JP5055855B2 - Underwater moving device - Google Patents

Description

  The technical field of the present invention relates to an underwater vehicle that travels while adsorbing to a surface of a structure underwater.

  Conventionally, when inspecting a structure surface (also referred to as an inspection surface, a moving target surface or a traveling surface) submerged in water of a nuclear reactor plant using an ultrasonic sensor of an ultrasonic inspection apparatus, An ultrasonic sensor is mounted on a traveling body that travels on wheels with the inspection surface as a traveling surface, and the traveling body is traveled to perform ultrasonic flaw detection at the traveling destination.

  Conventionally, since the traveling surface may be a vertical surface, a configuration is provided in which the traveling body is not attracted to the traveling surface and dropped. The configuration generally includes a water flow sealing structure, which is a flexible skirt, and a thruster unit for draining water inside the skirt, and the inside of the skirt faces outward by the draining action of the thruster unit. In comparison, the negative pressure was maintained, and the vehicle was running with wheels while adsorbing the running body on the running surface (see, for example, Patent Documents 1 and 2).

Japanese Patent No. 3648804 Japanese Patent No. 3453484

  As described above, an underwater moving body that travels while adsorbing to the surface of an underwater structure is provided with a water flow sealing structure such as a skirt. As the material of the water flow sealing structure, (1) rubber material, (2) vinyl material, and (3) polyester resin material are used, and they are often used in a skirt shape.

However, the water flow sealing structure using the above water flow sealing structure has the following problems.
(1) It is necessary to provide as a structure a flare portion that arranges the water flow sealing structure material facing outward, and the sensor of the inspection device is attached to the underwater mobile device access or the underwater mobile device corresponding to the amount protruding outward In some cases, the flaw detection range by the sensor is limited. (2) When the tip of the water flow sealing structure is attracted to the surface to be moved and moved, the tip of the water flow sealing structure is caught by slight irregularities. The traveling of the traveling body is hindered. (3) The water flow sealing structure spreads from the traveling body, and the passability and accessibility of the narrow portion are deteriorated. (4) Since the adsorption force to the moving target surface varies depending on the familiar shape of the water flow sealing structure, it is difficult to obtain the stability of the adsorption force.

  When such a plurality of problems occur, it becomes difficult for the underwater moving device to smoothly travel while adsorbing to the surface of the structure, and the traveling range is limited by the spread of the skirt.

  Therefore, the main object of the present invention is to bring smooth running to the underwater moving device. Furthermore, an object of the present invention is to achieve and achieve as much as possible that the traveling range of the underwater moving device is limited by the water flow sealing structure together with the main object.

  Means for achieving the main object of the present invention includes: a traveling body that travels in water; a skirt that is provided between the traveling body and a traveling surface on which the traveling body travels; An underwater moving apparatus comprising: a thruster unit that makes negative pressure on the inner side of the skirt compared to the outer side; and a traveling unit that is mounted on the traveling body and that travels the traveling body. It is an underwater movement device characterized by comprising material.

  In the present invention, since a water flow sealing structure using a spongy material is adopted for the skirt of the underwater transfer device, it is possible to secure the adsorption stability to the moving target surface, which has been considered difficult in the past, and the running stability of the moving target surface. Can be ensured, and flexible followability to the surface unevenness of the moving target can be ensured, and smooth running of the underwater moving device can be achieved.

  The inventor has devised the following structure in order to solve the above problems. In the underwater mobile device, a spongy material is used for the water flow sealing structure. The water flow sealing structure is a structure located between the underwater moving device and the moving target surface. The water flow sealing structure is attached to the surface of the underwater moving device facing the surface to be moved so as not to protrude from the other outer peripheral surface of the underwater moving device.

  In order to efficiently generate the adsorption force due to the drainage action by the thruster unit, it is appropriate that the water flow sealing structure has high airtightness. Therefore, a sponge-like material (also called sponge) that can reduce the gap between the moving target surface is appropriate. Is used for water flow sealing structure.

