JP3905051B2 - Repair inspection system for structure surface - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a repair inspection system for a surface of a structure that inspects the surface of the structure and enables repair according to the presence of a defect.
[0002]
[Prior art]
A technique that can be used as a system for inspecting and repairing the surface of a structure is a device that moves along the surface of the structure.
[0003]
A typical device that moves on the surface of a structure is a device that can move along the surface described in Japanese Patent No. 3175052.
[0004]
FIG. 12 is a plan view showing a repair inspection apparatus movable along the surface of a conventional structure, and FIG. 13 is a suction unit provided in the repair inspection apparatus movable along the surface of the structure shown in FIG. FIG.
[0005]
A repair inspection apparatus 1 that can move along the surface of a conventional structure has a structure in which two suction units 3 are connected by an extendable connecting means such as a cylinder mechanism 2. Each suction unit 3 includes a cylindrical member 4 having a suction cup-like flange having an inverted dish shape, a main body 7 to which a communication pipe 5 and a cylinder mechanism 6 are fastened. The communication pipe 5 is connected to a pressure reducing source such as a vacuum pump or an ejector, and sucks a fluid such as air to form a negative pressure space 9 between the cylindrical member 4 and the structure surface 8. A traveling means 10 such as a wheel or a ball caster is connected to the operating rod portion protruding into the negative pressure space 9 of the cylinder mechanism 6.
[0006]
Next, the movement method of the repair inspection apparatus 1 which can move along the surface of the conventional structure will be described.
[0007]
A vacuum source such as a vacuum pump or an ejector is operated while the cylinder mechanism 2 is contracted to form a negative pressure space 9 between the cylindrical member 4 and the structure surface 8. At this time, the traveling means 10 is retracted and isolated from the structure surface 8 by contracting the cylinder mechanism 6. Thereby, the cylindrical member 4 of each adsorption unit 3 is adsorbed on the structure surface 8. That is, each suction unit 3 is in an immobile fixed state.
[0008]
Next, the decompression source of one of the adsorption units 3 is released, and the traveling means 10 is pushed out by the cylinder mechanism 6 to be brought into close contact with the structure surface 8. As a result, the adsorption area between the cylindrical member 4 and the structure surface 8 is reduced, and the frictional force is reduced, so that one of the adsorption units 3 is allowed to travel. By extending the cylinder mechanism 2 in the travelable state, the travel means 10 comes into contact with the structure surface 8, and the suction unit 3 on the side in which the travelable state is enabled moves.
[0009]
In addition, the cylinder mechanism 6 of the suction unit 3 on the side ready to travel is contracted, and the traveling means 10 is retracted from the structure surface 8 to be isolated. Further, a negative pressure space 9 is formed between the cylindrical member 4 and the structure surface 8 by a reduced pressure source such as a vacuum pump or an ejector, and the adsorption unit 3 is brought into close contact with the structure surface 8 and fixed.
[0010]
Next, the traveling means 10 of the suction unit 3 on the non-moving side is pushed out by the cylinder mechanism 6 so as to be brought into close contact with the structure surface 8 to be able to travel. The suction unit 3 on the side ready to run moves by contracting the cylinder mechanism 2. By repeating these operations, the two adsorption units 3 and 3 move alternately and intermittently, and the entire apparatus 1 that can move along the surface of the structure can move in the expansion and contraction direction of the cylinder mechanism 2.
[0011]
Further, if a difference is made in the amount of expansion / contraction stroke of the paired cylinder mechanisms 2, not only movement in the expansion / contraction direction but also turning movement can be achieved, and movement in an arbitrary direction becomes possible.
[0012]
[Problems to be solved by the invention]
As an example of inspection and repair of the surface of a structure to be repaired, there is a welding machine that inspects stress corrosion cracks that occur in the vicinity of a welded portion of a shroud that is a reactor internal structure, and performs repair by laser welding.
[0013]
Conventionally, in this welding machine, a movable carriage is installed on the upper part of the reactor, and the welding machine is suspended from this carriage by means of suspending means such as a wire, and repair work is performed by moving the carriage closer to the construction site. .
