JP2003329796A - Method for making connecting pipe and system for measuring position of flange - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make it possible to easily grasp the relative positions of an existing flange and a new flange without using an extensive jig. <P>SOLUTION: Three or more targets 27 for measurement are fitted onto an existing flange 5 and a new flange 7B respectively, pictures of these flanges 5 and 7B are taken with a television camera 28, the image data acquired by the camera 28 are digitized and each coordinate of the targets 27 for measurement is calculated from the image data to numerically fined the positional relation between both flanges 5 and 7B. Based on the positional relation, connecting flanges 6B and 8B to be jointed to the flanges 5 and 7B are held and then the connecting flange 6B and 8B are fixed to each end of a pipe 9B to form a connecting pipe 4B. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a connecting pipe manufacturing method and a flange position measuring system.

[0002]

2. Description of the Related Art FIG. 6 shows a procedure of an example of a conventional method for producing a connecting pipe, and the procedure is intended for a plant that handles high-level radioactive waste liquid before starting service (during construction).

This plant has a treatment section (high radiation area) 1 having an airtight structure and a vitrification treatment of radioactive waste liquid which is installed inside the treatment section 1 and accompanies reprocessing of spent fuel. Equipped with a melting furnace 2A for carrying out
The end portion of the pipe 3 penetrating the side wall portion of the processing section 1 and the upper portion of the melting furnace 2A are connected via a connecting pipe 4A.

The connecting pipe 4A comprises a first connecting flange 6A to be fastened to the flange 5 of the pipe 3, a second connecting flange 8A to be fastened to the flange 7A of the melting furnace 2A, and these connecting flanges. Piping 9A interposed between 6A and 8A
Composed of and.

A mold making jig 10A is used to manufacture the connecting pipe 4A.
And the copying jig 11A is used.

As shown in FIG. 7, the molding jig 10A has a
A flange 12A that can be fastened to the flange 5 on the side of the pipe 3 and a flange 13 that can be fastened to the flange 7A on the side of the melting furnace 2A.
A, a connecting member 1 interposed between both flanges 12A and 13A
4A, 15A, a spherical joint 16A pivotally attaching one end of the connecting member 14A to the flange 12A, a spherical joint 17A pivotally attaching one end of the connecting member 15A to the flange 13A, and the other end of the connecting members 14A, 15A. The spherical joint 18A pivotally attached to each other and restraining means (not shown) for fixing the movement of each spherical joint 16A, 17A, 18A.

The pattern copying jig 11A is fixed to the pedestal 19A and is supported so that the flange 12A of the molding jig 10A can be fastened to the frame 20A and the pedestal 19A. The flange 13A is configured by a flange 21A that can be fastened.

When manufacturing the connecting pipe 4A, after the flange 12A of the molding jig 10A is fastened to the flange 5 on the side of the pipe 3, the spherical joints 16A, 17A, 18A are used to form the flange 12A and the connecting members 14A, 15A. , Flange 13A
The flange 13A is fastened to the flange 7A on the melting furnace 2A side by appropriately adjusting the relative position of.

Next, each spherical joint 16 is restrained by a restraining means.
Fix the movement of A, 17A, 18A, flange 5,7A
And the flanges 12A and 13A are disengaged.

Before the plant is put into service, the atmosphere inside the processing section 1 is the same as the atmosphere, so that the pipe 3 and the melting furnace 2A are used.
A mold can be attached to and detached from the mold taking jig 10A by an operator while entering the processing section 1.

Further, after the molding jig 10A is carried out to the outside of the processing compartment 1 and the flange 12A is fastened to the flange 20A of the copying jig 11A, the position and the posture of the flange 21A are appropriately adjusted to make the flange 21A. Molding jig 10A
It is fastened to the flange 13A.

Next, the flange 21A is fixed to the mount 19A, and the flanges 20A and 21A and the flanges 12A and 1A are fixed.
Release the connection with 3A.

As a result, the relative positional relationship between the flanges 5 and 7A is reproduced on the flanges 20A and 21A.

After the connecting flanges 6A and 8A are fastened to the flanges 20A and 21A of the copying jig 11A, one end faces the connecting flange 6A and the other end faces the connecting flange 8A. Piping processed into shape 9A
The connecting pipes 4A are formed by fixing the connection flanges 6A and 8A to the respective ends.