  The sponge-like material is stretchable and can be sufficiently deformed following the unevenness of the surface to be moved. Moreover, the water flow sealing structure composed of a sponge-like material does not spread outside the underwater moving device from the initial installation. Moreover, the shape recoverability is high, and the temporal change and deterioration of the water flow sealing structure performance can be almost ignored.

  From these, (1) expansion of the access and flaw detection range of the underwater mobile device, (2) installation of the underwater mobile device avoiding obstacles near the site to be inspected, and (3) in-reactor inspection of the nuclear power plant (4) Ensuring the stability of adsorption to the moving target surface and (5) Improving the running performance of the moving target surface.

  Therefore, by adopting a water flow sealing structure using a spongy material for the underwater moving body, in the underwater moving device, securing adsorption stability to the moving target surface, which has been considered difficult in the past, and traveling on the moving target surface There is an effect of ensuring stability.

  Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an overall view of the underwater moving device 1. The underwater moving device 1 includes a rectangular box-shaped frame as a traveling body 20. As shown in FIG. 1, the traveling body is equipped with two cylindrical holes penetrating from the abdominal surface to the back surface as drain ports 21. Similarly, a rectangular cylindrical hole is provided as a water inlet 14 penetrating from the ventral surface to the dorsal surface. The abdomen side surface of the traveling body 20 is the surface of the traveling body 20 facing the movement target surface 10, and the back surface refers to the surface of the traveling body 20 on the opposite side to the abdomen side surface. Yes.

  Inside the traveling body 20, a traveling unit and a thruster unit are provided. The thruster unit includes a thruster fan 3 that is rotatably mounted on the traveling body 20 and disposed inside the drain port 21, and a geared motor that is provided on the traveling body 20 and serves as a drive mechanism that rotationally drives the thruster fan 3. The geared motor 9 is connected to the thruster fan 3 with a gear so that the thruster fan 3 can be driven to rotate.

  The drain port 21 and the thruster fan 3 are arranged close to one side of the traveling body 20 in the forward / backward direction, and are arranged as far as possible from the water intake port 14.

  The traveling unit includes a traveling wheel as a driving wheel rotatably mounted on the traveling body 20, a ball caster 12 as a driven wheel rotatably mounted on the traveling body 20, and a driving mechanism mounted on the traveling body 20. The geared motor 13 is connected to each traveling wheel 4 by a gear so that each traveling wheel 4 can be rotationally driven.

  The traveling wheel 4 is disposed so as to be as close as possible to the drain port 21 and the thruster fan 3, and the ball caster 12 is disposed so as to be close to the water suction port 14 side.

  The water flow sealing structure 2 is attached to the ventral surface of the traveling body 20 as a skirt along the edge of the surface as shown in FIG. The watertight structure 2 is bonded and fixed to one side of the support bracket 15 having an L-shaped cross section with an adhesive or the like, and the support bracket 15 is mechanically attached to or detached from the traveling body 20 with a screw or the like on the other side. It is fixed freely.

  The transverse cross section of the water flow sealing structure 2 may have any of the cross sectional shapes shown in FIG. 3, but in the example of FIG. 1, the transverse cross section is a rectangular shape, and in the example of FIG. It is set as the cross-sectional shape which becomes narrow as it approaches a running surface from this surface. The material of the water flow sealing structure 2 is a sponge-like material, and what is called a sponge is used. As an example of the sponge, a synthetic sponge made by foaming a plastic such as polyurethane can be used. As the sponge, a rubber sponge produced by kneading a foaming agent or a softening material into rubber and vulcanizing it may be used.

  A work tool 5 corresponding to the work purpose is fixedly installed on the end surface of the traveling body 20 near the water inlet 14 side. For example, when it is desired to use the underwater mobile device 1 for non-destructive inspection work, the work tool 5 includes a scanner 6 as a mechanical scanning device mounted on the end surface of the traveling body 20, and the scanner 6 along the end surface. A probe 22 that is linearly reciprocally driven, and an ultrasonic sensor 7 and an eddy current sensor 8 that are mounted on the probe 22 in an arrangement in which the moving target surface 10 is an inspection target surface can be used. .