[0014]
However, this repair method does not allow access to confined places where the jet pump is placed all around, such as the outer surface of the shroud, and especially to the complicated places that need to move back and forth and right and left after the welding machine is suspended. There was a problem.
[0015]
Therefore, it is conceivable to use a working robot apparatus that can move along the surface of the structure, but has the following problems.
[0016]
In a narrow place where a plurality of jet pumps are arranged on the outer peripheral surface side of the shroud or in a repair inspection of a bent portion, the work robot cannot be arranged on the outer surface of the shroud simply by hanging it down. That is, since the surface of the structure to be repaired is discontinuous, the work robot cannot move to the inspection / repair location.
[0017]
Even if the work robot can be hung down by a suspending means such as a wire and placed on the surface of the structure to be repaired, the wire may be loosened and interfere with the structure to be repaired by the movement of the work robot. For this reason, the movement range is limited.
[0018]
If the work robot falls off the surface of the structure to be repaired while moving or enters a narrow space, the work robot cannot be collected.
[0019]
Insufficient travelability, operability, or accessibility to a narrow part of the work robot results in poor workability, long work time, and an increased construction period. In particular, when the working environment is bad in the environment inside the reactor and the working time is prolonged, the amount of exposure of the worker may increase, which adversely affects the human body.
[0020]
The present invention has been made in order to cope with the above-described conventional situation. The structure to be repaired, specifically, the outer surface of the in-furnace structure, for example, the narrow surface on the outer peripheral surface side of the shroud where the jet pump is arranged. An object of the present invention is to provide a repair inspection system for a surface of a structure that enables work in a place and environment.
[0021]
[Means for Solving the Problems]
  The structure surface repair inspection system according to the present invention is:In order to solve the above-described problems, a hoist installed above the structure to be inspected, a work robot connected to the lower part of the rope driven up and down by the hoist, and a rope above the work robot The work robot and the support device each have a plurality of suction legs that are attracted to the surface of the structure, an operating cylinder that drives the suction legs to extend and contract, and the suction legs. A suction pad that is configured to move forward and backward on the surface of the structure to reduce the suction force of the suction legs and to be able to run, and generates a propulsive force to the work robot and the support device. An underwater propulsion mechanism, and the support device includes a guide for guiding the rope that drives the work robot up and down, and the work robot includes an inspection unit. And said that there was eIs.
[0029]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of a repair inspection system for a structure surface according to the present invention will be described with reference to the accompanying drawings.
[0030]
FIG. 1 is a configuration diagram showing an embodiment of a structure surface repair inspection system according to the present invention.
[0031]
This structure surface repair inspection system 20 shows an example applied as a repair target structure, for example, to a device that repairs and inspects the outer surface side of the shroud 21 that is a reactor internal structure.
[0032]
A control panel 23, a hydraulic pump 24, and a tension-type winding device 25 are installed on an operation floor 22 in the reactor building that is a work area. A hose and cable 26 are fed out from the tension type winding device 25 with a constant tension, and a repair inspection robot 28 as a work robot that is an inspection and repair machine is connected to the tip of the hose and cable 26 via a self-propelled support device 27. Is done. Further, the control panel 23 can remotely control the movement amount, movement direction, and inclination of the self-propelling support device 27 and the repair inspection robot 28 using the hose and the cable 26.
[0033]
On the other hand, a movable fuel changer 29 as a support structure is provided on the operation floor 22, and a hoist 30 is installed in the fuel changer 29. The hoist 30 is provided with a fall prevention device 31, and the wire 32 is fed through the fall prevention device 31. The tip of the wire 32 is also connected to the repair inspection robot 28 via the self-propelling support device 27 in the same manner as the hose and cable 26. The fall prevention device 31 has a function of detecting the load and locking the wire 32 when the repair inspection robot 28 and the self-propelling support device 27 are lowered.
[0034]
  A cylindrical shroud 21 is installed inside the reactor pressure vessel 33 and filled with reactor water 34 as a fluid. The shroud 21Upper torso 36 and middle torso 35And a lower body (not shown), and an annulus portion 37 is formed between the shroud 21 and the reactor pressure vessel 33 on the outer peripheral side of the shroud 21. A plurality of jet pumps 38 are installed in the circumferential direction in the annulus 37, but are not installed in the reactor azimuths of 0 degrees and 180 degrees.
