JP5507734B1 - Equipment holding device - Google Patents

Abstract

An apparatus is easily positioned and held by a human hand so as to face a target part of a workpiece.
A fixed support portion fixed to a workpiece, a peening head for performing shot peening processing on a work target portion of the workpiece, a proximal end portion connected to the fixed support portion, and a distal end portion The peening head is positioned at an arbitrary position in the space, and the posture of the peening head is operated by moving a number of joints K1 to K7 provided between the base end portion and the tip end portion. And a movable multi-joint type support frame 2 that adjusts the posture to be able to work with respect to the target location, and each joint is provided with a lock mechanism that can fix each joint at an arbitrary angular position. .
[Selection] Figure 1

Description

  The present invention relates to an apparatus holding apparatus that positions and holds an apparatus for processing or observing a work such as a vane of a turbine runner used in a hydroelectric power generation facility so as to face a target part of the work.

  Patent Document 1 discloses a tip tool guide device (device holding device) that guides a tip tool (device) for performing shot peening processing to a work target portion to be shot peened. This device is composed of a manipulator fixing portion and a manipulator, and fixes the manipulator fixing portion at an appropriate location near the work target location and operates the manipulator to guide the tip tool to the work target location.

JP 2007-181909 A

  By the way, the tip tool guide device described in Patent Document 1 guides the tip tool (apparatus) to a target part of a workpiece by a manipulator, and therefore can guide the tip tool to a necessary place almost without human power. However, due to the use of a manipulator, there was a problem that the mechanism was complicated and operation was difficult.

  The present invention has been made in view of the above-described circumstances, and with a simple configuration, the device can be easily positioned manually so as to face the target portion of the workpiece, and is locked in that state. Accordingly, an object of the present invention is to provide a device holding device that can position and hold a device with respect to a target part of a workpiece without supporting it manually.

The present invention employs the following means in order to solve the above problems.
That is, the apparatus holding apparatus according to the invention of claim 1 is an apparatus holding apparatus that positions and holds an apparatus for performing treatment or observation on a work used in a hydroelectric power generation facility so as to face a target portion of the work. The fixed support portion fixed to the workpiece, the base end portion is connected to the fixed support portion, and the distal end portion is connected to the device so that the fixed support portion and the device are connected. The device is positioned at an arbitrary position in the space by moving a number of joints interposed between the base end portion and the tip end portion, and the posture of the device is set to the target of the workpiece. A movable multi-joint type support frame that adjusts to a posture for performing treatment or observation on a part, and a lock mechanism that can fix each joint to an arbitrary angular position on each joint of the support frame Is provided And wherein the Rukoto.
Thus, after fixing the device holding device to the work with the fixing support part, the position of the device is determined manually, and then each joint is locked by the lock mechanism, so that any device can be used without holding the device manually. It can be supported and fixed in position and posture.

Further, in the device holding device according to the second aspect of the present invention, the support frame has a horizontally movable frame that moves its distal end in a horizontal direction relative to its own proximal end, and its own proximal end. A vertical movable frame that moves its tip in the vertical direction, and a turning mechanism having at least two orthogonal turning axes, and the horizontal direction moving frame, the vertical direction moving frame, and the turning mechanism Each movable portion is configured as a joint provided with the lock mechanism, the base end portion of the horizontal movable frame is connected to the fixed support portion, and the vertical movable frame is connected to the distal end portion of the horizontal movable frame. A base end portion is connected, a base of the turning mechanism is connected to a distal end portion of the vertical movable frame, and the device is attached to the turning portion of the turning mechanism; The vertical movable frame is constituted by a parallel link mechanism, and the vertical movable frame is provided with a gas spring for supporting a load acting on the distal end portion of the vertical movable frame at the base end portion with a damper effect. It is characterized by.
Thereby, the front-end | tip part of a perpendicular direction movable frame can be translated with respect to a base end part, and the base of the turning mechanism connected with the front-end | tip part of a perpendicular direction movable frame can be supported by a fixed attitude | position. In addition, when the device attached to the front end side of the vertically movable frame is manually positioned, the device can be prevented from hanging down due to its own weight by the support force of the gas spring.