  The ultrasonic sensor 7 is an ultrasonic sensor of an ultrasonic inspection apparatus, and is used by being connected to the ultrasonic inspection apparatus. The eddy current sensor 8 is an ultrasonic sensor of an eddy current inspection device, and is used by being connected to the eddy current inspection device. Both the ultrasonic inspection device and the eddy current inspection device are non-destructive inspection devices.

  In the embodiment having such a configuration, the underwater moving device 1 is introduced below the surface of the reactor pressure vessel and is adsorbed on the surface of the structure in the reactor pressure vessel, that is, the moving target surface 10. At the time of the adsorption, the thruster fan 3 is rotated by the geared motor 9 so that the area between the underwater moving device 1 surrounded by the water flow sealing structure 2 and the moving target surface 10 (referred to as the inside of the skirt or the flow path 11). .) Is drained to the outside of the underwater mobile device 1.

  In this way, a negative pressure state occurs in which the pressure inside the flow path 11 becomes lower than the pressure outside the underwater mobile device 1. As a result, an attracting force is generated between the underwater moving device 1 and the movement target surface 10. The two traveling wheels 4 and the ball caster 12 that support the underwater moving device 1 are pressed against the moving target surface 10 by this suction force.

After the underwater moving device 1 is attracted to the movement target surface 10, the two traveling wheels 4 are rotated by the geared motor 13. Depending on the rotation direction, the underwater moving device 1 travels to the left or right in FIG.

  Even during the traveling, the thruster fan 3 is driven to rotate, and the adsorption action of the underwater moving device 1 to the moving target surface 10 is continued. The flow of water during the adsorption action is indicated by arrows in FIG. As indicated by the arrows, water outside the underwater moving device 1 is sucked from the water inlet 14 and flows through the flow path 11, and is discharged to the outside of the underwater moving device 1 by the thruster fan 3.

  When the underwater moving device 1 is adsorbed to the movement target surface 10, the water flow sealing structure 2 is composed of a spongy material, and therefore the water flow sealing structure 2 is connected to the underwater movement device 1 and the movement target surface. 10 and is elastically deformed moderately to follow the movement target surface 10. As a result, the airtightness between the water flow sealing structure 2 and the movement target surface 10 is increased, and a stable adsorption force is obtained.

  By adsorbing to the movement target surface 10 of the underwater moving device 1, the probe 22 is also in close contact with the movement target surface 10, and ultrasonic waves are transmitted to and received from the movement target surface 10 by the ultrasonic sensor 7 or by the eddy current sensor 8. An exciting action can be applied to the moving surface 10 or an eddy current can be detected. The results sensed by the ultrasonic sensor 7 and the eddy current sensor 8 are transmitted to the ultrasonic inspection apparatus and eddy current inspection apparatus and analyzed, and used for determining the presence or absence of a flaw.

  In the example of FIG. 1, the cross section of the water flow sealing structure 2 is rectangular, but the example of FIG. 2 shows an example of another cross section of the water flow sealing structure 2. The structure and function of the water flow sealing structure 2 having the cross-sectional shape of FIG. 2 will be described. The water flow sealing structure 2 is fixed to the support fitting 15 with an adhesive or a fixing thread, and the support fitting 15 is fixed to the underwater moving device 1 by screwing using a screw or the like. The cross-sectional shape of the water flow sealing structure 2 in the example of FIG. 2 is characterized by having a shape that becomes narrower and narrower as the moving target surface 10 is approached from the underwater moving device 1. With this shape, the followability to the movement target surface 10 is increased, and the airtightness of the flow path 11 is increased.

FIG. 3 shows an example of a cross section of the water flow sealing structure 2. In FIG. 3, (1) to (10) show various examples of cross sections of the water flow sealing structure 2. In the example of (1), the water flow sealing structure 2 has a rectangular cross section. In the example of (2), the water flow sealed structure 2 has a rectangular cross section and is hollow,
In the example of (3), the tip of the water flow sealing structure 2 is rounded, and in the example of (4), the tip is round and hollow.

