JP4114394B2 - Flange position measurement system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a flange position measurement system.
[0002]
[Prior art]
FIG. 6 shows a procedure of an example of a conventional connecting pipe manufacturing method. This procedure is intended for a plant that handles high-level radioactive liquid waste before starting operation (during construction).
[0003]
This plant has a processing section (high radiation area) 1 having an airtight structure, and a vitrification process for radioactive waste liquid that is installed inside the processing section 1 and that accompanies reprocessing of spent fuel. The melting furnace 2A is provided, and the end of the pipe 3 penetrating the side wall portion of the processing section 1 is connected to the upper part of the melting furnace 2A via a connecting pipe 4A.
[0004]
The connecting pipe 4A includes a first connecting flange 6A to be fastened to the flange 5 of the pipe 3, a second connecting flange 8A to be fastened to the flange 7A of the melting furnace 2A, and these connecting flanges 6A and 8A. It is comprised with 9 A of piping interposed in between.
[0005]
For manufacturing the connecting tube 4A, a mold taking jig 10A and a mold copying jig 11A are used.
[0006]
As shown in FIG. 7, the mold taking jig 10A is interposed between the flange 12A that can be fastened to the flange 5 on the pipe 3 side, the flange 13A that can be fastened to the flange 7A on the melting furnace 2A side, and both the flanges 12A and 13A. The connecting members 14A and 15A, the spherical joint 16A that pivotally attaches one end of the connecting member 14A to the flange 12A, the spherical joint 17A that pivotally attaches one end of the connecting member 15A to the flange 13A, and the other ends of the connecting members 14A and 15A The spherical joint 18A is pivotally connected to each other, and the spherical joints 16A, 17A, 18A are constituted by restraining means (not shown) for fixing the movement of the joints.
[0007]
The mold copying jig 11A is fixed to the gantry 19A and supported so that the flange 12A of the mold taking jig 10A can be fastened, and the position can be adjusted with respect to the gantry 19A, and the flange 13A of the mold taking jig 10A is supported by the flange 13A. It is comprised by the flange 21A which can be fastened.
[0008]
When the connecting pipe 4A is manufactured, after the flange 12A of the mold taking jig 10A is fastened to the flange 5 on the pipe 3 side, the flange 12A, the connecting members 14A, 15A, and the flange 13A are connected by the spherical joints 16A, 17A, and 18A. Are appropriately adjusted, and the flange 13A is fastened to the flange 7A on the melting furnace 2A side.
[0009]
Next, the movement of each spherical joint 16A, 17A, 18A is fixed by the restraining means, and the fastening between the flanges 5, 7A and the flanges 12A, 13A is released.
[0010]
Prior to the start of plant operation, the atmosphere inside the processing section 1 is the same as in the atmosphere. Therefore, the operator can enter and leave the processing section 1 to attach and detach the molding jig 10A to the piping 3 and the melting furnace 2A. .
[0011]
Furthermore, after the mold taking jig 10A is carried out of the processing section 1 and the flange 12A is fastened to the flange 20A of the copying jig 11A, the position and posture of the flange 21A are adjusted as appropriate, and the flange 21A is taken up. Fastened to the flange 13A of the jig 10A.
[0012]
Next, the flange 21A is fixed to the mount 19A, and the fastening of the flanges 20A, 21A and the flanges 12A, 13A is released.
[0013]
As a result, the relative positional relationship between the flanges 5 and 7A is reproduced in the flanges 20A and 21A.
[0014]
Then, after the connecting flanges 6A and 8A are fastened to the flanges 20A and 21A of the copying tool 11A, one end portion is directly opposed to the connecting flange 6A and the other end portion is processed to a shape facing the connecting flange 8A. The connecting pipe 4A is formed by fixing the connecting flanges 6A and 8A to the end portions of the pipe 9A.
[0015]
Further, by releasing the fastening of the connecting flanges 6A and 8A to the flanges 20A and 21A, the connecting pipe 4A is carried into the processing section 1, and the connecting flanges 6A and 8A are fastened to the flanges 5 and 7A. The pipe 3 and the melting furnace 2A are connected by a connecting pipe 4A.
[0016]
At least one of the mold taking jig 10A and the mold copying jig 11A is stored while maintaining the above-described state, and the jig 10A, 11A is replaced when the connection pipe 4A needs to be replaced after the start of plant operation. The connecting pipe 4A can be newly made by using it.