According to a third aspect of the present invention, there is provided the device holding apparatus according to the present invention, wherein each of the fixed support portions can be adjusted in length, and is composed of three struts arranged in parallel with a distance from each other and connected to each other. It is characterized by being.
As a result, when there are support plates on the top and bottom of the place where the device is fixed, for example, as a water turbine runner, the support support portion of the device is easily and stably fixed by using the support plates. can do.

According to a fourth aspect of the present invention, there is provided a device holding apparatus including at least a joint of a fixed support portion and a horizontal movable frame, each joint of the horizontal movable frame, and a horizontal movable frame and a vertical among the plurality of joints. The joint locking mechanism of the connecting portion of the directional movable frame can be locked by remote operation.
Thus, for example, after roughly positioning the device by manually locking each rotation shaft of the turning mechanism and the lock mechanism of the vertical movable frame, each joint of the horizontal movable frame and the connecting portion of the horizontal movable frame The device can be positioned easily and easily by performing a lock operation using a remote operation switch prepared with a lock mechanism for each joint.

According to a fifth aspect of the present invention, there is provided a device holding apparatus comprising: a device control unit that controls the device; and a lock control unit that controls a lock mechanism of each joint of the support frame. A switch for operating the unit is provided to be movable separately from the device control unit and the lock control unit.
Thus, by carrying only the operation switch close to the device, the device can be manually positioned, and then the device can be fixed at that position and a predetermined treatment or observation can be performed using the fixed device. .

  According to the device holding device of the invention according to claim 1, the device can be positioned at an arbitrary position in the space by manually moving a number of joints of the support frame, and the posture of the device is a work target. The posture can be adjusted so that the position can be worked. In addition, by operating the joint locking mechanism in this state, the device can be stably held and fixed in a posture adjusted to the position where the device is positioned, and support by human hands is not required. As described above, since the device can be manually guided to the work target location and fixed without using an actuator like a manipulator, the mechanism can be simplified and the guide / positioning operation can be performed. Is easier to do.

  According to the apparatus holding device of the invention according to claim 2, since the parallel link mechanism is adopted in the vertical movable frame, the distal end portion of the vertical movable frame can be translated relative to the base end portion, The base of the turning mechanism connected to the tip of the vertical movable frame can be supported in a fixed posture. Therefore, after moving the vertical movable frame, the posture of the device can be easily determined with respect to the work target place by simply moving the turning mechanism. Further, when the device attached to the front end side of the vertically movable frame is manually positioned, it is possible to prevent the device from hanging down due to its own weight by the support force of the gas spring, so that it is easy to operate. The base of the turning mechanism can be positioned in the same manner by arranging the vertical movable frame on the proximal end side of the support frame and the horizontal movable frame on the distal end side of the support frame. Compared with the case where it arrange | positions in this way, when it arrange | positions as mentioned above, since the load added to the gas spring interposed in a perpendicular direction movable flame | frame can be reduced, a gas spring can be reduced in size.

  According to the device holding device of the third aspect of the invention, since the fixed support portion is composed of three struts whose lengths can be adjusted, for example, when there are support plates on the top and bottom like a water turbine runner, Using the support plate, the fixed support portion of the apparatus can be easily and stably fixed by three-point support.

  According to the device holding device according to the invention of claim 4, since the joint locking mechanism on the fixed support portion side is a remote control type, by manually locking the joint locking mechanism on the device side, After the positioning is performed, the device can be positioned easily and easily by locking the joint locking mechanism located on the fixed support portion side with a remote operation switch prepared at hand.

  According to the device holding apparatus according to the invention of claim 5, since the switches for operating the device control unit and the lock control unit are provided so as to be movable separately from those control units, only the operation switch is connected to the device. By carrying the device nearby, after the device is manually positioned, the device can be fixed at that position, and a predetermined treatment or observation can be performed using the fixed device. Therefore, even when the work space for performing the predetermined treatment or observation is very narrow, for example, when performing the predetermined treatment or observation for the vane of the water turbine runner, the predetermined treatment or observation is good. Secure workability.

