JP2012210696A - Cutting apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform the cutting of an inner surface of a pipe with a relatively small diameter.SOLUTION: A cutting apparatus includes: a rotation mechanism 3 for rotating a cutter 2 disposed in the pipe 101e; a circling mechanism for circling the cutter 2 around a predetermined axis S1; an axial movement mechanism for moving the cutter 2 along an extending direction of the axis S1; and a crossing direction movement mechanism 6 for moving the cutter 2 in a direction crossing the axis S1. The crossing direction movement mechanism 6 includes: a cutter supporting part 11A for slidably supporting the cutter 2 in a direction crossing the axis S1; a sliding part 63 provided so as to be slidably movable in the extending direction of the axis S1 relative to the cutter supporting part 11A; and a cutter moving part 64 provided at the sliding part 63 while being coupled to the cutter 2 and oscillating the cutter 2 accompanied by the slide movement of the sliding part 63 to move a cutting blade in the direction crossing the axis S1.

Description

  The present invention relates to a cutting apparatus for cutting an inner surface of a pipe provided in a nuclear vessel, for example.

  In order to ensure the safety and reliability of nuclear power plants, pipes and pressure vessels are regularly inspected. For example, nondestructive inspection using ultrasonic waves (UT: Ultrasonic). Testing) has been applied. As a result of this inspection, if there is a possibility that surface defects such as cracks due to secular change may occur in the welded part of the piping base, or if surface defects due to secular change are found, these parts are cut and repaired. To do.

  2. Description of the Related Art Conventionally, for example, in the cutting apparatus (cutting method and cutting apparatus for an inner surface of a nuclear vessel nozzle) disclosed in Patent Document 1, a nozzle provided on a side surface of a reactor pressure vessel (nuclear vessel) and the same nozzle In order to cut the inner surface of the base of the reactor pressure vessel that cuts the welded portion with the outlet pipe and inlet pipe connected to the reactor, at least in the reactor pressure vessel in which cooling water has been drained to a position below the nozzle Then, after installing a stand having an opening on the side according to the position of the nozzle, inserting and installing a cylindrical shield into the nozzle from the opening, insert a cutting device into the nozzle It has been shown to cut the weld. Thereby, the worker can perform the cutting of the welded portion between the nozzle of the reactor pressure vessel and the outlet pipe and the inlet pipe connected to the nozzle, safely, quickly and easily in the air.

  By the way, for example, in a two-loop reactor in which two steam generators are connected, in addition to an outlet nozzle and an inlet nozzle, a water injection pipe is connected to a water injection pipe for injecting cooling water into the reactor. Is provided. In the welded portion between the water injection pipe stand and the water injection pipe, the inner surface is cut and repaired as necessary.

  However, the above-described cutting device of Patent Document 1 is applied to the cutting of the outlet nozzle having an inner diameter of approximately 740 mm and the inner surface of the inlet nozzle, and cannot be inserted into the water injection nozzle having an inner diameter of approximately 87 mm. Therefore, a cutting device that can be inserted into a small-diameter pipe such as a water injection nozzle and can cut the inner surface thereof is desired. In particular, since the inside of the reactor vessel is in a radiation atmosphere and the first priority is to perform cutting work safely, quickly and easily, application of a cutting device is indispensable.

  Conventionally, for example, in the cutting device (pipe inner wall processing device) described in Patent Document 2, a small-diameter pipe having a diameter of 100 to 200 mm is targeted. This cutting apparatus is provided with a processing portion having a cutting blade that is driven by a motor and cuts the inner wall of a pipe line. The processing portion is supported via a support arm with respect to the main body portion fed into the pipe line. The support arm is provided with an end portion pivotally supported on the main body portion as a starting point, and an operation shaft of the actuator is attached to the support arm. Then, in the processing portion, the support arm performs a turning operation by the advance / retreat operation of the operation shaft, and the cutting blade is advanced / retreated toward the inner wall.

JP 2006-349596 A JP 2002-18618 A

  In the cutting apparatus described in Patent Document 2 described above, the cutting blade is brought into contact with the inner wall of the pipe line by rotating the support arm pivotally supported by the main body by the operation shaft of the actuator. That is, the pressing force of the cutting blade against the inner wall is obtained by the advancing operation of the working shaft, and a reaction force is applied to the working shaft when cutting the inner wall with the cutting blade. In such a configuration, if the pressing force by the operating shaft is insufficient, the cutting operation becomes unstable, so that it is difficult to perform the cutting operation quickly and easily. On the other hand, in order to obtain a sufficient pressing force by the operating shaft, a relatively large actuator must be employed, and the apparatus becomes large, making it difficult to cut the inner surface of a relatively small diameter pipe.

  The present invention solves the above-described problems, and an object thereof is to provide a cutting apparatus capable of cutting a relatively small diameter pipe inner surface.

  In order to achieve the above-described object, a cutting apparatus according to the present invention includes a rotation mechanism that rotates a cutter disposed inside a pipe, a turning mechanism that turns the cutter around a predetermined axis, and the cutter. An axial direction moving mechanism that moves along a direction in which a predetermined axis extends; and a cross direction moving mechanism that moves the cutter in a direction that intersects the predetermined axis, wherein the cross direction moving mechanism includes the cutter A cutter support portion that supports the cutter in a direction that intersects with the predetermined axis, a slide portion that is slidably movable in an extending direction of the predetermined axis with respect to the cutter support portion, and the slide A cutter moving unit that is provided in a portion and connected to the cutter, and that moves the cutting blade in a direction crossing the predetermined axis by swinging the cutter as the slide unit slides. And wherein the door.

  According to this cutting apparatus, in the cross-direction moving mechanism, the cutter is supported by the cutter support unit so as to be swingable, and the cutter is swung by the cutter moving unit along with the slide movement of the slide unit so that the predetermined axis is reached. Move in the crossing direction. For this reason, since the reaction force when cutting the inner surface of the tube with the cutting blade is received by the operation mechanism of the cutter support portion, the slide portion, and the cutter moving portion, the reaction force of cutting is applied to the actuator side that slides the slide portion. To prevent the situation. As a result, it is not necessary to increase the size of the actuator in order to increase the pressing force while receiving the reaction force of cutting, and the apparatus can be reduced in size, so that the inner surface of a relatively small diameter pipe can be cut. .

  Further, in the cutting apparatus according to the present invention, the cutter moving unit is supported by a swinging unit that is swingable with respect to the slide unit by an axis parallel to a support shaft for swinging the cutter, and the swinging unit And a slide connecting portion for connecting the cutter to each other so as to be relatively slidable.

