JP2651382B2 - Structure inspection equipment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a structure inspection apparatus, and particularly to a structure such as various pipes and a reactor pressure vessel during a periodic inspection of a nuclear reactor at a nuclear power plant. The present invention relates to an automatic inspection device used for inspection.

[Related Art] Conventionally, for example, an ultrasonic flaw detector is generally used as a kind of the automatic inspection device as described above.

With reference to FIG. 5, an ultrasonic flaw detector 1 used for inspection of a welded portion of the reactor pressure vessel 2 will be described. The ultrasonic flaw detector 1 has a tip of a revolving leg 6 extending radially from a main body. Has a ring-shaped swivel rail 4 provided on the
Support leg 5 and guide stud 11 extending from the turning rail 4
The cover (not shown) is installed on the upper flange 3 of the reactor pressure vessel 2 from which the lid has been removed. A column 7 is suspended from the main body of the ultrasonic flaw detector 1, and a manipulator 10 having a probe assembly 9 is driven by a driving device 8
Thereby, it can be moved along the column 7. In such an ultrasonic flaw detector 1, the positioning of the manipulator 10 is performed by the rotational movement of the swivel rail 4 and the vertical movement of the drive unit 8, thereby enabling ultrasonic flaw detection of each weld in the reactor pressure vessel 2. I have.

FIG. 6 shows two types of ultrasonic inspection systems used for inspection of various pipes 12. In the semi-automatic flaw detection system, a flaw detector 18 is attached to the pipe 12 via a rail 16, and an operator turns the handle 17 attached to the flaw detector 18 to scan the pipe 12 in a circumferential direction, and relays the signal to a relay device.
It is sent to an ultrasonic flaw detector 20 via 19 to realize flaw detection.
Further, in the fully automatic flaw detection system, a ring-shaped guide track device 13 is mounted in place of the handle 17, and a manipulator 14 attached thereto is remotely controlled by a positioning device 15 to scan the pipe 12 in a circumferential direction. And relay the signal
It is sent to an ultrasonic flaw detector 20 via 19 to realize flaw detection.

[Problems to be Solved by the Invention] However, when the ultrasonic flaw detector shown in FIG. 5 is used, it is necessary to mount and assemble the large and heavy swing rail 4 and the supporting column 7, so that the labor of the worker only increases. However, when used for flaw detection of a reactor pressure vessel, a lot of time is spent on installation and assembly,
This has a significant effect on reducing the exposure of workers.

In addition, in the ultrasonic flaw detection system shown in FIG. 6, the flaw detector 18 or the manipulator 14 can be rotated only along a guide device such as the rail 16 or the guide track device 13 in either a semi-automatic system or a fully automatic system. Since it cannot move, in order to detect flaws along the length of the pipe 12, the operator must stick to the site and repeat assembly and installation, changing the position of the guide devices 13 and 16 itself, which It does not result in a reduction in exposure of members. In addition, since the guide device itself must be replaced with another one according to the diameter of the pipe to be inspected, it is necessary to prepare guide devices of various sizes in advance.

Accordingly, it is an object of the present invention to provide an apparatus for inspecting a structure which is small and lightweight, and requires relatively little labor and time for assembly and installation.

[Means for Solving the Problems] In order to achieve this object, a structure inspection apparatus configured according to the present invention includes a self-propelled movable vehicle movable along a wall surface of the structure, and a self-propelled moving vehicle. It is provided on a mobile trolley,
Suction means for selectively fixing the self-propelled movable cart to a wall;
Articulated manipulator mounted on a self-propelled mobile trolley, an inspection tool attached to the tip of the articulated manipulator, and a non-contact position locating means for measuring the position of the self-propelled mobile trolley on a wall And a position control device in communication with the position locating means and the self-propelled mobile trolley, wherein the position locating means is provided on the self-propelled mobile trolley and has a spherical light source and a corner cube prism. It has a sensor head, a position detection / drive mechanism for controlling the orientation of the sensor head, and a position measurement device connected to the position detection / drive mechanism and the sensor head, and the position control device is provided in the position measurement device and the map information storage device. It is characterized by contact.

[Operation] In the embodiment, this inspection apparatus is applied to a reactor pressure vessel (structure). The movable trolley has a self-propelling function and an adsorption function, and can travel on a vertical wall surface of the reactor pressure vessel by itself. The position of the movable trolley is measured by a non-contact type position locating means, and stops when the movable trolley reaches a predetermined position. An inspection tool is attached to the manipulator mounted on the movable trolley, and while the movable trolley is stopped at a predetermined position, flaw detection of a welded portion on a wall surface is performed by the inspection tool.