Further, the fastening of the connecting flanges 6A, 8A to the flanges 20A, 21A is released, and the connecting pipe 4
A is carried into the processing compartment 1 and the connection flanges 6A, 8
By fastening A to the flanges 5 and 7A, the pipe 3 and the melting furnace 2A are connected by the connecting pipe 4A.

At least one of the pattern making jig 10A and the pattern copying jig 11A is stored while keeping the above state,
When it becomes necessary to replace the connecting pipe 4A after the start of plant operation, the connecting pipe 4A can be newly manufactured using the jigs 10A and 11A.

After the plant is put into service, the processing section 1
Since the internal radiation level becomes high and an operator cannot enter, the subsequent replacement work of the connecting pipe 4A is performed by the robot manipulator 2 provided in the processing section 1.
2 will be used.

FIG. 8 shows a procedure of another example of the conventional method for producing a connecting pipe, and the procedure is intended for a plant that handles high-level radioactive waste liquid after starting operation,
In the figure, the parts denoted by the same reference numerals as those in FIG. 6 represent the same things.

When the connecting pipe 4A (see FIG. 6) is to be replaced after the plant is put into service, as described above, the jig 10 is used.
Although the connecting pipe 4A will be newly manufactured by A, 11A,
When the melting furnace 2A (see FIG. 6) is replaced with a new melting furnace 2B, the relative positional relationship between the existing flange 5 and the flange 7B of the melting furnace 2B is such that the relative relationship between the flange 5 and the flange 7A of the melting furnace 2A. Connection position 4A
This makes it impossible to connect the pipe 3 and the melting furnace 2A.

Therefore, the positional relationship between the flange 5 and the flange 7B is newly grasped, and the connecting pipe 4B for connecting the pipe 3 and the flange 7B of the melting furnace 2B is manufactured.

The connecting pipe 4B includes a first connecting flange 6B to be fastened to the flange 5 of the pipe 3, a second connecting flange 8B to be fastened to the flange 7B of the melting furnace 2B, and these connecting flanges. Piping 9B interposed between 6B and 8B
Composed of and.

To manufacture the connecting pipe 4B, jigs 10A and 11 are used.
Separately from A, a mold making jig 10B and a mold copying jig 11B are used.

The molding jig 10B is constructed in the same manner as the molding jig 10A by a flange 12B that can be fastened to the flange 5, a flange 13B that can be fastened to the flange 7B, a connecting member, a spherical joint, and a restraining means. .

The pattern copying jig 11B is constructed in the same manner as the pattern copying jig 11A by the pedestal 19B and the flanges 20B and 21B.

When the connecting pipe 4B is manufactured, after the flange 12A of the molding jig 10A is fastened to the flange 5 on the side of the pipe 3, each spherical joint 16A, 17A, 18 shown in FIG.
The relative positions of the flange 12A, the connecting members 14A and 15A, and the flange 13A are appropriately adjusted by A, and the flange 13A is fastened to the flange 7B on the melting furnace 2B side.

Then, each spherical joint 16 is restrained by a restraining means.
Fix the movement of A, 17A, 18A, flange 5,7A
And the flanges 12A and 13A are disengaged.

Since the radiation level inside the processing section 1 is high and the worker cannot enter when attaching / detaching the molding jig 10A, the manipulator 22 of the robot is set in the processing section 1
It is done remotely from the outside.

Further, the molding jig 10A is carried into the decontamination section, the radiation dose is confirmed, and if necessary, decontamination is performed, and then the equipment is transferred to the equipment repair room 25.

Here, the flange 12A is used as a mold copying jig 11
After being fastened to the flange 20A of A, the position and posture of the flange 21A are appropriately adjusted, and the flange 21A is fastened to the flange 13A of the molding jig 10A.

Next, the flange 21A is fixed to the frame 19A, and the flanges 20A and 21A and the flanges 12A and 1A are fixed.
Release the connection with 3A.

As a result, the relative positional relationship between the flanges 5 and 7A is reproduced on the flanges 20A and 21A.

The operator 24 attaches and detaches the pattern-taking jig 10A.