[0035]
  While a jet pump 38 is installed along an annulus 37 between the shroud 21 and the reactor pressure vessel 33, a self-propelled support device 27 and a repair inspection robot 28 are installed in a portion where the jet pump 38 is not installed. The The self-propelled support device 27 and the repair inspection robot 28 are suspended by a hoist 30 and a wire 32 installed in the fuel changer 29. Of shroud 21Upper trunk 36The outer diameter ofIntermediate body 35Since the outer diameter of the repair robot 28 is simply suspended by the hoist 30 and the wire 32 installed in the fuel changer 29, the repair inspection robot 28 isIntermediate body 35It is difficult to move along the vicinity.
[0036]
  The repair inspection robot 28 has a propulsion function of sucking the reactor water 34 and discharging it as jet water to obtain a propulsion force in the reactor water 34 and a function of adsorbing to the outer surface of the shroud 21. The repair inspection robot 28 is driven by the propulsive force generated using the reactor water 34 by both functions.Intermediate body 35By the adsorption functionIntermediate body 35Adsorb to the surface of The self-propelled support device 27 is also the same meansIntermediate body 35Adsorb to.
[0037]
  In this way, the shroud 21 of the annulus 34 isIntermediate body 35Where the repair inspection robot 28 adsorbed on the surface is subjected to a repair inspection, for example,Intermediate body 35It is moved along the horizontal welding line part of and repair work such as welding is carried out.
[0038]
2 is a plan view showing the configuration of the self-propelled support device 27 and the repair inspection robot 28 shown in FIG. 1, and FIG. 3 is a side view of the repair inspection robot 28 shown in FIG.
[0039]
A repair inspection robot 28 is connected to the tip of the wire 32, the hose and the cable 26 via a self-propelled support device 27. Adsorption legs 41 having an expansion / contraction function and an adsorption function are arranged at four locations on the side surfaces on both sides in the longitudinal direction of the body 40 on the wire 32 connection side and the wire 32 non-connection side. There is also a hole for attaching the suction leg 41 at the center of the body 40, and the suction leg 41 is provided in this attachment hole.
[0040]
Further, a hanging ear 42 is repaired on the self-propelling support device 27 side of the body 40, an inclination angle detector 43 is repaired at, for example, approximately the center of the body 40, and an outer surface of the shroud 21 is repaired at another part of the body 40. A laser welder 44 as repairing means and an underwater camera 45 as inspection means for inspecting the outer surface of the shroud 21 are arranged. Further, a remote hanging tool 46 composed of a working cylinder 47 as a pair of actuators is detachably attached to the hanging ear 42.
[0041]
Wire 32 is connected to this remote hanger 46. Further, the wire 32 can be attached to and detached from the hanging ear 42 by remotely operating the operating cylinder 47 provided in the remote hanging tool 46.
[0042]
The repair inspection robot 28 is attracted to the outer surface of the shroud 21 by the adsorption function and the expansion / contraction function of the adsorption leg 41, and can move along the outer surface of the shroud 21. Further, inspection and repair work can be performed by the laser welder 44 and the underwater camera 45. Moreover, the wire 32, the hose, and the cable 26 are held in place by the self-propelled support device 27 so as not to loosen.
[0043]
4 is a plan view of the suction leg 41 provided in the repair inspection robot 28, and FIG. 5 is a cross-sectional view of the suction leg 41 shown in FIG.
[0044]
The suction leg 41 has a configuration in which a hydraulic cylinder 50 and a suction mechanism 51 are connected by a mounting bracket 53 fixed to one end of an operating rod 52. The operation rod 52 is constituted by, for example, a piston rod that is reciprocated by the operation of the hydraulic cylinder 50.