Next, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals indicate the same or corresponding parts.

Figure 1 shows the reactor pressure vessel (structure) of a nuclear power plant
2 shows an outline of an embodiment of the automatic inspection device of the present invention applied to flaw detection of a welded portion in FIG. This automatic inspection device uses the self-propelled movable carriage 21 to move the inner wall surface 2a of the reactor pressure vessel 2.
To scan for flaws. Cavity pits before testing
A lid (not shown) has already been removed from the reactor pressure vessel 2 which is located below the bottom wall of the reactor 24 and is surrounded by a concrete wall 25, and the reactor pressure vessel 2 and the cavity pit 24 have been removed. Is flooded with water to block out radiation. The upper flange 3 of the reactor pressure vessel 2 is sealed to the bottom wall of the cavity pit 24. The above-mentioned reactor pressure vessel 2, the cavity pit 24, etc.
Covered by a concrete container called, which completely shields the radiation.

Now, a cable 30 including a line for transmitting a signal such as a flaw detection signal and a control signal and a power line is connected to the self-propelled mobile trolley 21, and the cable 30 is also used to suspend the mobile trolley 21. Also serves as. Above the cavity pit 24, a cable adjusting and guiding device 31 that guides the cable 30 while adjusting the length of the cable 30 submerged in water according to the position of the mobile trolley 21 is installed.
Reference numeral 30 denotes a moving carriage 21 via the cable adjusting / guide device 31.
It communicates with an ultrasonic flaw detector 32 for processing the flaw detection data transmitted therefrom and a position controller 33 for controlling the position of the mobile trolley 21. The ultrasonic flaw detector 32 and the position controller 33 are installed outside the containment vessel 22 for shielding radiation.

In addition, one of a plurality of bolt holes 3a drilled in the upper flange 3 for detachably fixing a lid (not shown) to the upper flange 3 of the reactor pressure vessel 2 with bolts includes:
A guide stud 11 is screwed vertically, and in this embodiment, a sensor head (positioning) which is provided with a visual sensor and a distance sensor, which will be described later, for positioning the movable carriage 21 at a substantially intermediate portion of the guide stud 11. Means) 28, and a position detecting / driving mechanism (position locating means) 29 for positioning the sensor head 28 in the direction of the movable carriage 21. The cable 27 is connected at one end to the sensor head 28 described above.
The other end is connected to the position control device 33 and the position measuring device (position locating means) 34 outside the containment vessel 22 at the other end. The position control device 33 performs not only the position control of the movable carriage 21 as described above, but also the position control of the position detection / drive mechanism 29, and the position measurement device 34 is electrically connected to the position control device 33. And has a function of calculating the absolute position of the movable carriage 21 from the distance data transmitted from the sensor head 28 via the position control device 33 and the position data of the position detection / drive mechanism 29.

Next, the details of the self-propelled movable vehicle 21 will be described with reference to FIG. 2. The movable vehicle 21 has a relatively thin rectangular main body portion 35, and a circular opening at the center thereof has A rotating blade (adsorbing means) 36 is mounted so as to be rotated by a driving device (not shown) supplied with power from the power line of the cable 30 described above. This rotating blade
By rotating the cylinder 36 in a predetermined direction, an air flow is generated from the lower surface of the main body 35 to the upper surface (from the bottom to the top in the drawing of FIG. 2), and the wall surface 2a of the reactor pressure vessel 2 and the lower surface of the main body 35 are formed. And a negative pressure is generated between the moving vehicle 21 and the moving carriage 21 adsorbs on the wall surface 2a of the reactor pressure vessel 2. Also, on the lower surface of the main body 35,
An appropriate number (in the embodiment, a total of four wheels at each corner) of wheels 37 are rotatably provided so as to be swingable in all directions by a driving device (not shown) having a known steering mechanism (not shown). Therefore, the mobile trolley 21 can travel freely on the wall surface 2a of the reactor pressure vessel 2.