After that, the flange 12 of the molding jig 10B is
B is fastened to the flange 20A of the mold copying jig 11A,
The relative positions of the flanges 12B and 13B are adjusted, and the flange 13B is fastened to the flange 21A of the mold copying jig 11A.

Then, the movement of each spherical joint is fixed by the restraining means, and the flanges 20A, 21A and the flange 12B,
Release the connection with 13B.

The operator 26 attaches and detaches the patterning jig 10B.

Further, the molding jig 10B is installed in the equipment repair room 25.
After carrying out to the outside and fastening the flange 12B to the flange 20B of the mold copying jig 11B, the position and the posture of the flange 21B are appropriately adjusted, and the flange 21B is fixed to the molding jig 1.
Fasten to 0B flange 13B.

Next, the flange 21B is fixed to the mount 19B, and the flanges 20B and 21B and the flanges 12B and 1B are fixed.
Release the connection with 3B.

As a result, the relative positional relationship between the flanges 5 and 7B is reproduced on the flanges 20B and 21B.

After the connecting flanges 6B and 8B are fastened to the flanges 20B and 21B of the copying jig 11B, one end faces the connecting flange 6B and the other end faces the connecting flange 8B. Piping processed into shape 9B
The connecting pipe 4B is formed by fixing the connecting flanges 6B and 8B to the respective end portions of.

Further, the connection between the flanges 20B and 21B and the connecting flanges 6B and 8B is released, and the connecting pipe 4 is released.
B is carried into the processing compartment 1, the connecting flanges 6B and 8B are fastened to the flanges 5 and 7B using the manipulator 22, and the pipe 3 and the melting furnace 2B are connected by the connecting pipe 4B.

The copying jig 11B is stored while maintaining the above-mentioned state so that the connecting pipe 4B can be newly manufactured when it becomes necessary to replace the connecting pipe 4B.

[0042]

However, in order to newly manufacture the connecting pipe 4B by the procedure shown in FIG. 8, the flanges 12A, 12B, 13 of the molding jigs 10A, 10B are used.
A, 13B, and the flange 20 of the copy jig 11A
A high level manipulator 22 operation technique is required to set the positions of A and 20B, and in the radiation control area such as the equipment repair room 25, access time is limited, and thus efficient work cannot be performed.

Further, the molding jigs 10A and 10B and the mold copying jig 11A used in an atmosphere having a high radiation level.
Must be treated as radioactive waste, resulting in an increase in radioactive waste.

The present invention has been made in view of the above situation, and an object thereof is to make it possible to easily grasp the relative positions of an existing flange and a new flange without using a large jig.

[0045]

In order to achieve the above object, in the method for producing a connecting pipe according to claim 1 of the present invention, three or more measuring targets are attached to each of the existing flange and the new flange. , Both flanges are photographed by a TV camera, the image data obtained by the TV camera is digitally converted, and the individual coordinates of the measurement target are calculated from this image data to numerically grasp the relative positional relationship of both flanges. However, based on this positional relationship, the first connection flange to be fastened to the existing flange and the second connection flange to be fastened to the new flange are held, and the pipe to be interposed between these connection flanges is held. , The one end of which faces the first connecting flange and the other end of which faces the second connecting flange, and the connecting flange is fixed to each end of the pipe. Forming a sintered tube.

In the flange position measuring system according to the second aspect of the present invention, three or more of each of the existing flange and the new flange are prepared, and the measuring targets attachable to these flanges are photographed. It has a TV camera, a function of converting image data obtained by the TV camera into digital data, and a function of calculating individual coordinates of a measurement target from the image data and numerically obtaining a relative positional relationship between both flanges. And a data processing device.

In the flange position measuring system according to the third aspect of the present invention, an engaging portion having a reflector on one end surface and held by the robot, and the other end surface of the engaging portion with respect to the reflector. A fitting portion that is coaxially connected and has an outer diameter smaller than the inner diameter of the bolt hole of the flange; and a guide portion that is continuous with the fitting portion and that has an outer diameter that gradually decreases toward the tip and that can be inserted into the bolt hole of the flange. A ring-shaped body externally fitted to the fitting portion and inscribed in the bolt hole of the flange constitutes a measurement target.