  According to this cutting apparatus, the cutter is supported at three places: the support shaft for swinging the cutter, the shaft for supporting the swing portion on the slide portion, and the slide connection portion. As a result, the reaction force of the cutting is dispersed by the three locations so that the reaction force is sufficiently received, and the cutting can be performed quickly and easily.

  Further, in the cutting device of the present invention, the cross direction moving mechanism has a cross direction power transmission shaft provided extending in parallel with the extending direction of the predetermined axis, and the cross direction power transmission shaft is The slide part is slid by moving along the predetermined axis.

  According to this cutting apparatus, since the cross-direction power transmission shaft provided along the extending direction of the predetermined axis is moved along the predetermined axis to slide the slide portion, The dimensions can be made relatively small, and the effect of cutting the inner surface of a relatively small diameter tube can be remarkably obtained.

  Further, the cutting device of the present invention is characterized in that the intersecting direction power transmission shaft and the turning power transmission shaft for transmitting power to the turning mechanism are arranged on the same axis.

  According to this cutting apparatus, the dimension in the radial direction of the pipe can be configured to be relatively small in connection with the transmission of power between the cross-direction power transmission shaft and the turning power transmission shaft. The effect of cutting can be remarkably obtained.

  Further, the cutting device of the present invention is provided so as to be movable in accordance with the movement of the cutter by the turning mechanism and the axial movement mechanism excluding the rotation mechanism, and is opposite to the movement of the cutter by the cross direction movement mechanism. It is provided so as to be movable in the direction in which it is moved, and includes a sensor unit for measuring the inner surface shape of the tube.

  According to this cutting apparatus, when cutting the inner surface of the pipe, it is preferable to measure the inner surface shape of the pipe in order to make the cutting depth constant. According to this cutting apparatus, the sensor unit for measuring the inner surface shape of the tube is provided so as to be movable in accordance with the movement of the cutter by the turning mechanism and the axial movement mechanism excluding the rotation mechanism, and the movement of the cutter by the cross direction movement mechanism. As a mechanism for moving the sensor unit during measurement, a mechanism for moving the cutter is used. As a result, the radial dimension of the tube can be made relatively small, and the effect of cutting the inner surface of a relatively small diameter tube can be significantly obtained.

  Moreover, the cutting apparatus of this invention is equipped with the imaging part which images the inside of the said pipe | tube in the aspect which moves with the movement of the said cutter by the said axial direction movement mechanism, It is characterized by the above-mentioned.

  According to this cutting apparatus, when cutting the inner surface of the pipe, it is necessary to confirm the part to be cut. According to this cutting apparatus, a mechanism for moving the cutter as a mechanism for moving the imaging unit at the time of measurement is provided by providing an imaging unit for imaging the inside of the tube so as to move along with the movement of the cutter by the axial movement mechanism. Is used. As a result, the radial dimension of the tube can be made relatively small, and the effect of cutting the inner surface of a relatively small diameter tube can be significantly obtained.

  Further, the cutting device of the present invention includes a fixing portion that does not accompany movement of the cutter by the rotation mechanism, the turning mechanism, the axial movement mechanism, and the cross direction movement mechanism, and is in contact with the inner surface of the pipe. Or it is provided with the restraint mechanism provided in the outer side of the said fixing | fixed part in the aspect which spaces apart.

  According to this cutting apparatus, by providing the restraining mechanism, the apparatus itself can be fixed inside the pipe, and cutting can be performed stably and accurately.

  According to the present invention, it is possible to cut the inner surface of a relatively small diameter pipe.

FIG. 1 is a schematic diagram illustrating an example of a nuclear facility. FIG. 2 is a cross-sectional view of the reactor vessel. FIG. 3 is a cross-sectional view of the water injection nozzle. FIG. 4 is an explanatory diagram of cutting and repairing of the water injection nozzle. FIG. 5 is an external view of the cutting device according to the embodiment of the present invention, which is partly cut. FIG. 6 is an enlarged view of an axial section in a state in which the cutting device of FIG. 5 is rotated 90 degrees around the axis. FIG. 7 is a view of the cutting device of FIG. 6 as viewed from the rear end side. FIG. 8 is an enlarged cross-sectional view of the axial movement mechanism. FIG. 9 is an enlarged view of an axial section in a state where the axial movement mechanism is operated from FIG. FIG. 10 is an AA cross-sectional enlarged view of FIG. FIG. 11 is a partially enlarged view of FIG. FIG. 12 is a partially enlarged view of FIG. FIG. 13 is a diagram showing a state in which the cross direction moving mechanism is operated from FIG. FIG. 14 is a diagram of the state in which the cross direction moving mechanism is operated from FIG. 11. FIG. 15 is a process diagram of a cutting procedure to which a cutting device according to an embodiment of the present invention is applied. FIG. 16 is a process diagram of a cutting procedure to which a cutting device according to an embodiment of the present invention is applied. FIG. 17 is a process diagram of a cutting procedure to which a cutting device according to an embodiment of the present invention is applied. FIG. 18 is a process diagram of a cutting procedure to which a cutting device according to an embodiment of the present invention is applied. FIG. 19 is a process diagram of a cutting procedure to which the cutting device according to the embodiment of the present invention is applied.

  Embodiments according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

  FIG. 1 is a schematic view showing an example of a nuclear facility, and FIG. 2 is a cross-sectional view of a nuclear reactor vessel. As shown in FIG. 1, the nuclear power facility 100 includes, for example, a pressurized water reactor (PWR: Pressurized Water Reactor). In this nuclear power facility 100, a reactor vessel 101, a pressurizer 102, a steam generator 103, and a pump 104 are sequentially connected by a primary cooling water pipe 105 to constitute a circulation path of primary cooling water. Further, a circulation path of secondary cooling water is configured between the steam generator 103 and the turbine (not shown).

  In this nuclear power facility 100, the primary cooling water is heated in the reactor vessel 101 to become high temperature and high pressure, and steam is generated through the primary cooling water pipe 105 while being pressurized by the pressurizer 102 to keep the pressure constant. Is supplied to the vessel 103. In the steam generator 103, heat exchange between the primary cooling water and the secondary cooling water is performed, whereby the secondary cooling water evaporates and becomes steam. The secondary cooling water converted into steam by heat exchange is supplied to the turbine. The turbine is driven by the secondary cooling water steam. Then, the power of the turbine is transmitted to a generator (not shown) to generate electricity. The steam used for driving the turbine is condensed into water and supplied to the steam generator 103. On the other hand, the primary cooling water after heat exchange is collected on the pump 104 side via the primary cooling water pipe 105.