In the embodiment, an articulated manipulator 39 having six degrees of freedom extends from the main body 35, and a probe assembly (inspection tool) 40 is attached to a tip end thereof. The probe assembly 40 detects a flaw on the wall surface 2a of the reactor pressure vessel 2. Further, in the embodiment, a target (position locating means) 38 for position locating is mounted from the side of the main body 35. By combining this target 38 composed of a spherical light source and a corner cube prism, a position locating sensor head 28, and a position detecting / driving mechanism 29, as will be described later, The absolute position can be located.

That is, in FIG. 3, the sensor head 28 is a movable carriage main body 3 viewed by the visual sensor 28a of the sensor head 28.
The fifth target 38 is coupled to an image processing device 41 (not shown in FIG. 1) for measuring the position of the center of gravity of the spherical light source 38a. A reference position is set in advance in the image processing device 41, and the image processing device 41 uses the deviation between the measured center of gravity position and this reference position as a tracking signal as a position control device 33.
To enter. Based on the tracking signal, the position control device 33 sends a position command signal representing a target position to a position detection / drive mechanism 29 including a positioning mechanism 29a for an angle θ in the rotation direction and a positioning mechanism 29b for an angle ψ in the swinging direction. Then, the position detection and drive mechanism 29 is controlled so as to be directed to the movable carriage main body 35. Also, the position detection and drive mechanism at this time
The angles θ and の of the rotation direction and the swinging direction of 29 are also input to the position measuring device 34.

On the other hand, the distance between the position detection / drive mechanism 29 and the mobile bogie main body 35 is measured by the distance sensor 28b. In the embodiment, the distance sensor 28b uses a laser as a non-contact medium for distance measurement. However, sound waves, light, etc. can also be used. The laser signal transmitted from the laser modulation signal generator 43 is incident via a distance sensor 28b on a laser reflecting corner cube prism 38b, which is another target mounted on the movable bogie main body 35, and Reflected by 38b. The transmitted signal and the above-described reflected signal are input to the phase difference meter 42, where the phase difference between the two signals is measured, and the distance Dis from the distance sensor 28b to the target 38 is calculated.
This distance data is similarly input to the position measuring device.

Then, in the position measuring device 34, the position detecting / driving mechanism 29
Assuming that the horizontal distance from the rotation axis of the vehicle to the wall surface 2a of the reactor pressure vessel 2 is R, the absolute position of the movable bogie main body 35 is determined by the following calculation.

Circumferential direction: Use the angle θ as is Depth direction: Depth Since the absolute position of the mobile bogie main body 35 is located by the above calculation and the ultrasonic inspection is performed based on the absolute position, the automatic inspection apparatus of the present invention can understand the signal flow from FIG. 4 showing a block diagram. In this way, the flaw detection order of the wall of the mobile trolley 21,
It includes a storage device 44 in which so-called map information such as a stop position on the wall surface of the movable trolley 21 and an operation procedure of the manipulator 39 is calculated and stored in advance, and the ultrasonic flaw detection is performed according to the following procedure.

The sensor head 28, the position detecting / driving mechanism 29, and the position measuring device 34 determine the absolute position of the movable carriage main body 35 as described above.

The next flaw detection position is pulled out from the map information storage device 44 and sent to the position control device 33, where the target position command is calculated from the deviation from the current position of the mobile bogie main body 35, and the target position command is calculated. This is given to a drive device (not shown) for the wheels 37 mounted on the unit 35 and the position detection / drive mechanism 29.

When the movable carriage main body 35 stops, the position is measured again, and if the position is out of the target position, the position is corrected.

Next, the operation information of the manipulator 39 is extracted from the map information storage device 44 and sent to the position control device 33. Based on the operation information, a driving device (not shown) built in the manipulator 39 is operated to operate the manipulator 39. The position of the probe assembly 40 provided at the tip of the is controlled. When the probe assembly 40 comes to the position to be inspected, the ultrasonic inspection device 32 receives the inspection position signal from the position control device 33,
A flaw detection command is issued to the probe assembly 40, whereby flaw detection data is collected in real time. Since the current flaw detection position is input from the position control device 33 to the ultrasonic flaw detection device 32,
When a defect is found, its position can be determined and specified.

 Repeat the above steps.

Although the embodiment using the inspection apparatus of the present invention for ultrasonic inspection of the inner wall of the reactor pressure vessel has been described, as will be apparent to those skilled in the art, the inspection apparatus of the present invention can be used for various types of nuclear power plants and the like. It is also applicable to flaw detection of various pipes and other structures in a plant. In addition, ECT (Eddy Current Testing) tool and I
If a TV camera (industrial television camera) or the like is attached, the present invention can be applied to an inspection device that requires positioning in a wide range, such as an ECT device and an inspection device.