In the method for producing a connecting pipe according to the first aspect of the present invention, image data obtained by photographing an existing flange and a new flange each equipped with three or more measuring targets with a television camera are converted into digital data. , The relative positional relationship between the existing flange and the new flange is numerically grasped from the coordinates of the individual measurement targets, and the first flange is fixed to one end of the pipe so as to correspond to the existing flange. 2nd end to accommodate the new flange
Secure the flange of.

In the flange position measuring system according to the second aspect of the present invention, three or more measuring targets are attached to the existing flange and the new flange, respectively, and these flanges are photographed by the television camera, and the data processing device. The digital data of the image obtained by the TV camera is converted to the numerical value of the relative positional relationship between the existing flange and the new flange from the coordinates of the individual measurement targets, and one end of the pipe is connected to the existing flange. The position of the first flange to be fixed to the first flange and the position of the second flange to be fixed to the other end of the pipe corresponding to the new flange are determined.

In the flange position measuring system according to claim 3 of the present invention, the axis of the fitting portion is aligned with the axis of the bolt hole by the annular body inscribed in the bolt hole of the flange whose position is to be grasped, and the bolt concerned. The reflector is located on the axis of the hole.

[0051]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a procedure of a connecting pipe manufacturing method to which an example of the embodiment of the flange position measuring system of the present invention is applied. The procedure is intended for a plant which handles high-level radioactive waste liquid after the start of service. In the figure,
The parts denoted by the same reference numerals as in FIG.

The flange position measuring system comprises an existing flange 5 on the pipe 3 side and a new flange 7 on the melting furnace 2B side.
Three or more measurement targets 27 prepared for each of B and a TV camera 28 attached to the same robot as the manipulator 22 and photographing each flange 5, 7B.
And a control unit 2 arranged outside the processing section 1
9. Data processing device 3 such as a personal computer
0 and a monitor 31.

As shown in FIGS. 2 to 5, the measuring target 27 is provided with a reflector 32 on the upper surface at one end and is engaged with the manipulator 22 (see FIG. 1).
And a fitting portion 35 that is coaxially connected to the reflector 32 on the other end surface of the engagement portion 33 and has an outer diameter smaller than the inner diameter of the bolt hole 34 of each of the flanges 5 and 7B, and that is continuous with the fitting portion 35. The outer diameter of the guide portion 36 is gradually reduced toward the tip and can be inserted into the bolt holes 34 of each of the flanges 5 and 7B, and the guide portion 36 is externally fitted to the circumferentially extending groove 37 formed on the outer surface of the fitting portion 35. It is composed of an annular body 38 having an appropriate elasticity such as an O-ring which can be inscribed in the entire circumference of the bolt holes 34 of the flanges 5 and 7B.

On the outer surface of the engaging portion 33, two holding surfaces 39 that are flat and parallel to each other are provided so that the engaging portion 33 can be held in a stable state by the manipulator 22.
Are formed.

Further, a groove 40 extending in the circumferential direction is formed in a portion of the fitting portion 35 adjacent to the engaging portion 33. When the annular body 38 is inscribed in the bolt hole 34, the engaging portion 33 engages with the engaging portion 33. The other end surface of the portion 33 is in close contact with the connection ends of the flanges 5 and 7B.

The television camera 28 includes a high-definition television (high-definition television / 1125 scanning lines, screen aspect ratio 9: 1).
6, the number of pixels is 1920 × 1080).

The control unit 29 is configured to send a command signal to the television camera 28 and obtain an image data signal output by the television camera 28.

The data processing device 30 has a digital image acquisition board for converting the image data signal of the television camera 28 obtained from the control unit 29 into a digital image and a bolt hole 34 of each flange 5, 7B based on the digitally converted image data signal. It has measurement software for calculating the individual coordinates of the inserted measurement target 27 and numerically obtaining the relative positional relationship between the two flanges 5, 7B.

The monitor 31 is configured to display an image based on the image data signal of the television camera 28.

When manufacturing the connecting pipe 4B, the gripping surface 39 formed on the engaging portion 33 is gripped by the manipulator 22, and the measurement target 27 is inserted into each of the bolt holes 34 of the flanges 5 and 7B.