[0045]
In the four suction legs 41 on the side surfaces in the longitudinal direction of the body 40, the expansion / contraction direction of the hydraulic cylinder 50 is the body width direction, for example, the horizontal direction in FIGS. 4 and 5. Attached to. The suction leg 41 at the center of the body 40 is connected to the mounting hole of the repair inspection robot 28 in such a direction that the wire 32 connection side is the suction mechanism 51 and the non-connection side is the hydraulic cylinder 50. The direction of the suction legs 41 at the center of the body 40 may be reversed, or the suction legs 41 may be arranged in parallel.
[0046]
Further, the suction mechanism 51 is connected to the suction mechanism 51. The suction mechanism 51 includes an inverted dish-like suction cup-like suction pad, a suction pad-like suction pad 55, and an ejector 56 as suction means for generating suction force on the suction pad 55. By generating a suction force by the ejector 56, a negative pressure space 58 is formed between the shroud outer surface 57 and the suction pad 55. The suction pad 55 can be attracted to the shroud outer surface 57 by the negative pressure of the negative pressure space 58. That is, the suction leg 41 can be fixed on the outer surface 57 of the shroud to be in an immobile fixed state. Further, the suction mechanism 51 includes a piping path through which the reactor water 34 passes through the inner surface of the suction pad 55. Further, the ejector 56 has a propulsion function that obtains a propulsive force by ejecting jet water from an exhaust port installed in a direction perpendicular to the surface to which the suction pad 55 adsorbs.
[0047]
The suction force adjusting mechanism 54 that adjusts the suction force includes an operating cylinder 59 disposed on the center convex side of the suction pad 55 and a rod 60 that passes through the center of the suction pad 55 from the operating cylinder 59. A shaft retainer 61 is connected to the tip of the rod 60, and a support shaft 63 that rotatably supports a roller 62 is supported on the shaft retainer 61. When the suction pad 55 is attracted to the outer surface 57 of the shroud, the operation cylinder 59 is set to the upper limit storage position side of the operation stroke, and the roller 62 is substantially at the same position as the contact surface of the suction pad 55. This is to prevent the roller 62 from pushing up the suction pad 55 and reducing the suction force. Further, by extending the operating cylinder 59 and pushing out the roller 62, the frictional force between the shroud outer surface 57 and the suction pad 55 can be reduced, and the suction leg 41 can be made to run on the shroud outer surface 57.
[0048]
Further, the hydraulic cylinder 50 is provided with a linear gauge 64, which is used when controlling the amount of expansion and contraction.
[0049]
Next, a control method of the repair inspection robot 28 will be described with reference to FIGS.
[0050]
The operation amount of the suction leg 41 can be confirmed and adjusted by the control panel 23 shown in FIG. 1 by the linear gauge 64 of the hydraulic cylinder 50 shown in FIGS. Further, the suction timing of the suction legs 41 can be controlled by the timing generation function by a programmable controller or the like on the control panel 23 shown in FIG. Further, the tilt amount can be converted into a voltage by the tilt angle detector 43 provided in the repair inspection robot 28 shown in FIG. The attitude can be controlled by controlling this output to a constant value by the control panel 23 shown in FIG.
[0051]
6 is a plan view of the self-propelled support apparatus 27 shown in FIG. 2, and FIG. 7 is a side view of the self-propelled support apparatus 27 shown in FIG.
[0052]
The self-propelled support device 27 is an assist machine that assists the traveling movement of the repair inspection robot 28.
[0053]
The self-propelled support device 27 has a configuration in which two suction mechanisms 71 provided with a suction force adjusting mechanism 70 are connected by two expansion / contraction mechanisms 72 that form a pair. The suction mechanism 71 includes a suction pad 73 and an ejector 74 as suction means.
[0054]
Further, the suction pad 73 is provided with a mounting seat 75. The telescopic mechanism 72 has a configuration in which the spherical side of the spherical rod 77 is connected to both ends of the operating cylinder 76. On the other hand, the fixed side of the spherical rod 77 is connected to the attachment seat 75 of the suction pad 73.