[0017]
In addition, since the radiation level inside the processing section 1 becomes high after the start of the plant operation, the worker cannot enter, so the replacement operation of the connecting pipe 4A thereafter is performed by the manipulator of the robot provided in the processing section 1. 22 will be used.
[0018]
FIG. 8 shows a procedure of another example of a conventional connecting pipe manufacturing method, which is intended for a plant that handles high-level radioactive liquid waste after starting operation, and is the same as FIG. 6 in the figure. The part which attached | subjected the code | symbol represents the same thing.
[0019]
When the connection pipe 4A (see FIG. 6) is replaced after the start of plant operation, the connection pipe 4A is newly made by the jigs 10A and 11A as described above. 6) is replaced with a new melting furnace 2B, the relative positional relationship between the existing flange 5 and the flange 7B of the melting furnace 2B is different from the relative positional relationship between the flange 5 and the flange 7A of the melting furnace 2A. Then, the pipe 3 and the melting furnace 2A cannot be connected by the connecting pipe 4A.
[0020]
Therefore, the connecting pipe 4B for connecting the pipe 3 and the flange 7B of the melting furnace 2B is newly manufactured by grasping the positional relationship between the flange 5 and the flange 7B.
[0021]
The connecting pipe 4B includes a first connecting flange 6B to be fastened to the flange 5 of the pipe 3, a second connecting flange 8B to be fastened to the flange 7B of the melting furnace 2B, and these connecting flanges 6B and 8B. It is comprised with the piping 9B interposed in between.
[0022]
In order to manufacture the connecting tube 4B, a mold-taking jig 10B and a copying tool 11B are used separately from the jigs 10A and 11A.
[0023]
The mold taking jig 10B is configured in the same manner as the mold taking jig 10A by a flange 12B that can be fastened to the flange 5, a flange 13B that can be fastened to the flange 7B, a connecting member, a spherical joint, and a restraining means.
[0024]
The pattern copying jig 11B is configured in the same manner as the pattern copying jig 11A by a gantry 19B and flanges 20B and 21B.
[0025]
When the connecting pipe 4B is manufactured, after the flange 12A of the molding jig 10A is fastened to the flange 5 on the pipe 3 side, the flange 12A and the connecting member 14A are connected by the spherical joints 16A, 17A, and 18A shown in FIG. 15A and the flange 13A are appropriately adjusted, and the flange 13A is fastened to the flange 7B on the melting furnace 2B side.
[0026]
Next, the movement of each spherical joint 16A, 17A, 18A is fixed by the restraining means, and the fastening between the flanges 5, 7A and the flanges 12A, 13A is released.
[0027]
Since the radiation level inside the processing section 1 is high and the worker cannot enter the mold taking jig 10A, the robot manipulator 22 is remotely operated from the outside of the processing section 1.
[0028]
Further, the mold taking jig 10A is carried into the decontamination section, the amount of radiation is confirmed, and decontamination is performed as necessary, and then transferred to the equipment repair room 25.
[0029]
Here, after the flange 12A is fastened to the flange 20A of the copying tool 11A, the position and posture of the flange 21A are adjusted as appropriate, and the flange 21A is fastened to the flange 13A of the mold taking jig 10A.
[0030]
Next, the flange 21A is fixed to the mount 19A, and the fastening of the flanges 20A, 21A and the flanges 12A, 13A is released.
[0031]
As a result, the relative positional relationship between the flanges 5 and 7A is reproduced in the flanges 20A and 21A.
[0032]
The operator 24 attaches and detaches the mold taking jig 10A.
[0033]
Thereafter, the flange 12B of the mold taking jig 10B is fastened to the flange 20A of the mold copying jig 11A, the relative positions of the flanges 12B and 13B are adjusted, and the flange 13B is attached to the flange 21A of the mold copying jig 11A. Conclude.
[0034]
Next, the movement of each spherical joint is fixed by the restraining means, and the fastening between the flanges 20A and 21A and the flanges 12B and 13B is released.
[0035]
The operator 26 attaches and detaches the mold taking jig 10B.
[0036]
Further, after the mold taking jig 10B is carried out of the equipment repair room 25 and the flange 12B is fastened to the flange 20B of the copying tool 11B, the position and posture of the flange 21B are adjusted as appropriate, and the flange 21B is made into a mold. Fasten to the flange 13B of the take-up jig 10B.
[0037]
Next, the flange 21B is fixed to the mount 19B, and the fastening between the flanges 20B and 21B and the flanges 12B and 13B is released.
[0038]
Thereby, the relative positional relationship of the flanges 5 and 7B is reproduced in the flanges 20B and 21B.