  As shown in FIG. 1, the steam generator 103 is provided with an inlet-side water chamber 103a and an outlet-side water chamber 103b partitioned by a partition plate 103c in the lower part formed in a hemispherical shape. The inlet side water chamber 103a and the outlet side water chamber 103b are separated from the upper side of the steam generator 103 by a tube plate 103d provided on the ceiling portion. On the upper side of the steam generator 103, an inverted U-shaped heat transfer tube 103e is provided. The end portion of the heat transfer tube 103e is supported by the tube plate 103d so as to connect the inlet side water chamber 103a and the outlet side water chamber 103b. The inlet-side water chamber 103a is provided with an inlet nozzle 103f as a piping nozzle, and an inlet-side primary cooling water pipe 105 is connected to the inlet nozzle 103f. On the other hand, the outlet side water chamber 103b is provided with an outlet pedestal 103g as a piping nozzle, and the outlet side primary cooling water pipe 105 is connected to the outlet pedestal 103g.

  As shown in FIG. 1, the nuclear reactor vessel 101 includes a vessel main body 101a and a vessel lid 101b mounted on the upper portion thereof so that a fuel assembly (not shown) can be inserted and removed. The container lid 101b is provided so as to be openable and closable with respect to the container main body 101a. The container body 101a has a cylindrical shape with an upper opening and a lower hemispherical shape that is closed, and an upper part is provided with an inlet nozzle 101c and an outlet nozzle 101d for supplying and discharging light water as primary cooling water. Yes. A primary cooling water pipe 105 is connected to the outlet nozzle 101 d so as to communicate with the inlet nozzle 103 f of the steam generator 103. Moreover, the primary cooling water pipe 105 is connected to the inlet nozzle 101 c so as to communicate with the outlet nozzle 103 g of the steam generator 103. In addition, as shown in FIG. 2, the reactor vessel 101 is provided with a water injection nozzle 101e, which is a pipe for water injection, at the same height as the inlet nozzle 101c and the outlet nozzle 101d in the vessel main body 101a. Yes. A water injection pipe 101f which is a pipe is connected to the water injection pipe base 101e by welding.

  FIG. 3 is a cross-sectional view of the water injection nozzle, and FIG. 4 is an explanatory diagram of cutting and repairing of the water injection nozzle. The water injection nozzle 101e is periodically inspected in order to ensure the safety and reliability of the nuclear facility 100 described above. As a result of this inspection, there is a possibility that surface defects such as cracks due to secular change may occur in the welded portion 101g, which is a connecting portion between the water injection nozzle 101e and the water injection piping 101f, as shown in FIG. When a defect is found, the weld 101g is cut and repaired. Specifically, as shown in FIG. 4, the inner wall surface of the welded portion 101 g is cut together with part of the inner wall surface of the water injection nozzle 101 e and the water injection pipe 101 f, and a predetermined alloy type is welded to the cut cutting portion A. Overlay B is performed.

  The cutting device according to the present embodiment is applied to perform the cutting of the above-described cutting / repair. FIG. 5 is an external view of the cutting device according to the present embodiment that is partly cut, and FIG. 6 is an enlarged view of an axial section in a state in which the cutting device of FIG. 5 is rotated 90 degrees around the axis. 7 is a view of the cutting device of FIG. 6 as viewed from the rear end side, FIG. 8 is an enlarged cross-sectional view of the axial movement mechanism, and FIG. 9 operates the axial movement mechanism from FIG. FIG. 10 is an enlarged view of the AA cross section of FIG. 6, FIG. 11 is a partially enlarged view of FIG. 5, and FIG. FIG. 13 is a partially enlarged view, FIG. 13 is a view of the state in which the cross direction moving mechanism is operated from FIG. 11, and FIG. 14 is a view of the state in which the cross direction moving mechanism is operated from FIG.

  The cutting device 1 is inserted into the inside of the reactor vessel 101 described above and inside the pipe from the water injection pipe base 101e to the water injection pipe 101f, and is arranged inside the pipe (IN) as shown in FIG. A distal end portion 11 and a proximal end portion 12 that is continuous with the distal end portion 11 and is disposed outside the tube (OUT).

  The distal end portion 11 is formed in a rod-like body that is formed with a diameter smaller than the inner diameter of the tube so as to be inserted into the tube, and extends on the axis S1 along the extending direction of the tube. The tip portion 11 includes a cutter support portion 11A for supporting a cutter 2 having a spherical cutting blade provided at the tip of a shaft as a rod-shaped carbide bar in order from the tip to the tube outer side, and the cutter support portion 11A. A distal end side fixing portion 11B which is connected and fixed to the proximal end portion 12;

  Since the proximal end portion 12 is disposed outside the tube (OUT), the proximal end portion 12 is formed to have a larger diameter than the inner diameter of the tube. The base end portion 12 is disposed on the base end side of the base end side fixing portion 12A and a base end side fixing portion 12A that is fixed integrally and continuously from the tip end side fixing portion 11B of the tip end portion 11, The drive source part 12B in which drive motors 41, 51, 61 serving as drive sources for the mechanisms 4, 5, and 6 to be described later are disposed, and the base end side fixing part 12A are fixed and the drive source part 12B is housed. And a main body portion 12C fixed to the outside of the tube.

  And this cutting device 1 makes the rotation mechanism 3 (refer FIG. 5 and FIG. 6) which rotate the cutter 2 in the front-end | tip part 11 and the base end part 12 mentioned above, and makes the cutter 2 turn around the predetermined | prescribed axis | shaft S1. A turning mechanism 4 (see FIGS. 6 and 7), an axial movement mechanism 5 (see FIGS. 6 to 10) for moving the cutter 2 along the extending direction L of the shaft S1, and the cutter 2 on the shaft S1. And a cross-direction moving mechanism 6 (see FIGS. 6, 7, and 9 to 14) that moves in the crossing radial direction W. The cutter 2 is operated by the mechanisms 3, 4, 5, and 6. The inner wall surface of the welded portion 101g described above is cut, including a part of the inner wall surface of the water injection nozzle 101e and the water injection piping 101f.

  The rotation mechanism 3 has a rotation drive motor 31 as shown in FIGS. The rotary drive motor 31 is disposed on the cutter support portion 11 </ b> A, and is provided with its output shaft connected to the shaft of the cutter 2. The rotation drive motor 31 is configured integrally with the cutter 2.

