JP2014153499A - In-pipe moving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an in-pipe moving device capable of being effectively inserted in a pipe.SOLUTION: An in-pipe moving device 10 includes: a guide hose 12 with a first toric frame 11 provided coaxially; guide rods 13 (13a to 13d) whose forward ends are connected to the first frame 11, being provided along the guide hose 12 in the longitudinal direction; a second toric frame 14 through which the guide hose 12 penetrates; and rod movable parts (15a to 15d) provided on the second frame 14 which holds guide rods 13, expanding and contracting in the axial direction of the guide rod 13.

Description

  Embodiments described herein relate generally to an apparatus that moves inside a pipe such as a pipe.

In a nuclear reactor in which a severe accident such as core melting has occurred, it is necessary to quickly grasp the situation inside the reactor. However, when radioactive materials are scattered in the reactor, it is difficult to grasp the internal situation because the reactor containment vessel and the upper lid of the pressure vessel cannot be easily removed.
Therefore, a method is considered in which the inspection / working apparatus is inserted into a pipe connected to a reactor containment vessel or the like and sent through a device that moves inside the pipe.

However, the piping connected to the reactor containment vessel has a plurality of bent portions and T-shaped branches. In addition, the diameter of the check valve, the valve seat, and the like provided in the middle of the piping changes rapidly.
Therefore, there is a need for a moving device that can move inside the pipe having this complicated structure and can reach the reactor.

  Conventionally, a technique for moving a bent portion of a general pipe using a pipe insertion aid or the like has been disclosed (for example, see Patent Document 1).

JP 2002-296510 A

  In general, the in-pipe moving device travels inside by receiving a force sent from a pipe insertion port, and enables the pipe to bend or pass through a branch portion using a technique found in Patent Document 1 or the like. However, the force received from the insertion port is attenuated as it passes through the bent or branched portion of the pipe.

  When the number of bends and the bend angle exceed a certain amount, the force from the insertion port is not transmitted and the moving device may not move forward. This becomes a big problem when the in-pipe moving device moves through a pipe having a plurality of bends, branching portions, and the like.

  The present invention has been made in view of such circumstances, and an object thereof is to provide an in-pipe moving apparatus that can be pushed into the pipe more efficiently.

  The in-pipe movement device of the present embodiment includes a guide hose in which an annular first frame is coaxially provided, a guide rod having a front end connected to the first frame and provided in a longitudinal direction of the guide hose, An annular second frame that penetrates the guide hose, and a rod movable portion that is provided on the second frame and that grips the guide rod and expands and contracts in the guide rod axial direction. It is a feature.

  According to the in-pipe moving apparatus of the present invention, it is possible to push the pipe into the pipe more efficiently.

(A) is a block diagram of the in-pipe movement apparatus which concerns on 1st embodiment of this invention, (B) is AA sectional drawing, (C) is BB sectional drawing. The block diagram of the rod movable part applied to this invention. (A)-(D) are block diagrams which show operation | movement of the rod movable part applied to this invention. BRIEF DESCRIPTION OF THE DRAWINGS (A)-(D) is a block diagram which shows operation | movement of the in-pipe moving apparatus which concerns on 1st embodiment of this invention. (A), (B) is a block diagram which shows the modification of the 2nd frame applied to this invention. The block diagram of the in-pipe movement apparatus which concerns on 2nd embodiment of this invention. (A)-(F) is a lineblock diagram showing operation of an in-pipe movement device concerning a third embodiment of the present invention. The block diagram of the in-pipe movement apparatus which concerns on 4th embodiment of this invention.

(First embodiment)
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
An in-pipe moving device 10 (hereinafter referred to as moving device 10) according to the first embodiment of the present invention shown in FIG. 1 (A) includes a guide hose 12 having an annular first frame 11 provided coaxially. The front end is connected to the first frame 11, the guide rod 13 (13 a to 13 d) provided along the longitudinal direction of the guide hose 12, and the annular second frame 14 penetrating the guide hose 12; Provided on the second frame 14 is a rod movable portion (15a to 15d) that grips the guide rod 13 and expands and contracts in the axial direction of the guide rod 13. In FIG. 1, four guide rods 13 and four rod movable parts 15 are configured and arranged, but the quantity, position, and arrangement of each component are not limited to those in FIG.