  In the examples of (5) and (6), the cross-sectional shape of the water flow sealing structure 2 is wide on the underwater moving device 1 side, and has a cross-sectional shape that becomes narrower as it approaches the moving target surface 10 (away from the underwater moving device 1). In the example of (5), the inclination is in the inner direction, and in the example of (6), the inclination is in the outer direction.

In the examples of (7) and (8), the cross-sectional shape of the water flow sealing structure 2 is wide on the underwater moving device 1 side, and has a cross-sectional shape that becomes narrower as it approaches the moving target surface 10 (away from the underwater moving device 1). , There are vertical portions on both sides, and in the example of (7), the inclination is inward,
In the example (8), the inclination is the outward direction.

In the examples of (9) and (10), the cross-sectional shape of the water flow sealing structure 2 is wide on the underwater moving device 1 side, and has a cross-sectional shape that becomes narrower as it approaches the moving target surface 10 (away from the underwater moving device 1). , There are straight portions on both sides and the tip, and the example of (9) is inclined inward,
In the example of (10), the inclination is the outward direction.

  FIG. 4 shows another embodiment of the present invention. In this embodiment, the work tool 5 of the embodiment of FIG. 1 is removed from the traveling body 20 of the underwater moving device 1, and instead, the water flow sealing structure 2 arranged on one side of the underwater moving device 1 in the forward / backward direction. Are equipped with a plurality of eddy current sensors 8 in a staggered arrangement, and the other configuration and operation are the same as in the example of FIG.

  By installing the eddy current sensor 8 under the water flow sealing structure 2, it is possible to press the eddy current sensor 8 against the moving target surface 10 that is the inspection target surface by the adsorption force of the underwater moving device 1. An eddy current inspection device in which the movement target surface 10 and a crack existing inside the surface are detected and the shape of the crack is connected to the eddy current sensor 8 simply by the underwater movement device 1 traveling on the inspection target surface. Can be visualized.

  In the example of FIG. 4, since the eddy current sensors 8 can be widely distributed and arranged using the water flow sealing structure 2, it is not necessary to scan the eddy current sensors 8 in a direction orthogonal to the traveling direction of the underwater moving device 1. Thus, a wide range can be inspected quickly, and the underwater mobile device 1 can be reduced in weight and size because there is no work tool 5 including the scanner 6.

  FIG. 5 shows still another embodiment of the present invention. In this embodiment, the work tool 5 of the embodiment of FIG. 1 is removed from the traveling body 20 of the underwater moving device 1, and instead, the water flow sealing structure 2 arranged on one side of the underwater moving device 1 in the forward / backward direction. 1 is equipped with a plurality of ultrasonic sensors 7 of the ultrasonic inspection apparatus, and other configurations and operations are the same as those in the example of FIG.

  By installing the ultrasonic sensor 7 under the water flow sealing structure 2, it is possible to press the eddy current sensor 8 against the moving target surface 10 that is the inspection target surface by the adsorption force of the underwater moving device 1. The ultrasonic inspection apparatus in which the movement target surface 10 and a crack existing inside the surface are detected and the shape of the crack is connected to the ultrasonic sensor 7 simply by the underwater movement apparatus 1 traveling on the inspection target surface. Can be visualized.

  In addition, by adjusting the excitation timing of the plurality of ultrasonic sensors 7 and controlling the transmission direction and focus of the ultrasonic waves to the inside of the movement target surface 10, the inside of the inspection target can be obtained only by traveling on the movement target surface 10. It is possible to detect, visualize, and size the crack shape and crack depth.

  In the example of FIG. 5, since the ultrasonic sensors 7 can be widely distributed and arranged using the water flow sealing structure 2, it is not necessary to scan the ultrasonic sensors 7 in a direction orthogonal to the traveling direction of the underwater moving device 1. Thus, a wide range can be inspected quickly, and the underwater mobile device 1 can be reduced in weight and size because there is no work tool 5 including the scanner 6.

  FIG. 6 shows still another embodiment of the present invention. In this embodiment, the work tool 5 of the embodiment of FIG. 1 is removed from the traveling body 20 of the underwater moving device 1, and instead, the water flow sealing structure 2 provided in both the forward and backward direction of the underwater moving device 1. Are equipped with a plurality of eddy current sensors 8 in a staggered arrangement, and the other configuration and operation are the same as in the example of FIG.

