JP2977441B2 - Mounting device for orientation device for mobile ultrasonic flaw detector - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mounting device for a locating device which is used for measuring the position of a mobile flaw detector for inspecting the inner surface of a reactor vessel or the like in water.

[0002]

2. Description of the Related Art For example, a large pressure vessel such as a nuclear reactor vessel is manufactured by connecting various members by welding. An ultrasonic flaw detector is generally used to detect a deterioration in the quality of the welded portion of the reactor vessel, for example, the occurrence of damage or the like.
FIG. 7 shows the state of inspection of the inner surface of the reactor vessel by the ultrasonic flaw detector, FIG. 8 shows a side view of a conventional mounting device for the ultrasonic flaw detector, mounted on the upper part of the reactor vessel, and FIG. The plan views of the mounting device are respectively shown.

[0003] In Fig. 7, the reactor vessel 11 is shown with its top lid removed, but has a cylindrical main body with an open top, and houses therein a fuel assembly and the like constituting a core (not shown). I can do it. This reactor vessel 1
An alignment pin 12 used for attaching an upper cover (not shown) is shown on the upper flange 1.
Conventionally, a locating device 101 for detecting the position of an ultrasonic flaw detector 13 that is self-propelled along the inner surface of the reactor vessel 11 has conventionally been mounted on the reactor vessel 11 using the three alignment pins 12 by a mounting device 102. Mounted on top. In addition,
The reactor vessel 11 and the upper cavity 14 are filled with water at the time of inspection.

As shown in FIGS. 8 and 9, in this conventional mounting device 102 for a locating device, three cylindrical supporting legs 103, 104, and 105 can be fitted to and removed from an alignment pin 12, respectively. Connecting pipe 10
6, 107, 108 are integrally connected. The two support legs 103 and 105 have the support legs 1
Fixing device 10 composed of a plurality of air cylinders for fixing 03, 105 in a state of being fitted into each alignment pin 12
9, 110 are mounted. In addition, each connecting pipe 106,
At the three positions 107 and 108 equally distributed in the circumferential direction of the reactor vessel 11, laser length measuring devices 112 (orienting devices 101) are mounted by supports 111, respectively. A mechanism allows the head to swing vertically and horizontally.

[0005] Therefore, the orientation device 101 having three laser length measuring devices 112 has connection pipes 106, 107, 105.
With the support legs 103, 104,
105 are fitted into the corresponding alignment pins 12 and fixed using fixing devices 109 and 110. Then, the orientation of each laser length measuring device 112 is defined at the center position of the reactor vessel 11 by the pan / tilt mechanism. In this state, a laser beam is transmitted from each laser measuring device 112 to the ultrasonic inspection device 13 which is self-propelled along the inner surface of the reactor vessel 11, and the laser inspection device 13 and the ultrasonic inspection device 13 are transmitted. With the ultrasonic flaw detector 13
The self-propelled position of is detected.

[0006]

In the above-described conventional positioning device mounting device 102, the positioning device 101 is composed of three laser length measuring devices 112 each of which has a support leg 103, 104, and 10 respectively.
5 is attached to the connecting pipes 106, 107, and 108 that connect the connecting pipes 5, so that there is a problem that it is large and inconvenient to handle. That is, when this orientation device 101 is mounted on the reactor vessel 11, each support leg 103,
Alignment pins 12 corresponding to 104 and 105 simultaneously
However, since the orientation device 101 is large, the operation is troublesome, and the operation takes a long time.

In the conventional mounting device 102,
The orientation device 101 is attached to the reactor vessel 11 using three alignment pins 12, and the position of the alignment pins 12 is different depending on the type and size of the reactor vessel 11. The diameters are also different. Therefore, the orientation device 101 and the mounting device 1
02 has to be prepared for each reactor vessel 11, which is troublesome and has a problem that the cost is high.

SUMMARY OF THE INVENTION The present invention solves such a problem, and is a mobile ultrasonic flaw detector which is small and lightweight, easy to handle, and can easily cope with regardless of the size and standing position of an alignment pin. It is an object of the present invention to provide a mounting device for a localization device.

