation of this wire winder is well shown in FIG.

In this wire winder, the other end of the wire 10 whose one end is fixed to both wire attaching pins 8 of the wire attaching tool 7 provided on the corresponding main arm is taken up. . That is, the wire winder 11a
L is for winding the wire fixed to the wire attachment pin 8 on the left side of the wire attachment 7 of the first main arm 1a, and the wire winder 11aR is for the right side of the wire attachment 7 of the first main arm 1a. The wire fixed to the wire mounting pin 8 is wound up. In addition, the wire winder 11bL has a second
The wire fixed to the wire attachment pin 8 on the left side of the wire attachment 7 of the main arm 1b of
1bR winds the wire fixed to the wire attachment pin 8 on the right side of the wire attachment 7 of the second main arm 1b. The same applies to the other wire winders.

Further, the arm adjusting section 2 has a structure shown in FIGS.
As shown in FIG. 3, a part of the image scope 3 of the inspection device is supported. The tip of the image scope 3 is held by the frontmost main arm 1a of the multi-joint arm 1 so as to project from the tip thereof. The rear of the image scope 3 is connected to a television monitor (not shown).

In the multi-joint arm device according to the present invention having the above-mentioned structure, the wire attachment pin 8 of the wire attachment 7 provided for each of the main arms 1a to 1f and the wire winder 11 are provided. Since they are connected by the wire 10, when the wire of the wire winder 11aR is loosened while the wire is wound by the wire winder 11aL, for example, the first main arm 1a moves around the engagement shaft 4a. If the wire 10 is fixed by stopping the movement of the wire winders 11aL and 11aR after turning to the wound side (for example, left side) and bending it by a desired amount, the bending amount of the first main arm 1a is increased. It can be fixed in the state of. Of course, when the wire of the wire winder 11aL is loosened while winding the wire with the wire winder 11aR, the first main arm 1a causes the first main arm 1a to move around the engagement shaft 4a (for example, on the right side). ) Will be turned to. It goes without saying that the other main arms can be similarly rotated.

Next, a method of using the thus constructed multi-joint arm device according to the present invention will be described by taking as an example the case of inspecting a moving blade or a stationary blade of a large turbine provided in a power plant or the like. .

FIG. 6 is a cross-sectional view showing a schematic structure of a known turbine to be inspected by using the multi-joint arm device of the present invention. A turbine rotor 22 located in a turbine casing 21 and a turbine rotor are shown. 22 provided on the rotor 22, and a stationary blade 24 located between the rotor blades 23a, 23b ...
a, 24b ... Are shown. Then, as shown in FIG. 7, the multi-joint arm 1 of the multi-joint arm device according to the present invention is provided between the first stage moving blades 23a, the first stage stationary blades 24a, and the second stage moving blades 23b. While sequentially advancing to, each moving blade 23a, 2 with the image scope 3 of the inspection device.
3b and the vane 24a are photographed, and this image is observed on a television monitor (not shown), whereby the articulated arm 1
The moving direction and the stationary blade are checked and the moving direction is checked.

The articulated arm 1 is provided between the turbine blade rows.
FIG. 8 to FIG. 13 show the state of progressively advancing. That is, when the wire 10 of the wire winder 11bR is loosened while winding the wire 10 with the wire winder 11bL, the second main arm 1b rotates leftward about the engagement shaft 4b. As shown in FIG. 8, the first main arm 1a and the second main arm 1b are inclined with respect to the other main arms by a certain angle. Therefore, this angle is set to the rotor blade 23a.
By moving the entire multi-joint arm device according to the present invention as a desired angle between the first and second main arms 1a,
1b is inserted between the moving blades 23a. Then, as shown in FIG. 9, while winding the wire with the wire winder 11aR, the wire of the wire winder 11aL is loosened, and the first main arm 1a is moved to the right around the engagement shaft 4a. The main arm 1a at the tip is turned toward the vane 24a.