  By installing the eddy current sensor 8 under each water flow sealing structure 2 in the traveling forward / backward direction, each eddy current sensor 8 in the traveling forward / backward direction is a moving object that is an inspection target surface by the adsorption force of the underwater moving device 1. It becomes possible to press against the surface 10 simultaneously. An eddy current inspection device in which the movement target surface 10 and a crack existing inside the surface are detected and the shape of the crack is connected to the eddy current sensor 8 simply by the underwater movement device 1 traveling on the inspection target surface. Can be visualized.

  In the example of FIG. 6, since the eddy current sensors 8 can be widely distributed and arranged using the water flow sealing structures 2 in the traveling forward and backward traveling directions, the eddy current sensors 8 are arranged in a direction orthogonal to the traveling direction of the underwater moving device 1. The underwater mobile device 1 can be reduced in weight and size by the absence of the work tool 5 including the scanner 6.

  Furthermore, if each eddy current sensor 8 in the traveling forward / backward direction is switched and connected to the eddy current inspection device, the eddy current sensor 8 is brought close to the corner inspection position without rotating the underwater mobile device 1 180 degrees. As a result, the flaw detection range is widened, eddy current inspection can be performed efficiently, and crack detection and shape imaging are possible.

  FIG. 7 shows still another embodiment of the present invention. In this embodiment, the work tool 5 of the embodiment of FIG. 1 is removed from the traveling body 20 of the underwater moving device 1, and instead, the water flow sealing structure 2 provided in both the forward and backward direction of the underwater moving device 1. 1 is equipped with a plurality of ultrasonic sensors 7 of the ultrasonic inspection apparatus, and other configurations and operations are the same as those in the example of FIG.

  By installing the ultrasonic sensor 7 under the water flow sealing structure 2, the eddy current sensor 8 in both the forward and backward directions is simultaneously pushed against the moving target surface 10 as the inspection target surface by the adsorption force of the underwater moving device 1. It is possible to hit. The ultrasonic inspection apparatus in which the movement target surface 10 and a crack existing inside the surface are detected and the shape of the crack is connected to the ultrasonic sensor 7 simply by the underwater movement apparatus 1 traveling on the inspection target surface. Can be visualized.

  In addition, by adjusting the excitation timing of the plurality of ultrasonic sensors 7 and controlling the transmission direction and focus of the ultrasonic waves to the inside of the movement target surface 10, the inside of the inspection target can be obtained only by traveling on the movement target surface 10. It is possible to detect, visualize, and size the crack shape and crack depth.

  In the example of FIG. 7, since the ultrasonic sensors 7 can be widely distributed and arranged using the water flow sealing structure 2, it is not necessary to scan the ultrasonic sensors 7 in a direction orthogonal to the traveling direction of the underwater moving device 1. Thus, a wide range can be inspected quickly, and the underwater mobile device 1 can be reduced in weight and size because there is no work tool 5 including the scanner 6.

  Furthermore, if each ultrasonic sensor 7 in the traveling forward / backward direction is switched and connected to the ultrasonic inspection apparatus, the ultrasonic sensor 7 is brought close to the corner inspection position without rotating the underwater movement apparatus 1 180 degrees. As a result, the flaw detection range is expanded and the ultrasonic inspection can be performed efficiently, and the detection of cracks and the visualization of the shape become possible.

  In each embodiment of the present invention, due to a water flow sealing structure using a sponge-like material, in an underwater mobile device, securing adsorption stability to a moving target surface, which has been conventionally difficult, and running stability of the moving target surface And the ability to ensure flexible follow-up to uneven surfaces to be moved.

