JP2946859B2 - Work truck equipment - Google Patents

Work truck equipment

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Publication number
JP2946859B2
JP2946859B2 JP3210177A JP21017791A JP2946859B2 JP 2946859 B2 JP2946859 B2 JP 2946859B2 JP 3210177 A JP3210177 A JP 3210177A JP 21017791 A JP21017791 A JP 21017791A JP 2946859 B2 JP2946859 B2 JP 2946859B2
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Japan
Prior art keywords
magnet wheel
axis
cylindrical portion
connection nozzle
diameter cylindrical
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Expired - Lifetime
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JP3210177A
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Japanese (ja)
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JPH0540111A (en
Inventor
雄一 三浦
孝明 佐々木
哲也 長尾
Original Assignee
石川島播磨重工業株式会社
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Priority to JP3210177A priority Critical patent/JP2946859B2/en
Publication of JPH0540111A publication Critical patent/JPH0540111A/en
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Publication of JP2946859B2 publication Critical patent/JP2946859B2/en
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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00Indexing codes associated with group G01N29/00
    • G01N2291/04Wave modes and trajectories
    • G01N2291/044Internal reflections (echoes), e.g. on walls or defects
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00Indexing codes associated with group G01N29/00
    • G01N2291/26Scanned objects
    • G01N2291/269Various geometry objects
    • G01N2291/2695Bottles, containers

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【産業上の利用分野】本発明は、 超音波探傷等の各種検 BACKGROUND OF THE INVENTION This invention, various test such as an ultrasonic flaw detection
査や溶接等に使用される作業台車装置に関するものである。 It relates work carriage apparatus for use in査or welding.

【0002】 [0002]

【従来の技術】原子炉圧力容器の外周に多数接続される配管の接続部は、放射性物質の漏洩を未然に防止するため、定期的に探傷検査する必要がある。 Connecting portion of the pipe to be many connected to the outer periphery of the Related Art reactor pressure vessel, for prevention of leakage of radioactive material, it is necessary to periodically flaw inspection.

【0003】図4は上記接続部の一例を示すもので、構造物である原子炉圧力容器1には、曲面部2aと大径円筒部2bと円錐面部2cと小径円筒部2dとを有する漏斗状外形の接続ノズル2を介して配管3が接続されており、該接続ノズル2と原子炉圧力容器1又は配管3との溶接部4a,4b付近は所定の範囲に亘って探傷検査を行うことが義務付けられている。 [0003] Figure 4 shows an example of the connecting section, the reactor pressure vessel 1 is a structure, a funnel having a curved surface portion 2a and the large-diameter cylindrical portion 2b and the conical surface portion 2c and the small-diameter cylindrical portion 2d through the connection nozzle 2 of Jogaikei it is connected to a line 3, to perform the flaw detection weld 4a of the connection nozzle 2 and the reactor pressure vessel 1 or the pipe 3, the vicinity 4b over a predetermined range It is compulsory.

【0004】このため、配管3の外周に沿って走行しながら、自動的に超音波探傷検査するための超音波探触子 [0004] Therefore, while traveling along the outer circumference of the pipe 3, automatically ultrasonic probe for inspecting ultrasonic testing
を備えた作業ユニットが搭載された作業台車装置が提案されている。 Has been proposed work carriage device unit of work is mounted with a.

【0005】図5は上記装置の一例を示しており、特に接続ノズル2に末広がりに形成された曲面部2a付近を超音波探傷検査するものである。 [0005] Figure 5 is the shows an example of an apparatus, in particular those for ultrasonic testing around the curved portion 2a formed in the diverging connection nozzle 2.

【0006】図示するように、接続ノズル2の小径円筒部2d軸心方向所要位置の外周にリングガイド5を取付け、該リングガイド5に走行輪6を有する走行車7を円周方向に移動可能に取付け、該走行車7にフレーム8を介して前記接続ノズル2軸心と平行で且つ原子炉圧力容器1側に向って延びるボールねじ9を回転自在に設け、 [0006] As shown, the mounting of the ring guide 5 on the outer periphery of the small-diameter cylindrical portion 2d axially predetermined position of the connection nozzle 2, movable vehicle 7 having a running wheel 6 to the ring guide 5 in the circumferential direction the mounting, rotatably provided a ball screw 9 extending towards and reactor pressure vessel 1 side parallel to the connection nozzle 2 axis through the frame 8 to the vehicle 7,
該ボールねじ9にモータ10を接続してボールねじ9を回転駆動可能とする。 To allow rotating the ball screw 9 which connects the motor 10 to the ball screw 9.