  Such a rotation mechanism 3 rotates the cutter 2 around its own axis by directly transmitting the power of the rotation drive motor 31 to the axis of the cutter 2.

  The turning mechanism 4 includes a turning drive motor 41 and a turning power transmission shaft 42 as shown in FIGS.

  The turning drive motor 41 is fixed to the proximal end side of the drive source portion 12B inside the cylindrical main body portion 12C. The turning drive motor 41 is provided with a turning main gear 43a on its output shaft.

  The turning power transmission shaft 42 is formed in a cylindrical shape extending in the direction along the axis S1, and is provided so as to rotate about the axis S1. The turning power transmission shaft 42 is provided with a turning slave gear 43b around the axis S1 on the base end side. The turning slave gear 43b is meshed with the turning main gear 43a. Further, the turning power transmission shaft 42 penetrates the drive source portion 12B, the base end side fixing portion 12A, and the tip end side fixing portion 11B, so that the tip end is connected to the cutter support portion 11A.

  In such a turning mechanism 4, the power of the turning drive motor 41 is transmitted to the cutter support portion 11 </ b> A through the drive source portion 12 </ b> B, the proximal end side fixing portion 12 </ b> A, and the distal end side fixing portion 11 </ b> B by the turning power transmission shaft 42. For this reason, the cutter 2 is turned around the axis S1 together with the cutter support portion 11A.

  The turning mechanism 4 includes a backlash correction motor 44 as shown in FIGS. 5 and 7. The backlash correction motor 44 is fixed to the base end side of the drive source portion 12B inside the cylindrical main body portion 12C, and is driven in conjunction with the turning drive motor 41 to turn the cutter 2. It cancels backlash in the power transmission system and suppresses vibrations during turning and reaction forces during cutting.

  The axial movement mechanism 5 includes an axial drive motor 51 shown in FIGS. 5, 7, and 8. The axial drive motor 51 is fixed to the proximal end side of the drive source portion 12B inside the cylindrical main body portion 12C. The axial drive motor 51 is connected to its output shaft with a screw rod 52a provided along the extending direction L of the shaft S1. The screw rod 52a is screwed with a nut 52b. The nut 52b is fixed to the base end of the base end side fixing portion 12A inserted into the drive source portion 12B.

  As shown in FIGS. 6 and 9, the drive source unit 12B is provided with a slider 53a on the base end side. The slider 53a is guided to slide with respect to the rail 53b fixed in parallel to the axis S1 in the base end side fixing portion 12A. Note that a plurality of (for example, three) sliders 53a and rails 53b are provided around the axis S1.

  Further, as shown in FIGS. 6, 7, and 9, the drive source unit 12 </ b> B is provided with a rail 54 a provided in parallel to the axis S <b> 1 on the outer side. The rail 54a is guided to slide relative to the slider 54b fixed in the main body 12C. Note that a plurality of rails 54a and sliders 54b (four in this embodiment) are provided around the axis S1.

  Furthermore, as shown in FIGS. 6 and 9, the turning power transmission shaft 42 extending from the drive source portion 12B to the distal end portion 11 side is inserted and supported inside a cylindrical shaft support tube 50. The shaft support tube 50 extends from the drive source portion 12B to the distal end side fixing portion 11B, and is slidable along the extending direction L of the shaft S1 with respect to the proximal end side fixing portion 12A and the distal end side fixing portion 11B. Is provided. As shown in FIG. 10, the shaft support tube 50 has a rail 55a extending in parallel with the shaft S1 fixed to the outside thereof. The rail 55a is guided to slide relative to the slider 55b fixed at the distal end side fixing portion 11B. Note that a plurality of rails 55a and sliders 55b (three in the present embodiment) are provided around the axis S1. A plurality of sliders 55b may be provided in the extending direction L of the axis S1.

  In such an axial movement mechanism 5, when the screw rod 52a is rotated by the drive of the axial drive motor 51, the screw rod 52a and the nut 52b are relatively moved to the shaft S1 due to the screwed relationship between the screw rod 52a and the nut 52b. It slides in the direction along (see FIG. 8A and FIG. 8B). In this case, since the nut 52b is fixed to the proximal end side fixing portion 12A, the screw rod 52a side moves in the direction along the axis S1. Therefore, the axial drive motor 51 to which the screw rod 52a is connected, the drive source unit 12B to which the axial drive motor 51 is fixed, and the configuration supported by the drive source unit 12B slide in the direction along the axis S1. Moving. As a result, the cutter 2 including the configuration connected to the turning power transmission shaft 42 slides in the direction along the axis S1. The sliding movement in the direction along the axis S1 is guided by the slider 53a and the rail 53b, the rail 54a and the slider 54b, the rail 55a and the slider 55b.

  As shown in FIG. 7, the drive source unit 12 </ b> B is provided with a balancer 56. In the balancer 56, a rod extending in parallel with the axis S1 is fixed to the base end of the base end side fixing portion 12A like the nut 52b described above, and this rod is inserted. That is, the balancer 56 adjusts the balance of the sliding movement by sliding with respect to the rod when the driving source unit 12B slides in the direction along the axis S1.

  As shown in FIGS. 8A and 8B, a spur gear 57a is provided on the output shaft of the axial drive motor 51 to which the screw rod 52a is connected. The spur gear 57 a is engaged with the spur gear 57 b, and the shaft of the spur gear 57 b extends to the side portion of the axial drive motor 51. The shaft of the spur gear 57b is provided with a fitting recess 57c for fitting a tool or the like. For this reason, when the axial direction drive motor 51 becomes a non-rotatable state, if the tool is fitted in the fitting recess 57c and the shaft of the spur gear 57b is rotated, the screw rod 52a can be rotated. It is possible to manually slide the cutter 2 in the direction along the axis S1.

  As shown in FIGS. 6, 7, and 9 to 14, the cross direction moving mechanism 6 includes a cross direction drive motor 61, a cross direction power transmission shaft 62, a slide portion 63, and a cutter moving portion 64. .

  The cutter 2 is configured integrally with the rotary drive motor 31 as described above, and is supported by the cutter support portion 11A. The cutter support portion 11A is configured in a cylindrical shape, in which the base end portion of the rotary drive motor 31 extends in a direction that is tolerance (orthogonal) with respect to the axis S1, and the center line S2 of the axis of the cutter 2 Is supported via a cutter support shaft 65 orthogonal to the axis. That is, the cutter 2 is supported so as to be swingable in the radial direction W intersecting the axis S1 with the cutter support shaft 65 as a center.