[0009]

According to a first aspect of the present invention, there is provided a locating device for a mobile ultrasonic flaw detector, which is provided on an upper flange of a pressure vessel and is provided on an inner surface of the pressure vessel. In the mounting device of the positioning device for a mobile ultrasonic flaw detector which detects the position of the ultrasonic flaw detector which is self-propelled along, is fitted on the alignment pin inserted into the bolt hole of the upper flange of the pressure vessel. A plurality of cylindrical frames, an upper fixing device and a lower fixing device that are mounted on the upper and lower portions of the frame and fix the frame to the alignment pins, and transmit a laser beam to the ultrasonic flaw detector. A laser measuring device for detecting a self-propelled position of the ultrasonic flaw detector, and a support mechanism for oscillating the laser measuring device vertically and horizontally with respect to the frame. The fixing device has a plurality of upper fluid cylinders that press the outer peripheral surface of the alignment pin to match the axis center of the alignment pin with the axis center of the frame, and the lower fixing device is provided on the inner surface of the reactor vessel. A pair of holding rollers for defining the direction of the laser length measuring device and a lower fluid cylinder for pressing the outer peripheral surface of the alignment pin so that the axis center of the alignment pin coincides with the axis center of the frame. It is characterized by the following.

[0010]

[Function] To attach the ultrasonic flaw detector to the upper flange of the pressure vessel, each cylindrical frame is fitted to the corresponding alignment pin of the reactor vessel, and multiple upper fluid cylinders are operated to perform alignment. Pressing the outer peripheral surface of the pin fixes the upper portion of the frame in a state where the axis center of the alignment pin and the axis center of the frame are aligned, while contacting the pair of holding rollers with the inner surface of the reactor vessel. The lower part of this frame is aligned with the axis center of the alignment pin and the axis of the frame by pressing the outer peripheral surface of the alignment pin by operating the lower fluid cylinder and defining the direction of the laser length measuring device. Fix it. As described above, the respective frames are fixed and positioned independently of each other, so that the apparatus becomes small and easy to handle, and it is possible to cope with the alignment pins regardless of their standing positions.

[0011]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a side view of a mounting device of a locating device for a mobile ultrasonic flaw detector according to one embodiment of the present invention. FIG. 2 is a front view of a mounting device of the locating device for the ultrasonic flaw detector. 3 is an enlarged view of the upper fixing device, FIG. 4 is a sectional view taken along the line IV-IV of FIG. 3, FIG. 5 is an enlarged view of the lower fixing device, and FIG. 6 is a VI-VI of FIG.
FIG.

As shown in FIG. 1 and FIG. 2, the mounting device of the locating device for a mobile ultrasonic flaw detector according to the present embodiment is an ultrasonic flaw detector (self-propelled along the inner surface of the reactor vessel 11). Locating device 15 for detecting the position (not shown) by laser measurement
Are positioned and fixed independently to three alignment pins 12 attached to the upper flange of the reactor vessel 11. That is, the frame 21 has a cylindrical shape, and can be fitted and removed with a predetermined clearance on the alignment pin 12 inserted into a bolt hole (not shown) of the upper flange of the reactor vessel 11. An upper fixing device 22 and a lower fixing device 23 for fixing the frame 21 to the alignment pins 12 are mounted on the upper and lower portions of the frame 21. Also, the frame 21
A laser length measuring device 24 for transmitting a laser beam to the ultrasonic flaw detector and detecting a self-propelled position of the ultrasonic flaw detector as a locating device 15 via a support mechanism 25. The laser length measuring device 24 is swingable vertically and horizontally with respect to the frame 11 by a support mechanism 25.

As shown in detail in FIGS. 3 and 4, the upper fixing device 22 presses the outer peripheral surface of the alignment pin 12 to make the axis center of the alignment pin 12 coincide with the axis center of the frame 21. Three upper air cylinders 3
1, 32, and 33. The three upper air cylinders 31, 32, 33 have substantially the same structure, but the diameter of the two upper air cylinders 31, 32 is larger than the diameter of the other upper air cylinder 33, The pressing force is set large.