【0007】超音波探触子11を傾動部材12を介して支持する支持アーム13の基端を固着した移動ベース1 [0007] moving base 1 which is fixed a base end of the support arm 13 to the ultrasonic probe 11 is supported via a tilting member 12
4を前記ボールねじ9に螺合し、更に該移動ベース14 4 screwed to the ball screw 9, further the mobile base 14
に、前記ボールねじ9両側に平行設置された2本のガイドロッド15を摺動自在に貫通せしめる。 To slidably allowed to pass through the two guide rods 15 placed parallel to the sides the ball screw 9. 前記超音波探触子11は前記傾動部材12先端に回動自在に取付けてあり、該傾動部材12は前記移動ベース14に取付けられたシリンダ16によって上下方向に傾動され得るようになっている。 The ultrasonic probe 11 is attached rotatably to the tilting member 12 tip, the tilting member 12 is adapted to be tilted in the vertical direction by a cylinder 16 attached to the movable base 14.

【0008】尚、図中、17はガイドローラ、18は枝管、19は生体遮蔽壁、20はリングガイド5のサポートを示す。 [0008] In the figure, 17 is the guide roller, 18 branch pipe, 19 biological shield wall, 20 denotes a support ring guide 5.

【0009】上記した超音波探触子11を備えた作業ユ [0009] The work Yu with an ultrasonic probe 11 described above
ニットが搭載された作業台車装置では、走行車7により、接続ノズル2の曲面部2aに接触させた超音波探触子11を旋回させて探傷を行わせた後、モータ10によりボールねじ9を回転して移動ベース14を配管3軸心方向に移動させ、支持アーム13、傾動部材12、シリンダ16ごと超音波探触子11の位置を原子炉圧力容器1側に僅かにずらすと共に、前記シリンダ16を収縮して接続ノズル2の軸心から離反する方向に僅かに傾動せしめて前記超音波探触子11を曲面部2aの傾斜に沿わせ、前述と同様に旋回させて探傷を行い、斯かる操作を繰り返し行うことにより曲面部2aの全範囲をもらさず超音波探傷検査する。 Knit in the onboard work carriage device, the vehicle 7, after performing the flaw detection by swiveling the ultrasonic probe 11 in contact with the curved portion 2a of the connection nozzle 2, the ball screw 9 by the motor 10 rotated by moving the moving base 14 to the pipe 3 axially, the support arm 13, the tilting member 12, slightly with shifting a position of the reactor pressure vessel 1 side of the cylinder 16 by the ultrasonic probe 11, the cylinder 16 contract and said allowed slightly tilted in the direction of axial center away connection nozzle 2 placed along the ultrasonic probe 11 to the inclination of the curved portion 2a, it performs flaw detection by swiveling the same manner as described above, 斯ultrasonic flaw detection testing without leaking the entire range of the curved portion 2a by repeating the hunt operation.

【0010】 [0010]

【発明が解決しようとする課題】しかしながら、前述の如き超音波探触子11を備えた作業ユニットが搭載され [SUMMARY OF THE INVENTION However, it is equipped with a working unit provided with an ultrasonic probe 11, such as described above
た作業台車装置では、定期的に探傷検査を行うたびに、 In the work truck equipment, each time you perform on a regular basis flaw inspection,
リングガイド5を接続ノズル2の小径円筒部2d外周所要位置に取付けると共にリングガイド5に走行車7を搭載し、又、探傷検査終了後はリングガイド5から走行車7を取外すと共に更にリングガイド5をも取外さなければならず、生体遮蔽壁19内における作業員の作業時間が長くなり、安全面で好ましくない一方、リングガイド5の取付位置を探傷検査のたびに正確に再現することは困難であり、探傷箇所の経年変化等を前回のデータと比較して精度良く検出することは不可能であった。 Equipped with the running wheel 7 to the ring guide 5 with attaching the ring guide 5 to the small-diameter cylindrical portion 2d periphery predetermined position of the connection nozzle 2, also further ring guide 5 with post-flaw inspection completion remove the vehicle 7 from the ring guide 5 must be removed also, work time of the worker in vivo shielding wall 19 is prolonged, while not preferable in terms of safety, is difficult to accurately reproduce the mounting position of the ring guide 5 for each flaw detection test , and the it was not possible to accurately detect by comparing the aged deterioration of flaw detection position and the previous data.