  The guide hose 12 is a long hose having flexibility, and an annular first frame 11 is provided in the vicinity of the tip portion thereof. The first frame 11 is installed so as to penetrate the guide hose 12 and be coaxial with the guide hose 12.

Further, the neck portion 20 is provided at the distal end portion of the guide hose 12.
The neck portion 20 is composed of a piston mechanism 17, a wire 18, and an annular tip frame 19 (FIG. 1B), and is a tip portion of the guide hose 12 that penetrates the first frame 11. Bend.

  Plural piston mechanisms 17 are provided on the outer periphery of the first frame 11, and can pull the wire 18 connected to the distal end frame 19 by hydraulic or gas pressure driving with a small diameter. As a result, the piston mechanism 17 located in the direction in which the guide hose 12 is desired to be bent can be operated to bend in any direction.

  In FIG. 1, the distal end portion of the guide hose 12 penetrating the first frame 11 is bent. The first frame 11 may be connected and bent.

The guide rod 13 is a flexible rod having a high rigidity and having a front end connected to the first frame 11 and provided in the longitudinal direction along the guide hose 12.
The four guide rods 13 a to 13 d are connected to the outer peripheral surface of the first frame 11 at equal intervals.

By pushing the guide rod 13 from the insertion port of the pipe, the feeding force is transmitted to the first frame 11 connected to the front end of the guide rod 13.
When the first frame 11 is pushed forward, the guide hose 12 is pulled by the first frame 11 and sent into the pipe. In this way, the moving device 10 proceeds inside the pipe.

  Further, at the bent portion of the pipe, the T-shaped branch or the like, the neck swing portion 20 can be moved while changing the traveling direction of the moving device 10 by bending the guide hose 12.

  The second frame 14 is an annular frame through which the guide hose 12 is passed. The second frame 14 has a clearance between its inner peripheral surface and the outer peripheral surface of the guide hose 12, and the relative movement in the hose axial direction is not restricted.

  The rod movable portion 15 is provided on, for example, the outer periphery of the second frame 14, holds the guide rod 13, and expands and contracts in the axial direction of the guide rod 13.

  As shown in the cross-sectional view of FIG. 1C, the four rod movable portions 15a to 15d are provided at equal intervals on the outer periphery of the second frame 14, and the guide rod 13 passes through the inside thereof. In addition, the expansion / contraction part 21 (FIG. 2) of the rod movable part 15 is fixed to the outer periphery of the second frame 14.

A specific configuration of the rod movable unit 15 will be described with reference to FIG.
The rod movable unit 15 includes an extendable part 21 and a gripping part 22 (22a, 22b). The stretchable part 21 and the gripping part 22 have a hollow cylindrical structure, and the guide rod 13 passes through the inside thereof.
The pair of gripping portions 22a and gripping portions 22b are connected to the front end and the rear end of the telescopic portion 21, respectively.

  The expansion / contraction part 21 drives the expansion / contraction piston 27 by supplying / exhausting air pressure to / from the air cylinder 28 to expand / contract the entire length in the axial direction. Thereby, the expansion-contraction part 21 can release | separate the distance of the two holding parts 22a and the holding part 22b, or can make it close.

  The grip portion 22 includes a grip member 23, a case 24 that houses the grip member, an air cylinder 25, and a pneumatic piston 26.

  The grip member 23 is made of an elastic material and has a tapered shape on one side of the outer shape. This tapered portion is engaged with a tapered portion formed inside the case 24.

  The pneumatic piston 26 expands and contracts in the axial direction by supplying or exhausting air pressure to the air cylinder 25, and pushes in or retracts the gripping member 23.