That is, in the upper air cylinders 31 and 32, one end of the cylindrical cylinder case 34 is
The frame 5 is fixed to the frame 21 by the mounting bracket 36 via 5 to communicate with the inside, and an air supply hole 37 is formed at the other end. A cylindrical piston 38 is movably fitted in the cylinder case 34, and a tip 39 that presses the outer peripheral surface of the alignment pin 12 is fixed to the tip of the piston 38. Further, the cylinder case 34 and the stopper 40 is fixed to set the moving stroke S ₁ of the piston 38, also the pistons 38 compression spring 41 is interposed between the stopper 40 and the piston 38 It is biased and supported in the return direction. The movement stroke S ₁ is an amount for pressing the outer peripheral surface of the alignment pin 12 when the piston 38 moves so that the alignment pin 12 coincides with the axis center of the frame 21.

On the other hand, in the upper air cylinder 33, the cylindrical cylinder case 42 has an inner diameter of the cylinder case 34.
One end is fixed to the frame 21 by a mounting bracket 44 via a spacer 43 and communicates with the inside. An air supply hole 45 is formed at the other end. A cylindrical piston 46 is movably fitted in the cylinder case 42, and a tip 47 for pressing the outer peripheral surface of the alignment pin 12 is fixed to a distal end portion thereof. Further, the cylinder case 42 is to set the moving stroke S ₂ of the piston 46 stopper 48 is fixed, also the piston 46 is interposed a compression spring 49 between the stopper 48 and the piston 46 It is biased and supported in the return direction. Incidentally, the movement stroke S ₂ has a larger amount than the moving stroke S ₁ of the piston 38.

As shown in detail in FIGS. 5 and 6, the lower fixing device 23 includes a pair of holding rollers 51 and an alignment pin 12 which contact the inner surface of the reactor vessel 11 to define the direction of the laser length measuring device 24. Has a lower air cylinder 52 that presses the outer peripheral surface of the frame to align the axis center of the alignment pin 12 with the axis center of the frame 21.

That is, an intermediate portion of an operation arm 55 is attached to a bracket 53 fixed to both sides of the frame 21 by a horizontal pivot 54 so as to be vertically rotatable. Each holding roller 51 is attached. A holding roller operating air cylinder 56 is mounted on both sides of the frame 21 above the operating arm 55 so as to be swingable by a pivot 57. The upper end of a piston shaft 58 of the air cylinder 56 is The other end of the arm 55 is connected. In addition,
A stopper pin 59 is attached to each of the brackets 53 on both sides of the frame 21, and abuts against the operation arm 55 to regulate the rotation position of the operation arm 55, that is, the movement position of the holding roller 51.

In the lower air cylinder 52, one end of a piston shaft 61 is fixed to the frame 21 by a mounting bracket 62.
3 is fixed. The piston 63 is movably fitted in a cylinder case 64, and divides the inside of the cylinder case 64 into two chambers 65 and 66. The base end of a holding arm 67 having a forked end is fixed to the cylinder case 64. The forked end of the holding arm 67 enters the frame 21, and the alignment pins 12 A pressing roller 68 that presses the outer peripheral surface of is provided.

Therefore, using the mounting device of the present embodiment described above, the locating device 15 for the ultrasonic flaw detector can be used for the reactor vessel 11.
First, as shown in FIGS. 1 and 2, each frame 21 is fitted into each alignment pin 12 appropriately inserted into the reactor vessel 11. And
Each upper air cylinder 31, 3 is fixed by the upper fixing device 22.
2 and 33 are pressed to press the outer peripheral surface of the alignment pin 12 so that the axis center of the alignment pin 12 and the axis center of the frame 21 match.
Is fixed to the alignment pin 12.