【0011】又、前記接続ノズル2の種類は一種類だけではなく、小径円筒部2dの外径が異なるものも存在し、接続ノズル2の種類に応じてリングガイド5を複数用意する必要があった。 [0011] Also, the type of the connection nozzle 2 not only one type, outer diameter also present different small diameter cylindrical portion 2d, it is necessary to prepare a plurality of ring guide 5 according to the type of connection nozzle 2 It was.

【0012】本発明は、斯かる実情に鑑み、リングガイドのような軌道を不要とし、各種接続ノズルにも対応して着脱の容易化による作業時間の短縮化を図り、且つ [0012] In view of the such circumstances, the required orbit like ring guide, also aims to shorten the work time by facilitating detachable in response to the various connection nozzle and probe
傷検査等の作業に用いた場合、検査を再現性良く実施し得、検査精度の向上を図り得る作業台車装置を提供しようとするものである。 When used in the work of wound inspection, resulting performed reproducibly testing, are intended to provide a work carriage device for obtaining aims to improve the inspection accuracy.

【0013】 [0013]

【課題を解決するための手段】本発明は、 作業ユニット Means for Solving the Problems The present invention, the unit of work
を搭載するベースプレートの両端部に、構造物と配管との間に介装された接続ノズルの軸線と平行な軸線を中心として回動自在に主フレームを取付け、該主フレームに、駆動装置により回転駆動される主マグネットホイールを前記接続ノズルの大径円筒部に沿って円周方向に転動自在となるよう支承せしめると共に、前記主フレームに、前記接続ノズルの軸線と直角で且つ前記主マグネットホイールの接線方向に延びる軸線を中心として回動自在に補助フレームを取付け、該補助フレームに、補助マグネットホイールを前記接続ノズルの大径円筒部と小径円筒部との間に形成された円錐面部に沿って円周方向に転動自在となるよう支承せしめて走行台車を構成したこ<br>とを特徴とするものである。 At both ends of the base plate for mounting the attaching a rotatably main frame about an axis parallel to the axis of the interposed connection nozzle between the piping structure rotating, the main frame, by a drive device the main magnet wheel driven together allowed to support so as to be rollable in the circumferential direction along the large-diameter cylindrical portion of the connecting nozzle, to the main frame, and the main magnet wheel axis at right angles with the connection nozzle mounting a rotatably auxiliary frame about an axis extending tangentially, to the auxiliary frame, along an auxiliary magnet wheel conical surface portion formed between the large diameter cylindrical portion and the small-diameter cylindrical portion of the connecting nozzle Te is characterized in the this <br> configured to support allowed by the traveling carriage so as to be rollable in the circumferential direction.

【0014】 [0014]

【作用】従って、 例えば、作業ユニットとして超音波探 [Action] Thus, for example, ultrasonic as a working unit
触子を備えた探傷ユニットを用い、探傷検査を行う際には、先ず、探傷ユニットを搭載した走行台車の主マグネットホイールを接続ノズルの大径円筒部外周面に吸着させると共に、補助マグネットホイールを円錐面部外周面に吸着させ、続いて、超音波探触子を構造物又は接続ノズルの所要位置に押付け、この状態で、駆動装置により主マグネットホイールを回転駆動すると、該主マグネットホイールが大径円筒部外周面上を転動しつつ、補助マグネットホイールが円錐面部外周面上を転動し、走行台車が接続ノズルの外周面上を周回し、前記超音波探触子によって探傷が行われる。 Using a flaw detection unit provided with a probe, when performing flaw detection, first, with the adsorption of the main magnet wheel of the traveling carriage equipped with inspection unit to the large-diameter cylindrical portion outer peripheral surface of the connecting nozzle, the auxiliary magnet wheel adsorbed on the conical surface the outer peripheral surface, followed by pressing the ultrasonic probe to the desired location of the structure or connecting nozzle, in this state, when the rotary driving the main magnet wheel by the drive unit, the main magnet wheel diameter while rolling on the cylindrical outer peripheral surface, the auxiliary magnet wheel rolls on the conical surface the outer peripheral surface, the traveling vehicle is circling over the outer peripheral surface of the connection nozzle, the flaw detection by the ultrasonic probe is carried out.