[0055]
Further, a support shaft 78 is provided on the two expansion / contraction mechanisms 72 that make a pair. The support shaft 78 is provided with a guide guide 80 that is rotatably supported by a bearing 79. Further, a frame 81 is fixed to the support shaft 78. The frame 81 is provided with a presser roller 83 that is rotatably supported by a support shaft 82. The hose and cable 26 and the wire 32 are sandwiched between the guide guide 80 and the pressing roller 83.
[0056]
The self-propelled support device 27 can be adsorbed on the outer surface of the shroud 21 by the adsorbing force adjusting mechanism 70 and the adsorbing mechanism 71 in the same manner as the repair inspection robot 28, and can be set in a runnable state or a fixed fixed state. Further, it can be moved along the outer surface 57 of the shroud by the telescopic mechanism 72. In addition to the outer surface 57 of the shroud, the ejector 74 can move while swimming in the reactor water 34 of the reactor pressure vessel by the propulsive force generated in the reactor water 34.
[0057]
Next, a method for moving the repair inspection robot 28 will be described.
[0058]
First, the self-propelled support device 27 and the repair inspection robot 28 are suspended from a portion of the annulus 37 where the jet pump 38 is not installed. Next, due to the propulsive force generated by the ejector 74, the self-propelled support device 27 approaches the intermediate barrel 36 of the shroud 21, and is attracted to the outer surface of the shroud 21 above the position to be repaired by the suction mechanism 71. Then, the repair inspection robot 28 is attracted to the vicinity of the position to be repaired below the self-propelled support device 27 by the same means as the self-propelled support device 27. At this time, the hydraulic cylinders 50 of all the suction legs 41 are kept contracted.
[0059]
Next, the repair inspection robot 28 is moved along the shroud outer surface 57 to the position to be repaired by the suction legs 41. A method of moving the repair inspection robot 28 along the outer surface 57 of the shroud will be described.
[0060]
When the repair inspection robot 28 is moved in the circumferential direction of the outer surface 57 of the shroud, for example, in the width direction of the body 40, first, of the four suction legs 41 on the side surface in the longitudinal direction of the body 40, the two suction legs on the movement direction side. By pushing out the five rollers 62 that are the travel means of the suction legs 41 at the center of the body 41 and the body 40, the suction force is reduced until the vehicle is ready to run. Then, the hydraulic cylinders 50 provided on the four suction legs 41 on the side surfaces in the longitudinal direction of the body 40 are extended to move and move the three suction legs 41 on the moving direction side and the center of the body 40. Thereafter, the rollers 62 of the three suction legs 41 on the moving direction side and the center of the body 40 are pulled up, and the space surrounded by the suction legs 41 and the outer surface 57 of the shroud is made negative, and the suction legs 41 are fixed and fixedly fixed. Increase the adsorption power until it reaches a state.
[0061]
Next, the suction force is reduced until the vehicle is ready to run by pushing the roller 62 of the suction leg 41 opposite to the moving direction. Then, the hydraulic cylinders 50 provided on the four suction legs 41 on the side surfaces in the longitudinal direction of the body 40 are contracted to move and move the suction legs 41 on the side opposite to the moving direction. Thereafter, the roller 62 of the suction leg 41 opposite to the moving direction is pulled up to make the space surrounded by the suction leg 41 and the outer surface 57 of the shroud negative, and the suction leg 41 is fixed until it is fixed and fixed. Increase power.
[0062]
By repeating this operation, the repair inspection robot 28 can be intermittently moved in the circumferential direction of the outer surface 57 of the shroud.
[0063]
When the repair inspection robot 28 is moved below the shroud outer surface 57, first, the four rollers 62 as the traveling means of the four suction legs 41 on the side surface in the longitudinal direction of the body 40 are pushed out until they can travel. The shroud outer surface 57.
[0064]
Then, the hydraulic cylinder 50 provided on the suction leg 41 at the center of the body 40 is operated and extended, and the four suction legs 41 on the side surfaces in the longitudinal direction of the body 40 are moved and moved below the shroud outer surface 57. Thereafter, the rollers 62 of the four suction legs 41 on the side surfaces in the longitudinal direction of the body 40 are pulled up, so that the suction legs 41 are attracted and fixed to the outer surface 57 of the shroud to be in an immobile fixed state.