  When the pneumatic piston 26 extends, the gripping member 23 is pushed along the tapered portion of the case 24. Since the inner surface of the case 24 is opened, the gripping member 23 is pushed out in the radial direction of the guide rod 13. As a result, the inner diameter of the grip portion 22 is reduced, and the guide rod 13 is gripped by the grip member 23.

Operation | movement of the rod movable part 15 is demonstrated using FIG.
First, the pneumatic piston 26 of the gripping portion 22a is extended, the gripping member 22 is pushed out, and the guide rod 13 is gripped (FIG. 3A). At this time, the gripping part 22b is not operating (not gripping the guide rod 13).

  And the expansion-contraction part 21 is extended in the state which the holding part 22a hold | gripped the guide rod 13 (FIG. 3 (B)). At this time, since the second frame 14 and the rod movable portion 15 are in contact with the inner peripheral surface of the pipe, the guide rod 13 obtains a force that advances in the axial direction and is sent in the forward direction.

Next, the gripping of the guide rod 13 by the gripping portion 22a is released, and gripping is performed by the gripping portion 22b (FIG. 3C).
Then, with the gripping portion 22b gripping the guide rod 13, the telescopic portion 21 is contracted (FIG. 3D).

  Thereby, when the expansion / contraction part 21 contracts, the guide rod 13 may be drawn into the rod movable part 15 and slide, but the expansion / contraction part 21 contracts in a state where the position of the guide rod 13 is fixed. Therefore, sliding of the guide rod 13 can be prevented.

  In addition, the guide rod 13 can be returned to the rear by extending the telescopic portion 21 in a state where the grip portion 22b grips the guide rod 13.

Therefore, the rod movable part 15 can send or return the guide rod 13 in the axial direction by expanding and contracting with the expansion / contraction part 21 while the guide rod 13 is gripped by the gripping part 22.
In other words, the rod movable portion 15 can generate a force for pushing or pulling the guide rod 13 inside the pipe.

  4A to 4D are configuration diagrams showing the operation of the mobile device 10 (see FIG. 2 as appropriate). In addition, the same code | symbol is attached | subjected to the structure similar to FIG. 1, and it abbreviate | omits about the structure which overlaps the neck part 20 grade. For the sake of explanation, the case where the grip portion 15 grips the guide rod 13 is indicated by hatching.

  First, the gripping portion 22a at the front end of the rod movable portion 15 (15a to 15d) is operated to grip the guide rod 13 (13a to 13d) (FIG. 4A).

  Next, in a state where the gripping portion 22a grips the guide rod 13, the telescopic portion 21 of the rod movable portion 15 is extended (FIG. 4B). At this time, since the second frame 14 and the rod movable part 15 are fixed in contact with the inner peripheral surface of the pipe, the guide rod 13 is sent forward, and the moving device 10 can move forward by this pushing force. it can.

  Next, the grip of the front end grip portion 22a is released, the rear end grip portion 22b is operated, and the guide rod 13 is gripped (FIG. 4C). And the expansion-contraction part 21 shrink | contracts in the state in which the holding part 22b was holding the guide rod 13 (FIG.4 (D)). Thereby, the expansion / contraction part 21 can be contracted without sliding the guide rod 13.

  Therefore, even if the force sent from the pipe insertion port is not transmitted and cannot be moved first, the moving device 10 is further provided inside the pipe by generating a force for pushing the guide rod 13 by the rod movable portion 15. Can be pushed in.

FIGS. 5A and 5B show a modified example of the second frame 14 applied to the moving device 10.
The second frame 14 shown in FIG. 5A has a mechanism for tightening the guide hose 12.

  The second frame 14 is formed of a flexible thin ring-shaped material, and includes a metal hose band-like tightening mechanism that performs tightening / loosening screw driving by a hydraulic or gas pressure motor (not shown).

  With this configuration, the guide hose 12 can be tightened or loosened to be opened. Accordingly, when the guide hose 12 is fed into the pipe by the pushing force from the guide rod 13, it is possible to select whether to feed only the guide hose 12 or move the second frame 14 together.