【0015】前記主マグネットホイールを支承する主フレームは、ベースプレートに対し接続ノズルの軸線と平行な軸線を中心に回動自在に取付けてあるため、接続ノズルの大径円筒部の外径が接続ノズルの種類によって異なっていても主マグネットホイールは前記大径円筒部外周面に確実に吸着し得、又、前記補助マグネットホイールを支承する補助フレームは、主フレームに対し主マグネットホイールの接線方向に延びる軸線を中心に回動自在に取付けてあるため、接続ノズルの円錐面部のテーパ角が接続ノズルの種類によって異なっていても補助マグネットホイールは前記円錐面部に確実に吸着し得、しかも、前記主マグネットホイールと補助マグネットホイールが夫々大径円筒部と円錐面部に吸着し得る位置は、互いに規制されるた [0015] The main frame for supporting the main magnet wheel, in order to base plate is mounted pivotably about an axis parallel to the axis of the connection nozzle, the outer diameter of the large diameter cylindrical portion of the connecting nozzle connected nozzles is obtained reliably adsorbed to the large-diameter cylindrical portion outer peripheral surface, and an auxiliary frame for supporting the auxiliary magnet wheel extends tangentially of the main magnet wheel relative to the main frame main magnet wheel be different depending of the type for about an axis is mounted rotatably, even if the taper angle of the conical surface of the connection nozzle are different depending on the type of connection nozzles auxiliary magnet wheel obtained reliably adsorbed to the conical surface, moreover, the main magnet position the wheel and the auxiliary magnet wheel can adsorb to the conical surface respectively the large diameter cylindrical portion has is restricted to one another 、特別な調整等をせずに常に走行台車を同じ位置に設置し所定のコースを周回させることが可能となる。 , Established the always traveling vehicles without any special adjustment to the same position it is possible to circulate the predetermined course.

【0016】 [0016]

【実施例】以下、本発明の実施例を図面を参照しつつ説明する。 EXAMPLES Hereinafter, with reference to the drawings an embodiment of the present invention.

【0017】図1、2、3は本発明の一実施例であって、図中、図5と同一の符号を付した部分は同一物を表わしており、構造物である原子炉圧力容器1と配管3との間に介装された接続ノズル2の大径円筒部2bの接線方向に延びるよう配設したベースプレート21の長手方向両端部に、前記接続ノズル2の軸線Oと平行な軸線O [0017] Figure 1, 2 and 3 is one embodiment of the present invention, figure, portions denoted by the same reference numerals as in FIG. 5 represents the same object, the structure in which the reactor pressure vessel 1 longitudinal direction both end portions, the axis O and parallel to the axis O of the connection nozzle 2 of the base plate 21 which is arranged so as to extend in the tangential direction of the large diameter cylindrical portion 2b of the interposed connection nozzle 2 between the pipe 3 and
1を中心として回動自在に主フレーム22を取付け、該主フレーム22に、主マグネットホイール23,24を前記接続ノズル2の大径円筒部2bに沿って円周方向に転動自在となるよう支承せしめると共に、前記主フレーム22に、前記接続ノズル2の軸線Oと直角で且つ前記主マグネットホイール23,24の接線方向に延びる軸線O 2を中心として回動自在に補助フレーム25を取付け、該補助フレーム25に、補助マグネットホイール2 Pivotally attached to the main frame 22 about a 1, a main frame 22, so as to be rollable in the circumferential direction along the main magnet wheel 23, 24 to the large diameter cylindrical portion 2b of the connection nozzle 2 together allowed to support, to the main frame 22, mounting a rotatably auxiliary frame 25 about an axis O 2 extending tangentially of the connection nozzle 2 of the axis O perpendicular and in the main magnet wheel 23, the the auxiliary frame 25, auxiliary magnet wheel 2
6を前記接続ノズル2の大径円筒部2bと小径円筒部2 Large-diameter cylindrical portion 2b of the connecting nozzle 2 6 and small-diameter cylindrical portion 2
dとの間に形成された円錐面部2cに沿って円周方向に転動自在となるよう支承せしめ、走行台車27を構成する。 Allowed bearing so as to be rollable in the circumferential direction along the conical surface portion 2c formed between the d, constituting the traveling vehicle 27.

【0018】前記主マグネットホイール23は、モータ等の駆動装置28によって直接回転駆動され、又、主マグネットホイール24は、スプロケット29,30とテンショナスプロケット31に掛け回したチェーン32を介して前記駆動装置28により回転駆動されるようにしてある。 [0018] The main magnet wheel 23 is rotated directly driven by a driving device 28 such as a motor, also the main magnet wheel 24, the drive unit via a chain 32 wound around the sprocket 29, 30 and tensioner sprocket 31 It is to be driven to rotate by 28.

【0019】図中、33は前記主マグネットホイール2 [0019] In the figure, 33 is the main magnet wheel 2
3,24の回転角を検出するためのエンコーダである。 An encoder for detecting the rotation angle of 3,24.