[Effects of the Invention] As described above, according to the present invention, the inspection device includes the self-propelled movable vehicle that can be adsorbed and movable on the wall surface of the structure. In addition to being equipped, the position of the mobile trolley is configured to be measured by a non-contact type position locating means, so that the device becomes compact and weighs less than the conventional device shown in FIG. Since it is 1/40 or less, its assembly, installation and adjustment are easy. Therefore, not only can the number of workers be reduced, but also in the case of a reactor pressure vessel, the number of days required for flaw detection can be reduced to 1/4 to 1/5, reducing the exposure of workers, reducing the number of inspection days, and This can greatly contribute to cost reduction.

[Brief description of the drawings]

FIG. 1 is a schematic view showing an embodiment of the inspection apparatus of the present invention applied to flaw detection of a welded portion in a reactor pressure vessel of a nuclear power plant, and FIG. 2 is used in the inspection apparatus of FIG. FIG. 3 is a schematic view for explaining the position determination of the mobile trolley in the inspection device of FIG. 1, and FIG. 4 is a schematic diagram of a signal of the mobile device in the inspection device of FIG. FIG. 5 is a block diagram showing a conventional ultrasonic flaw detector applied to a reactor pressure vessel, and FIG. 6 is a conventional semi-automatic and fully automatic flaw detector applied to piping. FIG. 1 is a perspective view showing a type ultrasonic flaw detection system. 2 ………………………………………………………………………………………………………………………………………………………………………………………………………………………………………………………………. 34… Position locating means (position measuring device) 36 …… Suction means (rotating blade) 38 …… Position locating means (target) 39 …… Articulated manipulator 40 …… Inspection tool (probe assembly)

──────────────────────────────────────────────────続 き Continuation of the front page (51) Int.Cl. ⁶ Identification code Agency reference number FI Technical display location G21C 17/003 GDP G21C 17/00 GDPF (72) Inventor Tomio Aoyama Wadazaki, Hyogo-ku, Kobe City, Hyogo Prefecture 1-1 1-1 Machi Kobe Shipyard, Mitsubishi Heavy Industries, Ltd. (72) Inventor Kyoichi Yoshioka 1-1-1, Wadasaki-cho, Hyogo-ku, Kobe-shi, Hyogo Prefecture Inside Kobe Shipyard, Mitsubishi Heavy Industries, Ltd. (72) Inventor Daido Takeo 2-1-1, Araimachi, Arai-machi, Takasago City, Hyogo Prefecture Inside the Takasago Research Laboratory, Mitsubishi Heavy Industries, Ltd. Person Hiroyuki Shuto 2-1-1 Shinhama, Arai-cho, Takasago-shi, Hyogo Prefecture Inside the Takasago Research Laboratory, Mitsubishi Heavy Industries, Ltd. (72) Inventor Mura Shinichi Kawa 2-1-1, Araimachi, Arai-machi, Takasago City, Hyogo Prefecture Inside the Takasago Research Laboratory, Mitsubishi Heavy Industries, Ltd. (56) References JP-A-60-214253 (JP, A) JP-A-63-44122 (JP, A) JP-A-63-83604 (JP, A) JP-A-55-144540 (JP, A) JP-A-58-187801 (JP, A)

Claims (1)

(57) [Claims] 1. A self-propelled movable vehicle movable along a wall surface of a structure, and suction means provided on the self-propelled movable vehicle for selectively fixing the self-propelled movable vehicle to the wall surface. A multi-joint type manipulator mounted on the self-propelled moving vehicle, an inspection tool attached to a tip of the multi-joint type manipulator, and a non-contact type measuring a position of the self-propelled moving vehicle on the wall surface. Position locating means, and a position control device connected to the position locating means and the self-propelled mobile trolley. The position locating means includes a sphere light source and a corner cube prism provided on the self-propelled mobile trolley. A target, a sensor head provided in a fixed positional relationship with respect to the structure, and pointing to the target, a position detection / drive mechanism for controlling the orientation of the sensor head, and a position detection / drive mechanism and the sensor head. It has a position measuring device fault, the position control device inspection apparatus of the structure, characterized in that in communication with the position measuring device and the map information storage device.