[0039]
Then, after the connection flanges 6B and 8B are fastened to the flanges 20B and 21B of the copying tool 11B, the one end portion is directly opposed to the connection flange 6B and the other end portion is processed to a shape opposite to the connection flange 8B. The connecting pipe 4B is formed by fixing the connecting flanges 6B and 8B to the end portions of the pipe 9B.
[0040]
Further, the fastening of the connecting flanges 6B and 8B to the flanges 20B and 21B is released, the connecting pipe 4B is carried into the processing section 1, and the connecting flanges 6B and 8B are changed to the flanges 5 and 7B using the manipulator 22. The pipe 3 and the melting furnace 2B are connected by the connecting pipe 4B.
[0041]
The mold copying jig 11B is stored while maintaining the above-described state so that the connection pipe 4B can be newly manufactured when the connection pipe 4B needs to be replaced.
[0042]
[Problems to be solved by the invention]
However, in order to newly manufacture the connecting pipe 4B by the procedure as shown in FIG. 8, the flanges 12A, 12B, 13A, 13B of the mold taking jigs 10A, 10B and the flanges 20A, 20B of the copying jig 11A are used. In order to set the position, an advanced manipulator 22 operation technique is required, and in the radiation management area such as the equipment repair room 25, the entry time is limited, so that efficient work cannot be performed.
[0043]
Further, the mold-taking jigs 10A and 10B and the copying jig 11A used in an atmosphere with a high radiation level must be handled as radioactive waste, resulting in an increase in radioactive waste.
[0044]
The present invention has been made in view of the above-described circumstances, and an object thereof is to make it possible to easily grasp the relative positions of an existing flange and a new flange without using a large jig.
[0045]
[Means for Solving the Problems]
In order to achieve the above object, in the flange position measurement system of the present invention, three or more existing flanges and new flanges are prepared, and a measurement target that can be attached to these flanges, and a television for photographing both flanges are provided. Data having a camera, a function of digitally converting image data obtained by the television camera, and a function of calculating the relative coordinates of both flanges numerically by calculating individual coordinates of the measurement target from the image data An engaging portion that has a reflector on one end surface and is gripped by the robot, and is connected to the other end surface of the engaging portion coaxially with the reflector and is larger than the inner diameter of the bolt bolt hole of the flange. An insertion portion having a small outer diameter, a guide portion that is continuous with the insertion portion, gradually decreases in outer diameter toward the tip, and can be inserted into the bolt bolt hole; It constitutes a measurement target by an annular body having a possible elasticity inscribed Shi fitted and the bolt hole entire periphery of each flange groove extending in the formed circumferentially on the outer surface of the fitting portion of the.
[0046]
In the flange position measurement system of the present invention, three or more measurement targets are mounted on existing flanges and new flanges, respectively, and these flanges are photographed with a television camera, and image data obtained with the television camera by a data processing device. Is converted digitally, and the relative positional relationship between the existing flange and the new flange is obtained numerically from the coordinates of the individual measurement targets, and the first flange to be fixed to one end of the pipe so as to correspond to the existing flange. The position and the position of the second flange to be fixed to the other end of the pipe so as to correspond to the new flange are determined.
[0047]
Further, the annular body inscribed in the bolt hole of the flange whose position is to be grasped causes the axis of the fitting portion to coincide with the axis of the bolt hole, and the reflector is positioned on the axis of the bolt hole.
[0048]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0049]
FIG. 1 shows a procedure of a connecting pipe manufacturing method to which an example of an embodiment of a flange position measuring system of the present invention is applied. The procedure is intended for a plant that handles high-level radioactive waste liquid after starting operation, In the figure, the same reference numerals as those in FIG. 8 represent the same items.
[0050]
The flange position measurement system is attached to the same robot as the manipulator 22 and the measurement target 27 prepared for each of the existing flange 5 on the pipe 3 side and the new flange 7B on the melting furnace 2B side. A television camera 28 for photographing the flanges 5 and 7B, a control unit 29 arranged outside the processing section 1, a data processing device 30 such as a personal computer, and a monitor 31 are provided.