[0065]
Next, the attracting force is reduced by pushing the roller 62 of the attracting leg 41 in the center of the body 40 until the vehicle is ready to run. Then, the hydraulic cylinder 50 provided on the suction leg 41 at the center of the body 40 is contracted to move the suction leg 41 at the center of the body 40 to travel. Thereafter, by pulling up the roller 62 of the suction leg 41 in the center of the body 40, the repair inspection robot 28 is fixed at a lower position and is in a fixed fixed state.
[0066]
By repeating this operation, the repair inspection robot 28 can be intermittently moved downward in the downward direction of the outer surface 57 of the shroud.
[0067]
In the case where the repair inspection robot 28 is moved upward in the shroud outer surface 57, for example, first, the suction force is reduced until the vehicle is ready to run by pushing the roller 62 of the suction leg 41 at the center of the body 40, The roller 62 is set so that it can run. Then, the hydraulic cylinder 50 provided on the suction leg 41 at the center of the body 40 is extended, and the suction leg 41 at the center of the body 40 is moved. Thereafter, by pulling up the roller 62 of the suction leg 41 in the center of the body 40, the suction force is increased until the fixed fixing state is reached.
[0068]
Next, by pushing out the rollers 62 of the four suction legs 41 on the side surfaces in the longitudinal direction of the body 40, the suction force is reduced until the vehicle is ready to run, and each roller is set to run. Then, the hydraulic cylinder 50 provided on the suction leg 41 in the center of the body 40 is contracted, the rollers 62 are rolled, and the four suction legs 41 on the side surface in the longitudinal direction of the body 40 are moved. After that, by lifting the rollers 62 of the four suction legs 41 on the side surface in the longitudinal direction of the body 40, the suction force is increased until the stationary fixing state is reached.
[0069]
By repeating this operation, the repair inspection robot 28 can be intermittently moved upward in the upward direction of the outer surface 57 of the shroud.
[0070]
It is also possible to change the direction of the repair inspection robot 28 by moving in the oblique direction by changing the expansion / contraction strokes of the hydraulic cylinders 50 provided on the four suction legs 41 on the side surfaces in the longitudinal direction of the body 40. .
[0071]
Next, a repair inspection method for the repair inspection robot 28 will be described.
[0072]
After the repair inspection robot 28 is moved to the position where the repair inspection is to be performed, the repair inspection unit is inspected by the underwater camera 45 provided in the repair inspection robot 28. If repair is required as a result of the inspection, welding is performed by a laser welding machine 44 provided in the repair inspection robot 28 to perform repair work.
[0073]
When the repair work is completed, the repaired part is inspected by the underwater camera 45 to confirm the construction status. When the inspection of the repaired part after repair is completed, the repair inspection robot 28 is moved to the position where the next repair inspection is to be performed.
[0074]
As described above, the repair inspection robot 28 can perform necessary repair inspection work on the outer surface of the shroud 21 by repeating the movement and the repair inspection.
[0075]
FIG. 8 is a plan view showing a modification of the self-propelled support device 27 and the repair inspection robot 28, and FIG. 9 is a side view of the repair inspection robot 28 of FIG.
[0076]
In the repair inspection robot 28, two suction legs 41 are arranged at the center of the body 40 and the wire 32 connection side on the side surface in the longitudinal direction of the body 40. Further, two swirl suction legs 90 are disposed as a swirl suction mechanism on the non-connection side of the body 40 with respect to the side surface in the longitudinal direction. Other than the above, as in FIGS. 2 and 3, for example, an inclination angle detector 43 is disposed approximately at the center of the body 40, and a hanging ear 42 is disposed on the self-propelling support device 27 side. Further, a remote hanging tool 46 constituted by a pair of working cylinders 47 is detachably mounted on the hanging ear 42. The repair inspection robot 28 is suspended by connecting the hose and cable 26 and the wire 32 to the remote hanging tool 46 via the self-propelled support device 27.
[0077]
In this modified example, the swivel suction leg 90 is arbitrarily swung, so that it is possible to travel or swivel in an oblique direction with fewer operations than in the case where the suction leg 41 travels.