  As shown in FIGS. 6 and 7, the cross direction drive motor 61 is fixed to the proximal end side of the drive source unit 12 </ b> B inside the cylindrical main body 12 </ b> C and is disposed at a position off the axis S <b> 1. .

  The cross direction power transmission shaft 62 is disposed on the axis S1, and is disposed in the cylinder of the turning power transmission shaft 42 inside the drive source portion 12B, the base end side fixing portion 12A, and the distal end side fixing portion 11B. It is provided so as to be able to rotate with the turning power transmission shaft 42 around the axis S1 and to be slidable in the extending direction L of the axis S1 relative to the turning power transmission shaft 42. Further, the tip of the cross direction power transmission shaft 62 is fixed to the slide portion 63. Further, the cross direction power transmission shaft 62 is provided such that its base end protrudes from the base end of the turning power transmission shaft 42.

  The cross direction power transmission shaft 62 has a moving member 66b attached to a base end protruding from the base end of the rotational power transmission shaft 42 via a bearing 66a. That is, the cross-direction power transmission shaft 62 and the moving member 66b are provided so as to be relatively rotatable about the axis S1 by the bearing 66a. On the other hand, the cross direction drive motor 61 is connected to its output shaft with a screw rod 66c provided along the extending direction L of the axis S1. The screw rod 66c is screwed with a nut 66d. The nut 66d is connected to the moving member 66b via a connecting rod 66e provided along the extending direction L of the shaft S1.

  The slide part 63 is provided inside the cutter support part 11A. The slide part 63 is provided with a slider 63a. The slider 63a is guided to slide relative to the rail 63b fixed in parallel to the axis S1 in the cutter support portion 11A. That is, the slide part 63 is provided to be slidable along the extending direction L of the axis S1 with respect to the cutter support part 11A. In addition, the slide portion 63 is integrally formed with an operating piece 63d that is disposed so as to face the rotation drive motor 31 that is configured integrally with the cutter 2 while extending in the extending direction L (slide movement direction) of the shaft S1. Is provided.

  The cutter moving unit 64 is connected to a rotary drive motor 31 provided on the slide unit 63 and configured integrally with the cutter 2, and the cutter 2 (the rotary drive motor 31) is moved along with the slide movement of the slide unit 63. The cutting blade of the cutter 2 is moved in the radial direction W intersecting the axis S1 by swinging. Specifically, the cutter moving part 64 has a swing part 641 and a slide connection part 642.

  The oscillating portion 641 is formed in a U-shaped cross section so as to surround the upper portion of the distal end portion (the side on which the cutting blade of the cutter 2 extends) of the rotary drive motor 31 configured integrally with the cutter 2. Each end piece of the opening portion is swingably supported by a moving shaft 641a parallel to the cutter support shaft 65 with respect to each operating piece 63d of the sliding portion 63 that slides.

  The slide connecting portion 642 is provided with a rail 642 a extending along the extending direction of the axis of the cutter 2 on the swinging portion 641. On the other hand, the rotary drive motor 31 configured integrally with the cutter 2 is provided with a slider 642b that is movable in the extending direction of the rail 642a at the tip end surrounded by the swinging portion 641. That is, the slide connecting part 642 connects the swinging part 641 and the cutter 2 (rotation drive motor 31) so as to be relatively slidable. The cutter 2 (rotational drive motor 31) is provided so as to be slidable in the direction along the center line S2 of its own axis with respect to the swinging portion 641, and the swinging portion 641 of the swinging portion 641. It is supported via the moving shaft 641a. In this state, the moving shaft 641a is orthogonal to the center line S2 of the cutter 2 axis.

  In such a cross direction moving mechanism 6, when the screw rod 66 c is rotated by driving the cross direction drive motor 61, the screw rod 66 c and the nut 66 d are relatively moved to the axis S <b> 1 due to the screwed relationship between the screw rod 66 c and the nut 66 d. Slide along the direction. In this case, since the screw rod 66c is fixed to the output shaft of the cross direction drive motor 61, the nut 66d moves in the direction along the axis S1 with the connecting rod 66e. For this reason, the moving member 66b connected to the nut 66d by the connecting rod 66e slides in the direction along the axis S1. As a result, the cross-direction power transmission shaft 62 to which the moving member 66b is attached slides in the direction along the axis S1. Thereby, the slide part 63 to which the tip of the cross direction power transmission shaft 62 is fixed slides in the extending direction L of the axis S1. Since the moving member 66b is attached to the base end of the cross direction power transmission shaft 62 via the bearing 66a, even if the cross direction power transmission shaft 62 rotates together with the turning power transmission shaft 42, the rotation of the moving member 66b does not occur. It is not transmitted to the moving member 66b itself.

  As shown in FIG. 13, when the slide portion 63 slides in the distal direction, the cutter support shaft 65 that supports the cutter 2 (the rotation drive motor 31) so as to be swingable with respect to the cutter support portion 11A. The moving shaft 641a is separated. That is, the swinging portion 641 is separated from the cutter support shaft 65. The swinging portion 641 can swing with respect to the operating piece 63d of the slide portion 63 by the moving shaft 641a, and supports the cutter 2 (rotational drive motor 31) via the slide connecting portion 642. For this reason, when the swinging portion 641 is separated from the cutter support shaft 65, the cutter 2 (rotation drive motor 31) is slid by the slide connection portion 642 and is lifted so as to enter the cutter support portion 11A. The cutting blade is moved in the radial direction W.

  On the other hand, as shown in FIG. 14, when the slide portion 63 slides in the proximal direction, the cutter support shaft 65 supports the cutter 2 (rotary drive motor 31) so as to be swingable with respect to the cutter support portion 11A. The moving shaft 641a comes close. In other words, the swinging portion 641 comes close to the cutter support shaft 65. For this reason, when the swinging portion 641 comes close to the cutter support shaft 65, the cutter 2 (rotation drive motor 31) is slid by the slide connection portion 642 and lowered so as to be pushed out of the cutter support portion 11A. Thus, the cutting blade is moved in the radial direction W.

  In this way, the cross direction moving mechanism 6 moves the cutting blade in the radial direction W by swinging based on the cutter support shaft 65. For this reason, it is possible to move the cutting blade arranged within the diameter of the cutter support portion 11A with a large stroke toward the outside of the cutter support portion 11A as compared with the case of linear movement in the direction orthogonal to the axis S1. It is. The cutter 2 is configured as a carbide bar having a cutting blade at the tip of the shaft. For this reason, since the cutting apparatus 1 of this Embodiment can deepen cutting depth, it is suitable in the local cutting of the inner surface of a pipe | tube.