As a result, the annular body 38 is inscribed in the bolt hole 34 and the engaging portion 33 is in close contact with the connecting ends of the flanges 5 and 7B so that the axis of the fitting portion 35 coincides with the axis of the bolt hole 34. The reflector 32 is located on the axis of the bolt hole 34.

Further, since the guide portion 36 has a tapered shape in which the outer diameter gradually decreases toward the tip, the measuring target 27 can be inserted into the bolt hole 34 with the manipulator 22 relatively easily. .

Then, the control unit 29 is operated to photograph the flanges 5 and 7B with the television camera 28.

At this time, the aperture of the TV camera 28 is set so that the aperture is minimized, and light is emitted from an illumination device (not shown) toward the measurement target 27.
The television camera 28 enables the reflector 32 to be photographed with high contrast.

The image data signal obtained by the television camera 28 is sent to the data processing device 30 via the control unit 29.

The data processing device 30 digitally converts the above image data signal by the digital image acquisition boat, and uses the measurement software to measure the target 2 for measurement.
The respective coordinates of the seven reflectors 32 are calculated respectively, and the relative positional relationship between both flanges 5 and 7B is obtained.

The method of measuring the center coordinates of the reflector 32 of the measuring target 27 from the image data is as follows: IEICE Transactions September 1999 P1391-1400, IEICE Transactions July 2001 P1299. ~ 13
09.

This positional relationship is determined by the mold copying jig 11A.
The position and the posture of the flange 21A are appropriately adjusted so that the flanges 20A and 21A are reproduced, and the connecting flanges 6B and 8B are connected to the flange 20 of the copy jig 11A.
Fasten to A, 21A.

Further, by fixing the connection flanges 6B and 8B to the respective end portions of the pipe 9B which is machined into a shape in which one end faces the connection flange 6B and the other end faces the connection flange 8B, The connecting pipe 4B is formed.

Thereafter, the manipulator 22 is used to move the measuring target 27 to the bolt holes 34 of the flanges 5 and 7B.
Pull out from.

Further, the fastening of the connecting flanges 6B and 8B to the flanges 20A and 21A is released, and the connecting pipe 4
B is carried into the processing compartment 1, the connecting flanges 6B and 8B are fastened to the flanges 5 and 7B using the manipulator 22, and the pipe 3 and the melting furnace 2B are connected by the connecting pipe 4B.

The copying jig 11A is stored as it is,
The connecting pipe 4B may be used when the connecting pipe 4B needs to be replaced, but if the measured data of the relative positions of the flanges 5 and 7B is recorded, the connecting pipe 4B can be used based on the data.
It is easy to make a new one.

On the other hand, since the relative positional relationship between the flanges 5 and 7B can be easily grasped as described above, when the connecting pipe 4B is newly manufactured, the relative positional relationship between the flanges 5 and 7B is again determined. If we grasp numerically, both flanges 5, 7
The connecting pipe 4B can be manufactured in an optimal state according to the current state of B.

As described above, in the method of manufacturing the connecting pipe shown in FIG. 1, three or more measuring targets 27 are attached to each of the flanges 5 and 7B, and both the flanges 5 and 7B are photographed by the television camera 28 to obtain the data. The processing device 30 digitally converts the image data signal obtained from the television camera 28, and numerically indicates the relative positional relationship between the flanges 5 and 7B based on the coordinates of the reflector 32 of the individual measurement target 27. Since it is determined, the relative position of the flanges 5 and 7B can be easily grasped by the jig.

Further, there is no jig for putting in and out of the processing section 1, the shape of the measuring target 27 is small, and even if these are left inside the processing section 1 after measuring the positions of the flanges 5 and 7B, the melting furnace 2B can be operated. Since there is no significant impact, it is possible to reduce radioactive waste.

The connecting pipe manufacturing method and the flange position measuring system of the present invention are not limited to the above-mentioned embodiments, and it goes without saying that changes can be made without departing from the gist of the present invention. .

[0078]

As described above, according to the connecting pipe manufacturing method and the flange position measuring system of the present invention, various excellent effects as described below can be obtained.