[0051]
As shown in FIGS. 2 to 5, the measurement target 27 includes an engaging portion 33 provided with a reflector 32 on the upper surface of one end and held by the manipulator 22 (see FIG. 1), and other engaging portions 33. A fitting portion 35 that is coaxially connected to the reflector 32 on the end surface and has an outer diameter smaller than the inner diameter of the bolt hole 34 of each flange 5, 7 </ b> B, and an outer diameter that is continuous with the fitting portion 35 and gradually toward the tip. The guide portion 36 which can be reduced and inserted into the bolt holes 34 of the flanges 5 and 7B, and the circumferentially extending groove 37 formed on the outer surface of the insertion portion 35, and the bolt holes 34 of the flanges 5 and 7B are entirely fitted. It is comprised with the annular body 38 which has moderate elasticity like the O-ring etc. which can be inscribed in the circumference.
[0052]
On the outer surface of the engaging portion 33, two flat and parallel holding surfaces 39 are formed so that the engaging portion 33 can be held in a stable state by the manipulator 22.
[0053]
A groove 40 extending in the circumferential direction is formed at a position adjacent to the engaging portion 33 of the fitting portion 35, and when the annular body 38 is inscribed in the bolt hole 34, The other end surface is in close contact with the connection ends of the flanges 5 and 7B.
[0054]
The television camera 28 uses equipment of high-vision (high-definition television / number of scanning lines 1125, screen aspect ratio 9:16, number of pixels 1920 × 1080).
[0055]
The control unit 29 is configured to transmit a command signal to the television camera 28 and obtain an image data signal output from the television camera 28.
[0056]
The data processing device 30 includes a digital image acquisition board for digitally converting the image data signal of the television camera 28 obtained from the control unit 29, and a measurement inserted into the bolt holes 34 of the flanges 5 and 7B based on the digitally converted image data signal. And measurement software for calculating the individual coordinates of the target 27 and numerically calculating the relative positional relationship between the flanges 5 and 7B.
[0057]
The monitor 31 is configured to display an image based on the image data signal of the television camera 28.
[0058]
When manufacturing the connecting pipe 4B, the gripping surface 39 formed on the engaging portion 33 is gripped by the manipulator 22, and the measurement target 27 is inserted into each of the bolt holes 34 of the flanges 5 and 7B.
[0059]
As a result, the annular body 38 is inscribed in the bolt hole 34 and the engaging portion 33 is brought into close contact with the connection ends of the flanges 5 and 7B, the axis of the fitting portion 35 coincides with the axis of the bolt hole 34, and the bolt hole 34 Thus, the reflector 32 is positioned on the axis.
[0060]
In addition, since the guide portion 36 has a tapered shape in which the outer diameter gradually decreases toward the tip, the measurement target 27 can be inserted into the bolt hole 34 with the manipulator 22 relatively easily.
[0061]
Next, the control unit 29 is operated to photograph both the flanges 5 and 7B with the television camera 28.
[0062]
At this time, the aperture of the television camera 28 is set so that the aperture is minimized, and light is emitted from the illumination device (not shown) toward the measurement target 27, and the television camera 28 causes the reflector 32 to be irradiated. Enable shooting with high contrast.
[0063]
An image data signal obtained by the television camera 28 is sent to the data processing device 30 through the control unit 29.
[0064]
The data processing device 30 digitally converts the image data signal described above using a digital image acquisition boat, calculates the individual coordinates of the reflector 32 of the measurement target 27 using measurement software, and both flanges 5 and 7B. The relative positional relationship of is obtained.
[0065]
Techniques for measuring the center coordinates of the reflector 32 of the measurement target 27 from the image data are described in the IEICE Transactions Journal, September 1999 issue P1391 to 1400, and the IEICE Transactions Issue 2001 July issue, issue P1299 to 1309. Are listed.
[0066]
Then, the position and orientation of the flange 21A are adjusted as appropriate so that this positional relationship is reproduced on both flanges 20A and 21A of the copying jig 11A, and the connecting flanges 6B and 8B are connected to the copying jig 11A. Fasten to flanges 20A and 21A.
[0067]
Further, the connecting pipes 4B are fixed by fixing the connecting flanges 6B and 8B to the respective end portions of the pipe 9B which has been processed so that one end faces the connecting flange 6B and the other end faces the connecting flange 8B. To form.
[0068]
Thereafter, the measurement target 27 is pulled out from the bolt holes 34 of the flanges 5 and 7B by the manipulator 22.
[0069]
Further, the fastening of the connecting flanges 6B and 8B to the flanges 20A and 21A is released, the connecting pipe 4B is carried into the processing section 1, and the connecting flanges 6B and 8B are changed to the flanges 5 and 7B using the manipulator 22. The pipe 3 and the melting furnace 2B are connected by the connecting pipe 4B.