  In the movement of the cutter 2 by the crossing direction moving mechanism 6 described above, the swinging portion 641 and the slide connecting portion 642 that are the cutter moving portion 64 can swing the cutter 2 (rotation drive motor 31) with respect to the slide portion 63. , And is slidably supported. For this reason, the cutter 2 (rotation drive motor 31) is supported at three locations including the cutter support shaft 65 with respect to the cutter support portion 11A. For this reason, as shown in FIG. 14, the reaction force when the cutting blade moved so as to be pushed out of the cutter support portion 11A abuts against the inner surface (welded portion 101g) of the pipe to be cut is sufficiently large. It is possible to receive.

  The cutter moving unit 64 does not have the swinging part 641 or the slide connecting part 642, and can swing the cutter 2 (rotary drive motor 31) with respect to the operating piece 63d of the slide part 63 via the moving shaft 641a. The cutting blade of the cutter 2 can be moved in the radial direction W also by this configuration.

  By the way, as shown in FIGS. 11-14, the cutter support part 11A is provided with the sensor part 7 which consists of a touch sensor. The sensor unit 7 is provided so as to be movable in the radial direction W, which is the moving direction of the cutting blade of the cutter 2, by the slide mechanism 71, and is urged by the compression spring 72 so as to enter the cutter support portion 11 </ b> A. The slide mechanism 71 has a roller 73 provided extending to the proximal end side. The roller 73 is provided so as to face an inclined surface 63e formed at the tip of one operating piece 63d in the slide portion 63 in the extending direction of the shaft S1.

  As shown in FIG. 13, when the slide part 63 slides in the distal direction, the sensor part 7 is inclined against the elastic biasing force of the compression spring 72 while the roller 73 is in contact with the inclined surface 63e. It is lifted along and lifted so as to be pushed out of the cutter support portion 11A and moved to a position where it contacts the inner surface of the pipe (welded portion 101g). On the other hand, as shown in FIG. 14, when the slide part 63 slides in the proximal direction, the sensor part 7 is separated from the roller 73 by the inclined surface 63e, so that the cutter support part 11A is supported by the elastic biasing force of the compression spring 72. And move to a position separated from the inner surface of the pipe (welded portion 101g).

  In addition, since the sensor unit 7 is provided on the cutter support unit 11A, the sensor unit 7 moves in accordance with the movement of the cutter 2 by the turning mechanism 4, the axial direction moving mechanism 5 and the cross direction moving mechanism 6 except the rotating mechanism 3 described above. It is provided as possible.

  As shown in FIG. 7, the cross direction drive motor 61 of the cross direction moving mechanism 6 is provided with a fitting recess 61a for fitting a tool with the same configuration as that of the axial direction drive motor 51. The cutter 2 and the sensor unit 7 can be moved in the radial direction W.

  In the cutting device 1 described above, as shown in FIGS. 5 and 12, in addition to the above configuration, the cutter support portion 11 </ b> A is provided with an imaging unit 9 that is arranged outward and images the inside of the tube. The imaging unit 9 is configured as a side-view CCD camera with a light, for example. In addition, the imaging unit 9 is provided on the cutter support unit 11 </ b> A, but can be moved by the turning mechanism 4 and the axial movement mechanism 5 without the movement of the cutter 2 or the sensor unit 7.

  Further, in the cutting apparatus 1, in addition to the above configuration, as shown in FIG. 10, the cutting device 1 is disposed outside the distal end side fixing portion 11B inserted through the inside of the tube, and with respect to the outer surface of the distal end side fixing portion 11B. A restraint mechanism 10 provided so as to be able to appear and disappear is provided. The restraint mechanism 10 includes a cylinder 10a that protrudes and protrudes with respect to the outer surface of the distal end side fixing portion 11B by an actuator (not shown), and a protrusion 10b provided on the outer surface of the distal end side fixing portion 11B. The cylinder 10a and the protrusion 10b form a pair provided at opposite positions on the outer surface of the distal end side fixing portion 11B, and two pairs are arranged at symmetrical positions on the outer surface of the distal end side fixing portion 11B. It is configured. Thereby, the restraining mechanism 10 fixes the cutting device 1 inside the pipe based on the tip side fixing portion 11B by contacting the inner surface of the pipe at four locations in the circumferential direction of the outer side surface of the tip side fixing portion 11B. In the present embodiment, the set of restraining mechanisms 10 provided in the circumferential direction of the outer surface of the distal end side fixing portion 11B is, as shown in FIG. 5, the extending direction of the axis S1 of the distal end side fixing portion 11B. A plurality of sets (two sets in the present embodiment) are provided along L. For this reason, the effect | action which fixes the cutting device 1 inside a pipe | tube based on the front end side fixing | fixed part 11B is acquired notably.

  Further, in the cutting device 1, in addition to the above configuration, as shown in FIG. 12, the cutting oil is supplied to the cutting blade on the tip side of the cutter support portion 11A and in the vicinity (upper side) of the cutting blade of the cutter 2. A spray nozzle 8 is provided.

  Further, the cutting device 1 described above includes a supply pipe for supplying cutting oil to the spray nozzle 8, wiring for supplying power and an electric signal as a detection signal to the imaging unit 9, supplying power to the sensor unit 7, As shown in FIG. 10, the wiring for sending the electric signal as the detection signal and the wiring for supplying the electric power to the rotation drive motor 31 of the rotating mechanism 3 have the cross-direction power transmission shaft 62 formed hollow. It is inserted inside and drawn around to the base end side.

  Hereinafter, a procedure for cutting the inner surface of the pipe by the above-described cutting apparatus 1 will be described. 15 to 19 are process diagrams of a cutting procedure to which the cutting device according to the present embodiment is applied. In this step, the object to be cut by the cutting apparatus 1 is the inner surface of the welded portion 101g between the water injection pipe base 101e and the water injection pipe 101f of the reactor vessel 101 described above.

  First, as shown in FIG. 15, the cutting device 1 is accessed inside the vessel main body 101 a of the reactor vessel 101 by the insertion device 111 suspended by the crane 110. In the water injection nozzle 101e, a foreign matter fall prevention ring 112 is fixed to an opening on the inner side of the container main body 101a. The foreign matter fall prevention ring 112 is fixed to a bottomed cylindrical work platform 113 described in Japanese Patent Application Laid-Open No. 2006-349596. The foreign matter fall prevention ring 112 has a shielding ring 114 that fixes a space gap inside. The shielding ring 114 is installed centered with respect to the center of the water injection nozzle 101e.