[0078]
10 is a plan view of the swing suction leg 90 shown in FIG. 8, and FIG. 11 is a side view of the swing suction leg 90 shown in FIG.
[0079]
The swing suction leg 90 has a configuration in which a swing drive mechanism 91 is connected to a hydraulic cylinder 50 that is a component of the suction leg 41. The turning drive mechanism 91 is attached to the repair inspection robot 28. The turning drive mechanism 91 has a configuration in which the convex portion of the frame 94 is fitted to a concave body 93 in which a motor 92 is disposed. The frame 94 is connected to the fixed side of the hydraulic cylinder 50 of the suction leg 41. A gear 95 is connected to the output shaft of the motor 92, and a gear 97 is rotatably supported by a support shaft 96 on the convex portion of the frame 94 so as to mesh with the gear 95.
[0080]
The turning drive mechanism 91 can turn the suction leg 41 by transmitting the rotational force of the motor 92 through the gear 97.
[0081]
8 and 9, if the swivel suction leg 90 is provided on the wire 32 connection side of the longitudinal side surface of the body 40 of the repair inspection robot 28, the diagonal direction can be performed with fewer operations than when the suction leg 41 is provided. If the swivel adsorption leg 90 is swung and moved to the wire 32 connection side and the wire 32 non-connection side of the repair inspection robot 28, the width of the repair inspection robot 28 is reduced. be able to. For this reason, not only the accessibility of the narrow part is improved, but also the posture at the time of suction can be stabilized, and the state of the construction part can be inspected from a close distance and repair work can be performed.
[0082]
  The present inventionIn the repair inspection system for the structure surface according to the above, the repair inspection work is performed even on the outer surface of the structure to be repaired, specifically, the outer surface of the furnace structure, for example, the narrow side of the outer surface of the shroud where the jet pump is arranged. Since the repair inspection robot to be implemented can be moved along the surface of the structure to be repaired by the suction mechanism and the expansion / contraction mechanism, the repair inspection work of the structure to be repaired is possible.
[0083]
In addition, even if it is in a bent or narrow area that cannot be accessed directly by hanging the repair inspection robot by means of hanging means such as wires and ropes, it is limited to the movable range of the wires and ropes if it is in a liquid such as water. The surface of the structure to be repaired can be approached by the drain jet propulsion generated by the ejector built in the repair inspection robot.
[0084]
In addition, it is possible not only to turn on the wall surface while being attracted by the swivel suction leg of the repair inspection robot, but also to travel with less motion by arbitrarily swiveling the suction leg.
[0085]
In addition, the suction leg of the repair inspection robot can check and adjust the amount of operation on the control panel by means of a linear gauge provided in the hydraulic cylinder, and the suction timing can be controlled by a timing generation function such as a programmable controller. . In addition, the repair inspection robot is provided with an inclination angle detector for detecting the posture, and the amount of inclination can be converted into a voltage. Arbitrary positioning accuracy is improved by controlling this output to a constant value. Furthermore, if the swing suction leg having the swing axis is controlled, the posture of the repair inspection robot can be quickly controlled.
[0086]
In addition, the self-propelled support device runs together with the repair inspection robot and keeps it stationary on the surface of the structure, so that even if the repair inspection robot moves down from the structure surface while moving, the hoist and fall prevention device Can be stopped instantaneously. Further, even if it enters the narrow part, it can be recovered. Since the self-propelled support device has excellent startability and functions as a support machine, the startability of the repair inspection robot is improved.
[0087]
  Self-propelled support deviceSince the wire, cable and hose drawn out from the wire do not loosen with a constant tension, they can stably run without interfering with the repair target or other structures. For this reason, the accessibility to the narrow portion is improved, and it becomes possible to perform the repair inspection work by driving only the inspection means such as the underwater camera and the repair means such as the laser welding machine mounted on the repair inspection robot. This also leads to a reduction in work time.
[0088]
  In addition, since the equipment is equipped with inspection means such as a TV camera, visual confirmation of the construction part can be performed in the work area from a short distance, so whether or not repair work is necessary before and after repair such as laser welding. A decision can be made. For this reason, the construction period can be shortened.When the work time is shortened, the work time of workers is shortened in work such as in a nuclear reactor where electromagnetic waves are generated, leading to a reduction in exposure.