The second frame 14 shown in FIG. 5B is provided with a locking piece 29 for locking the side surface of the guide hose 12 on the inner peripheral surface of the second frame 14.
The guide hose 12 preferably has a bellows or a spiral shape in order to facilitate locking by the locking piece 29.

  One of the locking pieces 29 is welded to the inner peripheral surface of the second frame 14 to form a claw shape to lock the side surface of the guide hose 12. A plurality of locking pieces 29 are arranged at equal intervals on the inner peripheral surface of the second frame 14.

  Thereby, it can prevent that the 2nd frame 14 slides to the insertion port side. Therefore, the direction in which the second frame 14 slides can be limited without using power such as liquid pressure or gas pressure.

(Second embodiment)
FIG. 6 shows a configuration diagram of the moving apparatus 10 according to the second embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the structure similar to 1st embodiment, and description is abbreviate | omitted about the overlapping operation | movement.

  The difference between the second embodiment and the first embodiment is that a plurality of second frames 14 (14 a to 14 c) are provided, and the rod movable portion 15 is provided in each second frame 14.

A specific operation will be described.
When the guide rod 13 cannot be pushed in and the moving device 10 stops moving inside, the rod movable portion 15 provided on the second frame 14c near the operation pipe insertion port is operated. Thereby, the pushing operation of the guide rod 13 can be performed with the second frame 14c inside the pipe as a base point.

  Thereafter, when the guide rod 13 cannot be pushed in again, the pushing operation is performed by the rod movable portion 15 of the second frame 14b located on the left side (the tip side of the moving device 10). Similarly, when it becomes impossible to push in, the pushing operation is performed in the second frame 14a.

  In this manner, the push-in operation is sequentially performed from the second frame 14 provided on the insertion port side. Thus, the moving device 10 can be further pushed and moved into the pipe by sequentially pushing the guide rods 13 with the plurality of second frames 14 provided inside the pipe as a base point.

(Third embodiment)
7A to 7F show the configuration and operation of the moving device 10 according to the third embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the structure similar to 1st embodiment, and description is abbreviate | omitted about the overlapping operation | movement. For the sake of explanation, the case where the grip portion 15 grips the guide rod 13 is indicated by hatching.

  The difference between the third embodiment and the second embodiment is that the front end of the guide rod 13 is connected to the second frame 14. That is, the front ends of the guide rods 13b and 13d (see FIG. 1) are not connected to the first frame 11 but to the second frame 14a.

A specific operation will be described.
First, the gripping portions 22a at the front ends of the rod movable portions 15a and 15c are operated to grip the guide rods 13a and 13c (FIG. 7A).

  Subsequently, when the telescopic portions 21 (FIG. 2) of the rod movable portions 15a and 15c extend, the guide rods 13a and 13c are pushed forward (FIG. 7B). Thereby, the feed force is transmitted to the first frame 11.

Then, the operation of the gripping part 22a (FIG. 2) at the front end of the rod movable parts 15a, 15c is released, and the gripping part 22b (FIG. 2) at the rear end is operated to contract the telescopic part 21 (FIG. 7C). .
7A to 7C, the rod movable portions 15b and 15d (see FIG. 1) operate the grip portions 22 (FIG. 2) at both ends to fix the guide rods 13b and 13d. .

  Next, the gripping portions 22a at the front ends of the rod movable portions 15b and 15d are operated to grip the guide rods 13b and 13d (FIG. 7D).

  Subsequently, when the telescopic portions 21 of the rod movable portions 15b and 15d extend, the guide rods 13b and 13d are pushed forward (FIG. 7E). Thereby, the feeding force is transmitted to the second frame 14a connected to the front end.

Then, the movement of the gripping portion 22a at the front end of the rod movable portions 15b and 15d is released, the gripping portion 22b at the rear end is operated, and the telescopic portion 21 is contracted (FIG. 7F).
7D to 7F, the rod movable portions 15a and 15c operate the grip portion 22b at the rear end to fix the guide rods 13a and 13c.

  As described above, the guide rods 13 (13a to 13d) are not pushed in at a time, but are pushed in alternately, and the guide rods 13 are pushed in more reliably by changing the pushing points. be able to.