When the first main arm 1a passes through between the blades of the moving blade 23a, the second main arm 1b is rotated so as to be oriented horizontally as shown in FIG. 10, and the third main arm 1c is also rotated. To rotate to the left around the engaging shaft 4c,
By operating the wire winders 11cL and 11cR to move the entire multi-joint arm device, the first main arm 1a is inserted between the vanes of the stationary blade 24a, and the third main arm 1c moves. It is inserted between the wings of the wings 23a.

Further, as shown in FIGS. 11, 12, and 13, the moving blade 23a, the stationary blade 24a, and the moving blade 2 to be inspected.
The entire multi-joint arm device is moved while sequentially directing each main arm in a desired direction so that the image scope 3 of the inspection device held by the first main arm 1a can pass between the wings of 3b. . That is, while moving the arm while checking the path of the arm with the image scope 3, the tip of the image scope 3 is set to a desired target portion, and the presence or absence of abnormality or abnormality is observed by observing the state of the wing at that portion. It is possible to inspect the part to be inspected such as the degree. Note that FIG. 13 shows the same state as in FIG. 7.

[0023]

As described in detail above, by using the multi-joint arm device according to the present invention, it is possible to inspect the moving blades and stationary blades of a turbine without disassembling the casing of a large turbine. . Therefore, when trouble occurs, it can be inspected quickly, and the time and cost required for inspection at the time of simple periodical inspection can be reduced. It is possible to achieve extremely remarkable effects such as

[Brief description of drawings]

FIG. 1 is a side view showing the overall configuration of an embodiment of an articulated arm device according to the present invention.

FIG. 2 is an enlarged view of an articulated arm portion of the articulated arm device shown in FIG.

FIG. 3 is a plan view of a tip portion of the multi-joint arm portion shown in FIG.

FIG. 4 is a side view of FIG.

FIG. 5 is a cross-sectional view showing in detail the wire fitting shown in FIG.

FIG. 6 is a cross-sectional view showing a schematic configuration of a known turbine as an example of an inspection target using the articulated arm device according to the present invention.

FIG. 7 is a diagram corresponding to the plan view of FIG. 1 and is an explanatory diagram for describing an operating state of the articulated arm.

FIG. 8 is an explanatory diagram shown for explaining the operation of the articulated arm for each step.

9 is an explanatory diagram similar to FIG.

10 is an explanatory diagram similar to FIG.

11 is an explanatory diagram similar to FIG. 8. FIG.

12 is an explanatory diagram similar to FIG.

FIG. 13 is an explanatory diagram similar to FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Multi-joint arm 1a-1f Main arm 2 Arm adjustment part 3 Image scope (inspection device) 4a-4f Engagement shaft 5 Fixing part 7 Wire attachment tool 8 Wire attachment pin 9 Groove 10 Wire 11aL-11fL Wire winder 11aR- 11fR wire winder 21 turbine casing 22 turbine rotors 23a, 23b moving blades 24a, 24b stationary blades 61a to 65a guide arm

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Shinya Inoue, 1-1 1-1 Niihama, Arai-cho, Takasago, Hyogo Prefecture Mitsubishi Heavy Industries, Ltd. Takasago Plant (72) Masao Okada 2-1-1, Niihama, Arai-cho, Takasago, Hyogo Prefecture No. 1 Takahishi Inspection Service Co., Ltd.

Claims (1)

[Claims] 1. A multi-joint arm configured by connecting a plurality of main arms in a belt shape by rotatably connecting a rear end of the main arm to an end of another main arm by an engaging shaft.
A pair of wire mounting members arranged in parallel in the width direction of each main arm constituting the multi-joint arm and at least the final main arm of the multi-joint arm are supported, and a wire winder having a logarithm of the wire mounting members is provided. And an arm adjustment part
One end is fixed to the wire attachment member, the other end is a wire engaged with the corresponding wire winder, and an inspection device attached to the foremost main arm of the multi-joint arm. Multi-joint arm device.