  Next, as shown in FIG. 16, the cutting device 1 is inserted into the water injection nozzle 101 e by the insertion device 111 and fixed to the shielding ring 114. As described above, since the shielding ring 114 is centered with respect to the center of the water injection nozzle 101e, the cutting device 1 fixed to the shielding ring 114 has its axis S1 with respect to the center of the water injection nozzle 101e. Will be automatically centered. Then, the cutting device 1 is restrained inside the water injection pipe base 101e by the restraining mechanism 10 based on the tip fixing portion 11B.

  Next, as shown in FIG. 17, the cutter support portion 11 </ b> A is moved along the extending direction L of the axis S <b> 1 by the axial movement mechanism 5. Thereby, the punching hole marked on the inner surface of the water injection nozzle 101e in advance at the time of inspection or the like is confirmed by photographing the inner surface of the water injection nozzle 101e by the imaging unit 9 provided in the cutter support 11A. For this reason, the cutting position with the cutter 2 can be confirmed.

  Next, as shown in FIG. 18, by moving the sensor unit 7 in the radial direction W by the cross direction moving mechanism 6, the sensor unit 7 is brought into contact with or separated from the inner surface of the water injection nozzle 101e and swiveled. By rotating the cutter support portion 11A about the axis S1 by the mechanism 4, the sensor portion 7 is moved in the circumferential direction of the water injection nozzle 101e, and the cutter support portion 11A is extended by the axial movement mechanism 5 from the axis S1. By moving along the direction L, the sensor unit 7 is moved in the extending direction of the water injection nozzle 101e. As a result, the sensor unit 7 comes into contact with the inner surface of the water injection tube base 101e at a predetermined angular position in the circumferential direction, confirms the shape of the inner surface of the water injection tube base 101e in the circumferential direction, and extends the water injection tube base 101e. The circumferential shape of the inner surface of the water injection nozzle 101e in the current direction is confirmed. For this reason, the shape of the inner surface of the water injection nozzle 101e to be cut can be acquired.

  Next, as shown in FIG. 19, the cutter 2 is rotated with respect to the inner surface of the water injection nozzle 101 e by rotating the cutter 2 by the rotating mechanism 3 and moving the cutter 2 in the radial direction W by the cross direction moving mechanism 6. The cutter support portion 11A is turned about the axis S1 by the turning mechanism 4 to move the cutter 2 in the circumferential direction of the water injection nozzle 101e, and the axial movement mechanism 5 is used to move the cutter support portion 11A. Is moved along the extending direction L of the axis S1, thereby moving the cutter 2 in the extending direction of the water injection nozzle 101e. As a result, the rotating cutter 2 moves in the crossing direction with respect to the inner surface of the water injection nozzle 101e, rotates in the circumferential direction along the inner surface of the water injection nozzle 101e, and extends in the extending direction of the water injection nozzle 101e. Move in the axial direction. Here, the predetermined range can be cut by performing the turning movement and the axial movement of the cutter 2 based on the cutting position confirmed by the imaging unit 9 described above. Furthermore, the cross direction movement can be performed with a predetermined cutting depth by performing the movement in the crossing direction based on the shape of the inner surface of the water injection nozzle 101e acquired by the sensor unit 7 described above. In addition, since the cutting apparatus 1 of this Embodiment mainly performs local cutting, it is not necessary to turn the cutter 2 by the turning mechanism 4 more than once.

  As described above, the cutting device 1 according to the present embodiment includes the rotation mechanism 3 that rotates the cutter 2 disposed inside the pipe (the water injection pipe base 101e and the water injection pipe 101f), and the cutter 2 around the predetermined axis S1. Swiveling mechanism 4 for swiveling, axial movement mechanism 5 for moving cutter 2 along extending direction L of axis S1, and cross-direction movement for moving cutter 2 in a direction intersecting axis S1 (radial direction W) And a mechanism 6. The cross direction moving mechanism 6 is slidably movable in the extending direction L of the shaft S1 with respect to the cutter support portion 11A that supports the cutter 2 so as to be swingable in a direction crossing the axis S1. The slide part 63 provided on the slide part 63 and provided on the slide part 63 and connected to the cutter 2. The cutter 2 is swung as the slide part 63 slides, and the cutting blade is moved in a direction intersecting the axis S1. And a cutter moving unit 64 to be moved.

  According to this cutting apparatus 1, in the cross direction moving mechanism 6, the cutter 2 is swingably supported by the cutter support portion 11A, and the cutter 2 is swung by the cutter moving portion 64 as the slide portion 63 slides. It is moved and moved in the direction intersecting the axis S1. For this reason, since the reaction force when cutting the inner surface of the tube with the cutting blade is received by the operation mechanisms of the cutter support portion 11A, the slide portion 63, and the cutter moving portion 64, the actuator moves to slide the slide portion 63. Prevents the reaction force of cutting. As a result, it is not necessary to increase the size of the actuator in order to increase the pressing force while receiving the reaction force of cutting, and the device can be reduced in size, so it is possible to cut the inner surface of a relatively small diameter pipe become.

  Further, in the cutting apparatus 1 of the present embodiment, the cutter moving unit 64 swings with respect to the slide unit 63 by an axis (moving shaft 641a) parallel to the swinging support shaft (cutter support shaft 65) of the cutter 2. An oscillating portion 641 that is movably supported, and a slide connecting portion 642 that couples the oscillating portion 641 and the cutter 2 so as to be relatively slidable.

  According to the cutting apparatus 1, the cutter 2 includes a swing support shaft (cutter support shaft 65) of the cutter 2, a shaft (moving shaft 641 a) that supports the swing portion 641 on the slide portion 63, and a slide connection portion 642. Are supported at three locations. As a result, the reaction force of the cutting is dispersed by the three places so that the reaction force is sufficiently received, and the cutting can be performed quickly and easily.

  Further, in the cutting apparatus 1 of the present embodiment, the cross direction moving mechanism 6 has a cross direction power transmission shaft 62 provided in parallel with the extending direction L of the axis S1, and the cross direction As the power transmission shaft 62 moves along the axis S1, the slide portion 63 is slid.

  According to this cutting apparatus 1, since the cross-direction power transmission shaft 62 provided along the extending direction L of the axis S1 is moved along the axis S1 to slide the slide portion 63, the radial direction of the pipe Therefore, the effect of cutting the inner surface of a relatively small diameter pipe can be remarkably obtained.

  In the cutting device 1 of the present embodiment, the cross direction power transmission shaft 62 and the turning power transmission shaft 42 that transmits power to the turning mechanism 4 are arranged on the same axis S1.