[0070]
The mold copying jig 11A may be stored as it is and used when the connection pipe 4B needs to be replaced. However, if the measurement data of the relative positions of the flanges 5 and 7B is recorded, It is easy to make a new connecting pipe 4B based on the data.
[0071]
On the other hand, since the relative positional relationship between the flanges 5 and 7B can be easily grasped as described above, the relative positional relationship between the flanges 5 and 7B is numerically determined again when the connection pipe 4B is newly manufactured. If it grasps | ascertains, the connection pipe 4B can be manufactured in the optimal state according to the present condition of both the flanges 5 and 7B.
[0072]
As described above, in the connecting pipe manufacturing method shown in FIG. 1, three or more measurement targets 27 are attached to each of the flanges 5 and 7B, both the flanges 5 and 7B are photographed by the television camera 28, and the data processing device 30 is used. Thus, the image data signal obtained from the TV camera 28 is digitally converted, and the relative positional relationship between the flanges 5 and 7B is obtained numerically based on the coordinates of the reflector 32 of each measurement target 27. The relative position of the flanges 5 and 7B can be easily grasped by the jig.
[0073]
Further, there is no jig to be taken in and out of the processing section 1, the shape of the measurement target 27 is small, and even if these are left inside the processing section 1 after measuring the positions of the flanges 5 and 7B, the operation of the melting furnace 2B is significantly affected. Therefore, radioactive waste can be reduced.
[0074]
It should be noted that the flange position measuring system of the present invention is not limited to the above-described embodiment, and it is needless to say that changes can be made without departing from the gist of the present invention.
[0075]
【The invention's effect】
As described above, according to the flange position measurement system of the present invention, the following various excellent effects can be obtained.
[0076]
(1) In the flange position measurement system of the present invention, three or more measurement targets are attached to existing flanges and new flanges, and these flanges are photographed with a television camera, and obtained with a television camera by a data processing device. Image data is digitally converted, and the relative positional relationship between both flanges is obtained numerically from the coordinates of the individual measurement targets, so the relative position of both flanges can be determined without attaching or removing large jigs to both flanges. It can be easily grasped.
[0077]
(2) Since it is not necessary to attach and remove large jigs to both flanges, the amount of radioactive waste generated due to position measurement can be reduced when the position measurement target flange is in the radiation control area. .
[0078]
(3) Also, because the annular body inscribed in the bolt hole of the flange whose position should be grasped, both the axis of the fitting portion and the bolt hole coincide with each other, and the reflector is positioned on the axis of the bolt hole. It can be done accurately.
[Brief description of the drawings]
FIG. 1 is a conceptual diagram showing a procedure of a connecting pipe manufacturing method to which an example of an embodiment of a flange position measuring system of the present invention is applied.
FIG. 2 is a detailed view of a measurement target related to FIG. 1;
3 is a view taken in the direction of arrows III-III in FIG. 2;
4 is a view taken along arrow IV-IV in FIG. 2;
5 is a VV arrow view of FIG.
FIG. 6 is a conceptual diagram showing a procedure of an example of a conventional connecting pipe manufacturing method.
FIG. 7 is a conceptual diagram of a mold taking jig related to FIG. 6;
FIG. 8 is a conceptual diagram showing a procedure of another example of a conventional connecting pipe manufacturing method.
[Explanation of symbols]
4B Connecting pipe 5 Flange (existing flange)
6B Connecting flange (first connecting flange)
7B Flange (new flange)
8B Flange for connection (second flange for connection)
9B Piping 22 Manipulator (Robot)
27 Measurement Target 28 TV Camera 30 Data Processing Device 32 Reflector 33 Engagement Part 34 Bolt Hole 35 Insertion Part 36 Guide Part 38 Ring

Claims (1)

3 or more for each of the existing flange and the new flange, and a measurement target that can be mounted on these flanges, a TV camera that captures both flanges, and a function that digitally converts image data obtained by the TV camera, And a data processing device having a function of calculating the individual coordinates of the measurement target from the image data and numerically determining the relative positional relationship between the two flanges, having a reflector on one end surface, and a robot. An engaging part to be gripped, an insertion part connected to the other end surface of the engaging part coaxially with the reflector and having an outer diameter smaller than the inner diameter of the bolt hole of the flange, and connected to the insertion part and toward the tip. The outer diameter is gradually reduced and the guide portion is insertable into the bolt hole of the flange, and the flange is formed in the circumferentially extending groove formed on the outer surface of the insertion portion and each flange. Flange position measuring system characterized by being configured the measurement target by an annular body having a possible elasticity inscribed bolt holes all around.

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