【0020】更に、前記ベースプレート21上には、 [0020] In addition, on the base plate 21, work
業ユニットとして超音波探触子35を備えた探傷ユニット34を搭載してあり、該探傷ユニット34について以下に詳述する。 As a business unit Yes equipped with a flaw detection unit 34 having the ultrasonic probe 35, described in detail below該探wound unit 34.

【0021】ベースプレート21の長手方向中央部上面に、ベースブロック36を固着し、該ベースブロック3 The central portion in the longitudinal direction the upper surface of the base plate 21, fixing a base block 36, the base block 3
6に、接続ノズル2の軸線Oと平行に延びるボールねじ37を螺合せしめると共に、該ボールねじ37と平行に延びる2本のガイドロッド38を摺動自在に貫通せしめ、該ガイドロッド38の基端部に、前記ボールねじ3 6, a ball screw 37 extending parallel to the axis O of the connection nozzle 2 with occupied combined screw slidably brought through the ball screw 37 two guide rods 38 extending in parallel with the group of the guide rods 38 the end portion, the ball screw 3
7を回転自在に支持する基端連結部材39を取付け、 7 attached to proximal connecting member 39 for rotatably supporting a,
又、前記ガイドロッド38の先端部に、前記ボールねじ37を回転自在に支持する先端連結部材40を取付け、 Further, the distal end of the guide rod 38, attached to the distal end connecting member 40 for rotatably supporting the ball screw 37,
前記基端連結部材39に固着したブラケット41に、前記ボールねじ37の基端に嵌着したギア42と噛合するギア43を回転駆動するモータ44を設置する。 A bracket 41 which is fixed to the basal end connecting member 39, installing a motor 44 for rotating the gear 43 to the gear 42 meshes with and fitted to the proximal end of the ball screw 37.

【0022】前記先端連結部材40から突設したブラケット45に、リンク46をシリンダ47の伸縮動作により前記接続ノズル2の軸線O方向に傾動自在に枢着し、 The pivoted said to the bracket 45 which projects from the distal end connecting member 40, tiltably link 46 in the direction of the axis O of the connection nozzle 2 by the expansion and contraction operation of the cylinder 47,
該リンク46先端に、枠部材48を枢着し、該枠部材4 To the link 46 the tip, pivotally mounted to the frame member 48, the frame member 4
8に、前記接続ノズル2の半径方向に延びるボールねじ49を回転自在に支持せしめると共に、該ボールねじ4 8, the allowed to rotatably supports the ball screw 49 extending in the radial direction of the connecting nozzle 2, the ball screw 4
9両側に、上下端部が枠部材48に固定され且つ前記ボールねじ49と平行に延びるガイドロッド51を配設し、移動ベース50を前記ボールねじ49に螺合し且つ前記ガイドロッド51に摺動自在に外嵌せしめ、更に、 9 on both sides, upper and lower ends disposed a guide rod 51 extending parallel to the and is fixed to the frame member 48 a ball screw 49, and screwing the moving base 50 to the ball screw 49 and sliding on the guide rods 51 moving freely fitted allowed, further,
前記枠部材48上部に固着したブラケット52に、前記ボールねじ49の上端に嵌着したギア53と噛合するギア54を回転駆動するモータ55を設置し、前記移動ベース50の前面に、押付ばね56を介して超音波探触子35を取付けてある。 A bracket 52 which is fixed to the frame member 48 top, a motor 55 for rotating the gear 53 and meshing with a gear 54 fitted to the upper end of the ball screw 49 is installed, the front surface of the moving base 50, the pressing spring 56 through it is attached to the ultrasonic probe 35.

【0023】尚、図中、57は枠部材48の上下端部前面側に取付けられ原子炉圧力容器1及び接続ノズル2の表面に当接可能なキャスタの如き補助輪である。 [0023] In the figure, 57 is a such auxiliary wheels can contact casters reactor pressure vessel 1 and the surface of the connection nozzle 2 mounted on the lower end portion front surface side of the frame member 48.

【0024】次に、上記実施例の作動を説明する。 [0024] Next, the operation of the above embodiment.