That is, as shown in FIG.
The cylinder case 3 from the air supply holes 37 of the cylinders 31 and 32.
When air is supplied into the cylinder case 4, the cylinder case 34
And the piston 38 has the stroke S₁Just advance and tip
Presses the outer peripheral surface of the alignment pin 12
You. On the other hand, from the air supply hole 45 of the upper air cylinder 33
When air is supplied into the cylinder case 42, this cylinder
The piston 46 has a stroke S_TwoIs
Forward, and the contact 47 at the tip is
Press the outer peripheral surface. At this time, two upper air cylinders
The piston 38 of 31, 32 has the stroke S₁Move
Between the alignment pin 12 and the axis of the frame 21
The centers coincide, and the piston 46 of the upper air cylinder 33 slides.
Troke S ₁Stroke S larger than_TwoMoving
Alignment pin 12 has three upper air cylinders
And are pressed and held by the dampers 31, 32, 33.
The upper part of the frame 21 is fixed to the alignment pin 12
Is done.

As shown in FIGS. 1 and 2, a pair of holding rollers 51 are fixed by the lower fixing device 23 to the reactor vessel 1.
By contacting the inner surface of the upper flange 1 with the laser measuring device 24 in the direction of the center of the reactor vessel 11, the lower fluid cylinder 52 is operated to press the outer peripheral surface of the alignment pin 12. The axis center of the alignment pin 12 is aligned with the axis center of the frame 21, and the upper portion of the frame 21 is fixed to the alignment pin 12 in this state.

That is, as shown in FIGS. 5 and 6, when the pair of air cylinders 56 is operated to retract the piston shaft 58, the operation arm 55 rotates clockwise in FIG. 52 moves from the retracted position indicated by the two-dot chain line to the specified position indicated by the solid line in FIG. Then, the pair of holding rollers 52 come into contact with the inner surface of the upper flange of the reactor vessel 11 to rotate the frame 21 in the circumferential direction, and the direction of the laser length measuring device 24 supported by the support mechanism 25 changes to the reactor. It is defined so as to face the center of the container 11.
When air is supplied to the chamber 66 of the lower air cylinder 52, the cylinder case 64 and the holding arm 67 advance with respect to the piston shaft 61, and each holding roller 68 at the tip of the arm presses the outer peripheral surface of the alignment pin 12. .
Therefore, the lower part of the frame 21 is fixed to the alignment pins 12.

When the three frames 21 are fixed to the respective alignment pins 12 in this manner, the mounting of the orientation device 15 is completed. Therefore, by using the orientation device 15, the support mechanism 25 adjusts the orientation of the laser length measuring device 24 in the vertical and horizontal directions, while the laser measuring device 24 self-propelled along the inner surface of the reactor vessel 11. By transmitting a laser beam to the ultrasonic flaw detector that is operating and measuring the distance to the laser flaw detector to detect the position of the ultrasonic flaw detector, the position of occurrence of damage to the inner surface of the reactor vessel 11 can be determined. Can be measured.

When the position of the alignment pin 12 to be inserted into the upper flange of the reactor vessel 11 is changed depending on the type and size of the reactor vessel 11, some changes and positions of the members are made. This can be dealt with by adjustment. That is, in the upper fixing device 22, in order to change the stroke of each air cylinder 31, 32, or 33, the stoppers 40, 48 are changed to predetermined ones. In the lower fixing device 23, a pair of holding rollers 52
The rotation position of the operation arm 55 is changed by adjusting the position of the stopper pin 59 in order to change the movement specified position of the operation arm 55.

As described above, in the mounting device of this embodiment, the three frames 21 can be independently mounted and fixed to the alignment pins 12 by the upper and lower fixing devices 22 and 23, respectively. Since the frame 21 itself is small and lightweight, handling becomes easy, and mounting is possible irrespective of the standing position of the alignment pin 12 by slightly changing the members or adjusting the position.