  Furthermore, by repeating this procedure for a certain period of time, the guide rod 13 can be pushed further, so that the moving device 10 can be pushed into the pipe and moved.

(Fourth embodiment)
FIG. 8 shows a configuration diagram of the moving apparatus 10 according to the fourth embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the structure similar to 1st embodiment, and description is abbreviate | omitted about the overlapping operation | movement.

  The fourth embodiment differs from the third embodiment in that the number of rod movable parts 15 provided on the outer periphery of the second frame 14 is increased as the distance from the first frame 11 increases.

  As the second frame 14a close to the first frame 11 approaches the insertion opening 14b and 14c, the number of the rod movable parts 15 is increased.

In general, a pipe constituted by a nuclear reactor or the like is thicker as an inlet pipe, and the pipe branches as it approaches the inside, and the inner diameter of the pipe is made smaller according to the number of branches.
Therefore, it is necessary to reduce the number of the guide rods 13 to the minimum inside the pipe and suppress the outer shape of the moving device 10 to be inserted. On the other hand, the outer shape of the moving device 10 can be increased in the vicinity of the pipe insertion opening.

  For this reason, in the 2nd flame | frame 14c near an insertion port, an external shape can be enlarged and the rod movable part 15 provided in an outer periphery can be increased. Thereby, the force which pushes in the guide rod 13 can be enlarged in the insertion port side.

  Therefore, an effective pushing force can be generated while satisfying the dimensional constraint conditions for inserting the moving device 10.

  According to at least one in-pipe moving device 10 described above, the force fed from the insertion port is not transmitted by gripping and extending the guide rod 13 by the rod movable portion 15 provided on the outer periphery of the second frame 14. Even if it is not possible to move to the tube, it is possible to push it further into the tube.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 10 In-pipe moving apparatus 11 1st flame | frame 12 Guide hose 13 (13a, 13b, 13c, 13d) Guide rod 14 (14a, 14b, 14c) Second frame 15 (15a, 15b, 15c, 15d) Rod movable part 17 Piston mechanism 18 Wire 19 Tip frame 20 Neck swing portion 21 Extendable portion 22 (22a, 22b) Grip portion 23 Grip member 24 Case 25, 28 Air cylinder 26 Pneumatic piston 27 Extendable piston 29 Locking piece

Claims (8)

A guide hose in which an annular first frame is provided coaxially;
A front rod connected to the first frame, and a guide rod provided along a longitudinal direction of the guide hose;
An annular second frame that penetrates the guide hose;
A rod movable portion provided on the second frame, gripping the guide rod, and extending and contracting in the guide rod axial direction;
An in-pipe movement apparatus characterized by comprising: The in-pipe moving device according to claim 1,
An in-pipe movement apparatus characterized by further comprising a neck swing portion that bends the distal end portion of the guide hose penetrating the first frame. In the in-pipe movement apparatus of Claim 1 or Claim 2,
The rod movable part is
Extending the guide rod and extending and contracting by driving the piston;
An in-pipe movement apparatus comprising: a pair of gripping portions that are connected to a front end and a rear end of the extendable portion and grip the guide rod. In the in-pipe movement apparatus as described in any one of Claims 1-3,
The second frame has a mechanism for tightening the guide hose. In the in-pipe movement apparatus as described in any one of Claims 1-4,
An in-pipe moving apparatus characterized in that a locking piece for locking the side surface of the guide hose is provided on the inner peripheral surface of the second frame. In the in-pipe movement apparatus as described in any one of Claims 1-5,
An in-pipe moving device comprising a plurality of the second frames, wherein each second frame is provided with the rod movable portion. In the in-pipe movement apparatus as described in any one of Claims 1-6,
An in-pipe movement apparatus characterized in that some front ends of the plurality of guide rods are connected to the second frame. In the in-pipe movement apparatus of Claim 6 or Claim 7,
As the distance from the first frame increases, the number of rod movable parts provided in the second frame increases.

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