(1) In the method for producing a connecting pipe according to the first aspect of the present invention, image data obtained by photographing an existing flange and a new flange each having three or more measurement targets mounted thereon with a television camera is used. Digitally converts and numerically grasps the relative positional relationship of both flanges based on the coordinates of each measurement target, so the relative position of both flanges can be set without attaching or removing a large jig to or from both flanges. Can be easily grasped.

(2) In the flange position measuring system according to claim 2 of the present invention, three or more measuring targets are attached to the existing flange and the new flange, respectively.
Since these flanges were photographed with a TV camera, the image data obtained with the TV camera was digitally converted by a data processing device, and the relative positional relationship between both flanges was numerically calculated from the coordinates of each measurement target. The relative positions of both flanges can be easily grasped without attaching or removing a large jig to or from both flanges.

(3) In both the method for producing a connecting pipe according to claim 1 of the present invention and the flange position measuring system according to claim 2, it is not necessary to attach and detach a large jig to both flanges. When the flange for position measurement is in the radiation controlled area, the amount of radioactive waste generated due to position measurement can be reduced.

(4) In the flange position measuring system according to claim 3 of the present invention, the annular body inscribed in the bolt hole of the flange whose position is to be grasped is aligned with both axis lines of the fitting portion and the bolt hole, Since the reflector is located on the axis of the bolt hole, the position can be accurately measured.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing a procedure of a connecting pipe manufacturing method to which an example of an embodiment of a flange position measuring system of the present invention is applied.

FIG. 2 is a detailed view of a measurement target related to FIG.

FIG. 3 is a view taken along the line III-III in FIG.

FIG. 4 is a view taken along the line IV-IV in FIG.

5 is a view taken along the line VV of FIG.

FIG. 6 is a conceptual diagram showing a procedure of an example of a conventional connecting pipe manufacturing method.

FIG. 7 is a conceptual diagram of a molding jig related to FIG.

FIG. 8 is a conceptual diagram showing the procedure of another example of the conventional method for producing a connecting pipe.

[Explanation of symbols]

4B connecting pipe 5 Flange (existing flange) 6B connection flange (first connection flange) 7B flange (new flange) 8B connection flange (second connection flange) 9B piping 22 Manipulator (robot) 27 Target for measurement 28 TV camera 30 data processor 32 reflector 33 Engagement part 34 bolt holes 35 Fitting part 36 Information 38 ring

   ─────────────────────────────────────────────────── ─── Continued front page    F term (reference) 2F065 AA01 AA04 AA12 AA17 BB05                       BB25 BB27 BB28 CC00 DD06                       FF04 JJ26 QQ03 QQ24 QQ31                 5C054 AA01 CA04 CG02 CH02 EA01                       EA05 EA07 EH07 FC15 FD03                       GB15 HA03 HA05

Claims (3)

[Claims] 1. An existing flange and a new flange each equipped with three or more measuring targets, both flanges are photographed by a television camera, and image data obtained by the television camera is digitally converted. Calculate the individual coordinates of the measurement target to numerically understand the relative positional relationship between both flanges, and based on this positional relationship, fasten the first connecting flange and the new flange that should be fastened to the existing flange. A pipe that holds the second connecting flange and that should be interposed between these connecting flanges has one end facing the first connecting flange and the other end facing the second connecting flange. A method for manufacturing a connecting pipe, which is characterized in that the connecting pipe is formed by processing it into a shape corresponding to the connecting pipe and fixing a connecting flange to each end of the pipe. 2. A measurement target which is prepared for each of the existing flange and the new flange and is attachable to these flanges, a television camera for photographing both flanges, and image data obtained by the television camera. A data processing device having a function of digital conversion and a function of calculating individual coordinates of a measurement target from the image data and numerically obtaining a relative positional relationship between both flanges. Flange position measurement system. 3. An engaging portion having a reflector on one end surface and gripped by a robot, and an engaging portion connected to the other end surface of the engaging portion coaxially with the reflector and outside an inner diameter of a bolt hole of a flange. A fitting portion having a small diameter, a guide portion connected to the fitting portion, having an outer diameter gradually decreasing toward the tip and capable of being inserted into a bolt hole of the flange, and a bolt hole of the flange which is fitted to the fitting portion. The flange position measuring system according to claim 2, wherein the measuring target is constituted by an annular body that can be inscribed in the.