【0025】探傷検査を行う際には、先ず、探傷ユニット34を搭載した走行台車27を生体遮蔽壁19内に搬入し、主マグネットホイール23,24を接続ノズル2 [0025] When performing flaw detection, first, the traveling vehicle 27 equipped with the inspection unit 34 is carried into the body shielding wall 19, connect the main magnet wheel 23, 24 nozzles 2
の大径円筒部2b外周面に吸着させると共に、補助マグネットホイール26を円錐面部2c外周面に吸着させる。 With adsorbed in the large diameter cylindrical portion 2b outer peripheral surface of the adsorption of the auxiliary magnet wheel 26 in a conical surface portion 2c peripheral surface.

【0026】続いて、モータ44によりギア43,42 [0026] Subsequently, the gear by the motor 44 43, 42
を介してボールねじ37を回転させ、該ボールねじ37 Rotate the ball screw 37 via a the ball screw 37
をベースブロック36に対し前進或いは後退させると共に、モータ55によりギア54,53を介してボールねじ49を回転させ、該ボールねじ49に対し移動ベース50を接続ノズル2の半径方向に移動させ、更にシリンダ47の伸長動作によりリンク46を介して超音波探触子35を原子炉圧力容器1又は接続ノズル2の所要位置に押付ける。 Together with advancing or retreating relative to the base block 36, to rotate the ball screw 49 via a gear 54, 53 by the motor 55 moves the moving base 50 in the radial direction of the connection nozzle 2 with respect to the ball screw 49, further by extension operation of the cylinders 47 to press the ultrasound probe 35 via a link 46 to a desired position of the reactor pressure vessel 1 or the connection nozzle 2.

【0027】この状態で、駆動装置28により主マグネットホイール23,24を回転駆動すると、該主マグネットホイール23,24が大径円筒部2b外周面上を転動しつつ、補助マグネットホイール26が円錐面部2c [0027] In this state, when rotating the main magnet wheel 23, 24 by the drive unit 28, while the main magnet wheel 23, 24 rolls on the large diameter cylindrical portion 2b outer peripheral surface above the auxiliary magnet wheel 26 is conical surface portion 2c
外周面上を転動し、走行台車27が接続ノズル2の外周面上を周回し、前記超音波探触子35によって探傷が行われる。 On the outer peripheral surface rolling, the traveling vehicle 27 to circulate on the outer peripheral surface of the connection nozzle 2, the flaw detection by the ultrasonic probe 35 is performed.

【0028】前記走行台車27が接続ノズル2の外周面上を一周し元の位置に復帰したら、前記モータ55によりギア54,53を介してボールねじ49を回転させ、 [0028] After returning to round to the original position on the outer peripheral surface of the traveling carriage 27 is connected a nozzle 2 to rotate the ball screw 49 via a gear 54, 53 by the motor 55,
該ボールねじ49に対し移動ベース50を接続ノズル2 Connect the mobile base 50 relative to the ball screw 49 nozzles 2
の半径方向に移動させることにより、超音波探触子35 By moving the radially ultrasonic probe 35
の位置を僅かにずらし、前述と同様に走行台車27を接続ノズル2の外周面上を周回させて探傷を行い、斯かる操作を繰り返し行うことによって所要範囲に亘りもらさず検査する。 Position slightly shifted in, subjected to flaw detection by circulate on the outer peripheral surface of the connection nozzle 2 the traveling carriage 27 in the same manner as described above, to test without leaking over the required range by repeating such operations.

【0029】尚、前述の如き探傷パターンに代えて、超音波探触子35をボールねじ49に沿い所要範囲に亘って往復移動させつつ走行台車27を周回させる探傷パターンを採用し得ることは言うまでもない。 [0029] Instead of such flaw pattern described above, it may be employed flaw detection pattern for circulating the traveling truck 27 while reciprocating over a predetermined range along the ultrasonic probe 35 to the ball screw 49 is needless to say There.