[0089]
【The invention's effect】
  In the repair inspection system for the structure surface according to the present invention,Even on the outer surface of the structure to be repaired, specifically the outer surface of the furnace structure, for example, a narrow place on the outer peripheral surface side of the shroud where the jet pump is installed, the work robot that performs the repair inspection work is routed via a rope above it. It is possible to move along the surface of the structure to be repaired by the support device that can be moved, so that the repair inspection work of the structure to be repaired is possible, and the rope fed out from the support device is loosened with a constant tension Because there is no interference, it can be stably run without interfering with the repair target or other structures, and the repair inspection work is performed by smoothly accessing the bent and narrow parts that cannot be accessed directly by simply hanging the work robot with a rope. be able to.
[Brief description of the drawings]
FIG. 1 is a configuration diagram showing an embodiment of a structure surface repair inspection system according to the present invention.
FIG. 2 is a plan view showing a configuration of the self-propelled support device and the repair inspection robot shown in FIG.
3 is a side view of the repair inspection robot shown in FIG. 2. FIG.
FIG. 4 is a plan view of a suction leg provided in a repair inspection robot.
FIG. 5 is a cross-sectional view of the suction leg shown in FIG. 4;
6 is a plan view of the self-propelled support apparatus shown in FIG.
7 is a side view of the self-propelled support apparatus shown in FIG.
FIG. 8 is a plan view showing a modification of the self-propelled support device and the repair inspection robot.
9 is a side view of the repair inspection robot of FIG. 8. FIG.
10 is a plan view of the swing suction leg shown in FIG. 8. FIG.
11 is a side view of the swivel suction leg shown in FIG.
FIG. 12 is a plan view showing a repair inspection apparatus that can move along the surface of a conventional structure.
13 is a cross-sectional view of a suction unit provided in a repair inspection apparatus that can move along the surface of the structure shown in FIG. 12;
[Explanation of symbols]
20 Repair inspection system for structure surface
21 Shroud
22 Operation floor
23 Control panel
24 Hydraulic pump
25 Tension type winding device
26 Hose and cable
27 Self-propelled support device
28 Repair inspection robot
29 Refueling machine
30 Hoist
31 Fall prevention device
32 wires
33 Reactor pressure vessel
34 Reactor water
35 Middle torso
36 Upper trunk
37 Annulus
38 Jet pump
40 body
41 Adsorption legs
42 Hanging ears
43 Inclination angle detector
44 Laser welding machine
45 Underwater camera
46 Remote Suspension
47 Actuating cylinder
50 Hydraulic cylinder
51 Suction mechanism
52 Actuating rod
53 Mounting bracket
54 Adsorption force adjustment mechanism
55 Suction pad
56 Ejector
57 Shroud outer surface
58 Negative pressure space
59 Actuating cylinder
60 rods
61 Shaft holder
62 Laura
63 Spindle
64 linear gauge
70 Adsorption force adjustment mechanism
71 Adsorption mechanism
72 Telescopic mechanism
73 Suction pad
74 Ejector
75 Mounting seat
76 Actuating cylinder
77 Spherical rod
78 Spindle
79 Bearing
80 Guide
81 frames
82 Spindle
83 Laura
90 Swivel suction legs
91 Swiveling drive mechanism
92 Motor
93 body
94 frames
95 gear
96 spindle
97 Gear

Claims (1)

A hoist installed above the structure to be inspected, a work robot connected to the lower part of the rope driven up and down by the hoist, and a movable support device for guiding the rope above the work robot; Have
The work robot and the support device each include a plurality of suction legs that are attracted to the surface of the structure, an operation cylinder that drives the suction legs to extend and contract, and a suction pad that constitutes the suction legs. A roller which is provided on the surface so as to be able to advance and retreat, and reduces the suction force of the suction legs so that it can run;
The support apparatus includes a guide for guiding the rope that drives the work robot up and down, and the work robot includes inspection means .

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