The use of a sponge-like water flow sealing structure as the water flow sealing structure material also has the following effects.
(1) When the underwater moving device is adsorbed on the surface to be moved, the reaction force generated when the water flow sealing structure contracts can be reduced. As a result, the attracting force generated by the thruster can be efficiently applied to the traveling wheels, and the thruster, the motor, and the underwater moving device body can be downsized.
(2) Since the reaction force generated when the water flow sealing structure of (1) contracts can be reduced, the frictional force in the moving direction can be reduced. Thereby, the driving force in the moving direction can be reduced, and the driving power, the driving mechanism, and the underwater moving device main body can be reduced in size. In addition, since the absolute value of the change in the frictional force in the direction of movement caused by changes in the surface condition (changes in surface irregularities and friction coefficients) can be reduced, the running performance of the underwater vehicle is affected by changes in the surface condition (disturbances). It becomes difficult. That is, stable running / inspection is possible.

  The cross-sectional shape of the water flow sealing structure is wide on the underwater moving device side, and the water flow sealing structure shrinks by adopting a water flow sealing structure having a cross-sectional shape that becomes narrower as it approaches the moving target surface (away from the underwater moving device). By further reducing the reaction force generated by the above, the effect described above can be obtained more greatly.

  INDUSTRIAL APPLICATION This invention has a use application to the underwater movement apparatus used for the underwater work of a general industry, the work in a pool, and the in-reactor inspection of a nuclear power plant.

BRIEF DESCRIPTION OF THE DRAWINGS It is a general view in the state which provided the sensor for a test | inspection in the underwater movement apparatus of this invention, (A) A figure is the figure seen from the surface of the back side of an underwater movement apparatus, (B) figure is (A) figure It is the figure which looked at the underwater movement apparatus from the side. It is a cross-sectional view in an example of the water flow sealing structure by the Example of this invention. It is a cross-sectional view of each water flow sealing structure according to the present invention. It is the figure of the underwater movement apparatus by other Example of this invention, (A) figure is a side view, (B) figure is the figure seen from the surface on the ventral side. It is the figure of the underwater movement apparatus by further another Example of this invention, (A) figure is a side view, (B) figure is the figure seen from the surface on the ventral side. It is the figure of the underwater movement apparatus by further another Example of this invention, (A) figure is a side view, (B) figure is the figure seen from the surface on the ventral side. It is the figure of the underwater movement apparatus by further another Example of this invention, (A) figure is a side view, (B) figure is the figure seen from the surface on the ventral side.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Underwater moving device, 2 ... Water flow sealing structure, 3 ... Thruster fan, 4 ... Running wheel, 5 ... Working tool, 6 ... Scanner, 7 ... Ultrasonic sensor, 8 ... Eddy current sensor, 9, 13 ... With gear Motor 10, movement target surface 11, flow path, 12 ball caster, 14 water inlet, 15 support bracket, 20 traveling body, 21 drain port.

Claims (6)

A traveling body that travels underwater;
A skirt provided on the traveling body so as to be positioned between a traveling surface on which the traveling body travels;
A thruster unit, which is mounted on the traveling body and makes negative pressure compared to the outside of the skirt;
In the underwater movement apparatus equipped with the traveling body, the traveling unit that travels the traveling body,
The skirt is made of spongy material;
The skirt has a shape in which a cross-sectional shape of the skirt becomes narrower as it approaches the traveling surface from the traveling body, and the skirt excludes the surface of the traveling body from the surface of the traveling body facing the traveling surface. An underwater moving device, which is mounted so as not to protrude to the outside of the traveling body from other outer peripheral surfaces.   2. The underwater moving device according to claim 1, wherein a sensor of a nondestructive inspection device is mounted on a portion of the skirt that contacts the running surface.   The underwater moving device according to claim 2, wherein the sensor is an ultrasonic sensor or an eddy current sensor. The driving unit according to any one of claims 1 to 3, comprising: a driving wheel and a driven wheel provided in the traveling body; and a driving mechanism that drives the driving wheel.
The thruster unit includes a thruster fan rotatably mounted on the traveling body, and a drive mechanism that rotationally drives the thruster fan.
The driving wheel is disposed closer to the thruster fan than the driven wheel.   The underwater moving device according to any one of claims 1 to 4, wherein the traveling body includes a water supply port that sucks water from the outside inside the skirt.   6. The underwater moving device according to claim 5, wherein the water supply port is disposed close to one end of the traveling body, and the thruster fan is disposed close to the other end of the traveling body.

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