【0030】前記主マグネットホイール23,24を支承する主フレーム22は、ベースプレート21に対し軸線O 1を中心に回動自在に取付けてあるため、接続ノズル2の大径円筒部2bの外径が接続ノズル2の種類によって異なっていても主マグネットホイール23,24は前記大径円筒部2b外周面に確実に吸着し得、又、前記補助マグネットホイール26を支承する補助フレーム2 [0030] The main magnet wheel 23, 24 a main frame 22 for supporting the can, since the relative base plate 21 is mounted rotatably about the axis O 1, the outer diameter of the large diameter cylindrical portion 2b of the connection nozzle 2 resulting main magnet wheel 23, 24 be different depending on the type of connection nozzle 2 reliably adsorbed to the large-diameter cylindrical portion 2b outer peripheral surface, also bears the auxiliary magnet wheel 26 the auxiliary frame 2
5は、主フレーム22に対し軸線O 2を中心に回動自在に取付けてあるため、接続ノズル2の円錐面部2cのテーパ角が接続ノズル2の種類によって異なっていても補助マグネットホイール26は前記円錐面部2cに確実に吸着し得、しかも、前記主マグネットホイール23,2 5, since to the main frame 22 is mounted pivotably about the axis O 2, even if the taper angle of the conical surface portion 2c of the connecting nozzle 2 are different depending on the type of connection nozzle 2 auxiliary magnet wheel 26 the obtained reliably adsorbed to the conical surface portion 2c, moreover, the main magnet wheel 23,2
4と補助マグネットホイール26が夫々大径円筒部2b 4 and the auxiliary magnet wheel 26 each large-diameter cylindrical portion 2b
と円錐面部2cに吸着し得る位置は、互いに規制されるため、特別な調整等をせずに常に走行台車27を同じ位置に設置し所定のコースを周回させることが可能となる。 A position capable of adsorbing to the conical surface portion 2c is to be restricted to one another, installed it is possible to circulate the predetermined course always traveling vehicles 27 in the same position without any special adjustment.

【0031】こうして、リングガイドのような軌道を設ける必要がなくなり、各種接続ノズル2にも対応して走行台車27を容易に着脱することができ、生体遮蔽壁1 [0031] Thus, it is not necessary to provide a track, such as the ring guide, it can also be easily attached and detached to the traveling vehicle 27 in response to the various connection nozzle 2, the biological shield wall 1
9内における作業時間が短縮され作業員の被曝に対する安全性が増すと共に、探傷検査を再現性良く実施し得、 With safety increases for exposure saves time worker in the 9, carried by give flaw detection reproducibly,
検査精度の向上を図ることが可能となる。 It is possible to improve the inspection accuracy.

【0032】尚、本発明の作業台車装置は、上述の実施例にのみ限定されるものではなく、 超音波探触子を備え [0032] Incidentally, the work carriage device of the present invention is not limited to the embodiments described above, it comprises an ultrasonic probe
た探傷ユニットに代えて、その他の検査ユニットや溶接 And instead of flaw detection unit, other inspection unit or welding
ユニット等の作業ユニットを走行台車のベースプレート The base plate of the traveling carriage unit of work units and the like
上に搭載してもよいこと等、その他、本発明の要旨を逸脱しない範囲内において種々変更を加え得ることは勿論である。 Such that it may be mounted on the other, it is a matter of course that within the scope not departing from the gist of the present invention that various changes and modifications may be made.

【0033】 [0033]

【発明の効果】以上、説明したように本発明の作業台車 According to the present invention above, the work carriage of the present invention, as described
装置によれば、リングガイドのような軌道を不要とし、 According to the apparatus, it is unnecessary orbit like ring guide,
各種接続ノズルにも対応して着脱の容易化による作業時間の短縮化を図り得ると共に、 探傷検査等の作業に用い Together also obtained aims to shorten the work time by facilitating detachable in response to the various connection nozzle, used in the work of flaw inspection
た場合、検査を再現性良く実施し得、検査精度の向上を図り得るという優れた効果を奏し得る。 It was the case, resulting performed reproducibly inspection, an excellent effect of obtaining aims to improve the inspection accuracy.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】本発明の一実施例の側断面図である。 1 is a side cross-sectional view of an embodiment of the present invention.

【図2】本発明の一実施例の走行台車部分の正面図(図1のII−II矢視相当図)である。 It is a front view of the traveling vehicle portion of an embodiment of the present invention; FIG (II-II arrow view corresponding view of FIG. 1).

【図3】本発明の一実施例の走行台車部分の平面図(図1のIII−III矢視相当図)である。 It is a plan view of the traveling vehicle portion of an embodiment of the present invention; FIG (III-III arrow corresponding view of FIG. 1).

【図4】原子炉圧力容器に対する配管の接続部の一例を示す概略斜視図である。 Figure 4 is a schematic perspective view showing an example of the connection portion of the pipe relative to the reactor pressure vessel.

【図5】従来例の側面図である。 5 is a side view of a conventional example.