[0027]

As described above in detail with reference to the embodiments, according to the mounting apparatus for the mobile ultrasonic flaw detector, the alignment pin mounted on the upper flange of the pressure vessel is provided. An upper fixing device and a lower fixing device for fixing the frames to the alignment pins are mounted on upper and lower portions of the plurality of cylindrical frames to be fitted, and the laser beams are transmitted to the ultrasonic flaw detector to be self-propelled. The laser length measuring device that detects the position is supported by the support mechanism so that it can swing vertically and horizontally relative to the frame, and the upper fixing device presses the outer peripheral surface of the alignment pin so that the center of each axis of the alignment pin and the frame match. While a plurality of upper fluid cylinders are provided, a pair of holding rollers and a pair of holding rollers that contact the inner surface of the reactor vessel and define the direction of the laser length measuring device are provided on the lower fixing device. Since a lower fluid cylinder is provided to press the outer peripheral surface of the ment pin to align the alignment pin with the center of each axis of the frame, a plurality of frames are independently mounted and fixed to the alignment pins by the upper and lower fixing devices, respectively. Each frame itself is small and light, which makes it easy to handle. In addition, the position of the frame with respect to the alignment pin is automatically adjusted to improve the workability. Even if the standing position is changed, it is possible to cope with most of the reactor vessels by slightly changing the members, adjusting the position, and the like, so that the cost can be reduced.

[Brief description of the drawings]

FIG. 1 is a side view of a mounting device of a locating device for a mobile ultrasonic flaw detector according to one embodiment of the present invention.

FIG. 2 is a front view of a mounting device of the orientation device for the ultrasonic flaw detector according to the present embodiment.

FIG. 3 is an enlarged view of the upper fixing device.

FIG. 4 is a sectional view taken along line IV-IV of FIG. 3;

FIG. 5 is an enlarged view of the lower fixing device.

FIG. 6 is a sectional view taken along line VI-VI of FIG.

FIG. 7 is a sectional view of the reactor vessel showing an inner surface inspection of the reactor vessel by the ultrasonic flaw detector.

FIG. 8 is a side view of a mounting device of a conventional localization device for an ultrasonic flaw detector installed on an upper part of a reactor vessel.

FIG. 9 is a plan view of a mounting device of a conventional positioning device for an ultrasonic flaw detector.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Reactor vessel 12 Alignment pin 13 Ultrasonic flaw detector 15 Orientation device 21 Frame 22 Upper fixing device 23 Lower fixing device 24 Laser length measuring device 25 Supporting mechanism 31, 32, 33 Upper air cylinder 51 Holding roller 52 Lower air cylinder

────────────────────────────────────────────────── ─── Continuation of the front page (56) References Journal of the Robotics Society of Japan, Vol. 14, No. 3, pp. 357-358 (1994) Daimichi et al. "Development of an Improved Ultrasonic Testing System for Reactor Vessels" Vol. 42, No. 6, pp. 784-789 (1991) Taniguchi et al. "Development of Next-Generation Automatic Ultrasonic Testing Equipment" (58) Fields investigated (Int. Cl. ⁶ , DB name) G21C 17/003 G01B 11 / 00 G01B 17/00 G01N 29/26 JICST file (JOIS)

Claims (1)

(57) [Claims] 1. A mounting apparatus for a positioning apparatus for a mobile ultrasonic flaw detector, which is disposed on an upper flange of the pressure vessel and detects a position of an ultrasonic flaw detector which is self-propelled along an inner surface of the pressure vessel. A plurality of cylindrical frames fitted to the alignment pins inserted into the bolt holes of the upper flange of the pressure vessel, an upper fixing device mounted on upper and lower portions of the frames to fix the frames to the alignment pins; A lower fixing device, a laser length measuring device that transmits a laser beam to the ultrasonic flaw detector, and detects a self-propelled position of the ultrasonic flaw detector, and the laser length measuring apparatus with respect to the frame. A support mechanism for swinging vertically and horizontally. The upper fixing device presses an outer peripheral surface of the alignment pin to move a center of the alignment pin and an axis of the frame. An upper fluid cylinder having a plurality of upper fluid cylinders, the lower fixing device being in contact with an inner surface of the reactor vessel and defining a direction of the laser length measuring device; and an outer peripheral surface of the alignment pin. And a lower fluid cylinder for pressing an axis of the alignment pin to coincide with an axis of the frame by pressing the alignment pin.