  According to this cutting apparatus 1, the dimension in the radial direction of the pipe can be made relatively small in relation to the transmission of power between the cross direction power transmission shaft 62 and the turning power transmission shaft 42, and a relatively small diameter can be achieved. The effect of cutting the inner surface of the tube can be significantly obtained.

  Further, the cutting apparatus 1 of the present embodiment is provided so as to be movable in accordance with the movement of the cutter 2 by the turning mechanism 4 and the axial direction moving mechanism 5 except for the rotating mechanism 3, and the cross direction moving mechanism 6 allows the cutter 2 to move. The sensor part 7 is provided so as to be movable in a direction opposite to the movement, and measures the inner surface shape of the pipe.

  In cutting the inner surface of the tube, it is preferable to measure the inner surface shape of the tube in order to keep the cutting depth constant. According to this cutting device 1, the sensor unit 7 that measures the inner surface shape of the pipe is provided so as to be movable in accordance with the movement of the cutter 2 by the turning mechanism 4 and the axial movement mechanism 5 except for the rotation mechanism 3, and in the intersecting direction. A mechanism for moving the cutter 2 is used as a mechanism for moving the sensor unit 7 during measurement by providing the movement mechanism 6 so as to be movable in a direction opposite to the movement of the cutter 2. As a result, the radial dimension of the pipe can be made relatively small, and the effect of cutting the inner surface of the pipe having a relatively small diameter can be remarkably obtained.

  Moreover, the cutting apparatus 1 of this Embodiment is provided with the imaging part which images the inside of a pipe | tube in the aspect which moves with the movement of the cutter 2 by the axial direction moving mechanism 5. FIG.

  When cutting the inner surface of the tube, it is necessary to confirm the part to be cut. According to this cutting device 1, the imaging unit 9 that images the inside of the pipe is provided so as to be movable in accordance with the movement of the cutter 2 by the axial movement mechanism 5, thereby moving the imaging unit 9 during measurement. A mechanism for moving the cutter 2 is used. As a result, the radial dimension of the pipe can be made relatively small, and the effect of cutting the inner surface of the pipe having a relatively small diameter can be remarkably obtained.

  Further, the cutting device 1 of the present embodiment includes a fixing portion (tip-side fixing portion 11B) that does not accompany the movement of the cutter 2 by the rotation mechanism 3, the turning mechanism 4, the axial direction movement mechanism 5, and the cross direction movement mechanism 6. And a restraining mechanism provided so as to be able to appear and retract on the outer side of the fixed portion in such a manner as to abut against or separate from the inner surface of the tube.

  According to this cutting device 1, by providing the restraint mechanism 10, the device itself can be fixed inside the pipe. As a result, cutting can be performed stably and accurately.

DESCRIPTION OF SYMBOLS 1 Cutting device 11 Tip part 11A Cutter support part 11B Tip side fixing | fixed part 12 Base end part 12A Base end side fixing | fixed part 12B Drive source part 12C Main body part 2 Cutter 3 Rotation mechanism 31 Rotation drive motor 4 Rotation mechanism 41 Rotation drive motor 42 Rotation Power transmission shaft 43a Turning main gear 43b Turning slave gear 44 Backlash correction motor 5 Axial moving mechanism 50 Axle support tube 51 Axial drive motor 52a Screw rod 52b Nut 53a Slider 53b Rail 54a Rail 54b Slider 55a Rail 55b Slider 56 Balancer 57a Flat Gear 57b Spur gear 57c Fitting recess 6 Cross direction moving mechanism 61 Cross direction drive motor 61a Fitting recess 62 Cross direction power transmission shaft 63 Slide portion 63a Slider 63b Rail 63d Actuating piece 63e Inclined surface 64 Cutter movement 641 Oscillating portion 641a Moving shaft 642 Slide connecting portion 642a Rail 642b Slider 65 Cutter support shaft 66a Bearing 66b Moving member 66c Screw rod 66d Nut 66e Connecting rod 7 Sensor portion 71 Slide mechanism 72 Compression spring 73 Roller 9 Imaging portion 10 Restraining mechanism 10a 10b Protrusion 101e Injection pipe stand 101f Injection pipe 101g Welded part S1 axis S2 Center line W radial direction L axis extending direction

Claims (7)

A rotating mechanism for rotating a cutter disposed inside the tube, a turning mechanism for turning the cutter around a predetermined axis, and an axial movement mechanism for moving the cutter along the extending direction of the predetermined axis And an intersecting direction moving mechanism for moving the cutter in a direction intersecting the predetermined axis,
The cross direction moving mechanism is:
A cutter support section that supports the cutter so as to be swingable in a direction intersecting the predetermined axis;
A slide part provided to be slidable in the extending direction of the predetermined axis with respect to the cutter support part;
A cutter moving unit that is provided on the slide unit and connected to the cutter, and that moves the cutting blade in a direction intersecting the predetermined axis by swinging the cutter with the slide movement of the slide unit;
A cutting apparatus comprising: The cutter moving unit is
A swing part supported so as to be swingable with respect to the slide part by an axis parallel to a support axis for swinging the cutter;
A slide connecting part for connecting the swinging part and the cutter so as to be relatively slidable;
The cutting apparatus according to claim 1, comprising:   The cross-direction moving mechanism has a cross-direction power transmission shaft provided extending in parallel with the extending direction of the predetermined axis, and the cross-direction power transmission shaft moves along the predetermined axis. The cutting apparatus according to claim 1, wherein the slide unit is slid and moved.   The cutting apparatus according to claim 3, wherein the cross direction power transmission shaft and the turning power transmission shaft for transmitting power to the turning mechanism are arranged on the same axis.   Provided to be movable with the movement of the cutter by the turning mechanism and the axial movement mechanism excluding the rotation mechanism, and to be movable in a direction opposite to the movement of the cutter by the cross direction movement mechanism. The cutting device according to claim 1, further comprising a sensor unit that measures an inner surface shape of the pipe.   The cutting apparatus according to any one of claims 1 to 5, further comprising an imaging unit that images the inside of the pipe in a mode of moving with the movement of the cutter by the axial movement mechanism.   The rotating mechanism, the turning mechanism, the axial direction moving mechanism, and the cross direction moving mechanism are provided with a fixing portion that does not accompany the movement of the cutter, and the fixing portion is in contact with or separated from the inner surface of the tube. The cutting apparatus according to any one of claims 1 to 6, further comprising a restraining mechanism provided on the outside so as to be able to appear and retract.

Images