【符号の説明】 DESCRIPTION OF SYMBOLS

1 原子炉圧力容器(構造物) 2 接続ノズル 2b 大径円筒部 2c 円錐面部 2d 小径円筒部 3 配管 21 ベースプレート 22 主フレーム 23 主マグネットホイール 24 主マグネットホイール 25 補助フレーム 26 補助マグネットホイール 27 走行台車 28 駆動装置 34 探傷ユニット(作業ユニット) 35 超音波探触子 O 軸線 O 1軸線 O 2軸線 1 reactor pressure vessel (structure) 2 connection nozzle 2b large-diameter cylindrical portion 2c conical surface portion 2d small-diameter cylindrical portion 3 pipe 21 base plate 22 main frame 23 main magnet wheel 24 main magnet wheel 25 the auxiliary frame 26 auxiliary magnet wheel 27 traveling vehicles 28 drive device 34 inspection unit (operation unit) 35 ultrasonic probe O axis O 1 axis O 2 axis

フロントページの続き (72)発明者 佐々木 孝明 神奈川県横浜市磯子区新中原町1番地 石川島播磨重工業株式会社 横浜第一工 場内 (56)参考文献 特開 平3−39650(JP,A) 特開 昭58−82692(JP,A) 特開 昭59−230872(JP,A) 実開 平3−106455(JP,U) 実開 平3−40293(JP,U) 実開 平3−70352(JP,U) 実開 昭60−143359(JP,U) 実開 平2−93753(JP,U) (58)調査した分野(Int.Cl. 6 ,DB名) G01N 29/00 - 29/28 G21C 17/00 Front page of the continuation (72) inventor Takaaki Sasaki, Yokohama, Kanagawa Prefecture Isogo-ku, Shin'nakahara-cho, address Ishikawajima-Harima Heavy Industries Co., Ltd. Yokohama first factory hall (56) Reference Patent flat 3-39650 (JP, A) JP Akira 58-82692 (JP, A) JP Akira 59-230872 (JP, A) JitsuHiraku flat 3-106455 (JP, U) JitsuHiraku flat 3-40293 (JP, U) JitsuHiraku flat 3-70352 (JP , U) JitsuHiraku Akira 60-143359 (JP, U) JitsuHiraku flat 2-93753 (JP, U) (58 ) investigated the field (Int.Cl. 6, DB name) G01N 29/00 - 29/28 G21C 17/00

Claims (1)

    (57)【特許請求の範囲】 (57) [the claims]
  1. 【請求項1】 作業ユニットを搭載するベースプレートの両端部に、構造物と配管との間に介装された接続ノズルの軸線と平行な軸線を中心として回動自在に主フレームを取付け、該主フレームに、駆動装置により回転駆動される主マグネットホイールを前記接続ノズルの大径円筒部に沿って円周方向に転動自在となるよう支承せしめると共に、前記主フレームに、前記接続ノズルの軸線と直角で且つ前記主マグネットホイールの接線方向に延びる軸線を中心として回動自在に補助フレームを取付け、 At both ends of 1. A base plate for mounting a working unit, fitted with rotatably main frame about an axis parallel to the axis of the connection nozzle interposed between the structure and the pipe, the main frame, the allowed to support so as to be rollable in the circumferential direction along the main magnet wheel which is driven to rotate in the large diameter cylindrical portion of the connection nozzle by the drive unit, to the main frame, the axis of the connection nozzle Install the rotatably auxiliary frame about an axis and extending in a tangential direction of the main magnet wheel right angle,
    該補助フレームに、補助マグネットホイールを前記接続ノズルの大径円筒部と小径円筒部との間に形成された円錐面部に沿って円周方向に転動自在となるよう支承せしめて走行台車を構成したことを特徴とする作業台車装 To the auxiliary frame, constituting the traveling vehicle by an auxiliary magnet wheel brought bearing so as to be rollable in the circumferential direction along the conical surface portion formed between the large diameter cylindrical portion and the small-diameter cylindrical portion of the connecting nozzle work truck instrumentation, characterized in that the
    Location.
JP3210177A 1991-07-26 1991-07-26 Work truck equipment Expired - Lifetime JP2946859B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP3210177A JP2946859B2 (en) 1991-07-26 1991-07-26 Work truck equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP3210177A JP2946859B2 (en) 1991-07-26 1991-07-26 Work truck equipment

Publications (2)

Publication Number Publication Date
JPH0540111A JPH0540111A (en) 1993-02-19
JP2946859B2 true JP2946859B2 (en) 1999-09-06

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JP3210177A Expired - Lifetime JP2946859B2 (en) 1991-07-26 1991-07-26 Work truck equipment

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Country Link
JP (1) JP2946859B2 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012103296A2 (en) 2011-01-27 2012-08-02 The Board Of Trustees Of The Leland Stanford Junior University Systems and methods for monitoring the circulatory system

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