It is a perspective view which shows the whole structure of the apparatus holding | maintenance apparatus of embodiment of this invention. It is a top view of the apparatus. It is a side view of the same apparatus. It is a disassembled perspective view of the peening head of a shot peening apparatus. It is a figure which shows the structure of a part of watermill runner of the object which carries out a shot peening process with a shot peening apparatus.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows an overall configuration of a peening head holding device that positions and holds a peening head, and a shot peening device in which a peening head held by the holding device is assembled, which is an example of an apparatus holding device of an embodiment. 2 is a plan view, FIG. 3 is a side view, FIG. 4 is an exploded perspective view of a peening head of a shot peening apparatus, and FIG. 5 is a partial configuration of a turbine runner to be shot peened by the shot peening apparatus. FIG.

As shown in FIGS. 1 to 3, the shot peening apparatus M includes a fixed support portion 1 that is fixed to a workpiece, a peening head 50 that performs shot peening processing on a work target portion of the workpiece, and a movable type. And a multi-joint type support frame 2.
The peening head holding device (device holding device) includes a fixed support portion 1 and a movable articulated support frame 2.

  The support frame 2 is interposed between the fixed support part 1 and the peening head 50 by connecting the base end part to the fixed support part 1 and the front end part to the peening head 50. The peening head 50 is positioned at an arbitrary position in the space by moving a number of joints K1 to K7 provided between the head portion and the tip portion, and the posture of the peening head 50 is set with respect to the work target location. It adjusts to the optimal posture that can work.

  The joints K1 to K7 of the support frame 2 are provided with lock mechanisms 91 to 97 that can fix the joints K1 to K7 at arbitrary angular positions as necessary. The lock mechanism may be provided in all the joints K1 to K7. However, if there are joints related to each other, it is sufficient to provide at least one of the joints.

  Each of the fixed support portions 1 can be adjusted in length (height) by an adjuster 13, and is configured by three support columns 11 that are arranged in parallel with each other and are connected to each other by a connecting bar 12. ing. The connection bar 12 connects the support columns 11 at the upper and lower portions, and is connected to the other support column 11 at the middle portion of the upper and lower connection bars 12 connecting the two support columns 11. One end of 12 is connected.

  When the two orthogonal directions perpendicular to the extending direction of the three columns 11 are the X direction and the Y direction, and the extending direction of the three columns 11 is the Z direction, the X and Y directions are horizontal directions. Is set to The Z direction is set to the vertical direction.

  The support frame 2 includes a horizontal movable frame 20 that moves its distal end in a horizontal direction with respect to its base end, and a vertical direction in which its distal end moves in a vertical direction with respect to its base end. It comprises a movable frame 30 and a turning mechanism 40 having at least two orthogonal turning axes 43 and 44. Each movable part of the horizontal direction movable frame 20, the vertical direction movable frame 30, and the turning mechanism 40 is configured as joints K1 to K7 each having a lock mechanism.

  In this support frame 2, the base end portion of the horizontal movable frame 20 is connected to one support column 11 of the fixed support portion 1, and the base end portion of the vertical movable frame 30 is connected to the front end portion of the horizontal movable frame 20. The base block (base) 41 of the turning mechanism 40 is connected to the tip of the vertical movable frame 30. The peening head 50 is attached to the final turning portion 45 of the turning mechanism 40.

The configuration of the support frame 2 will be described in more detail.
A connection block 22 is fixed to one support column 11 of the fixed support portion 1, and a base end portion (horizontal direction) of the first arm 21 is provided via a rotation shaft 23 in which an axis line is arranged in the vertical direction on the connection block 22. 2 (corresponding to the base end portion of the movable frame 20) is rotatably connected in the horizontal direction as indicated by an arrow X1 in FIG. The first arm 21 is formed so as not to be deformed into a rectangular frame shape by a pair of upper and lower horizontal bars 80 and a pair of left and right vertical bars 81 connecting both ends of the pair of upper and lower horizontal bars 80. The rotation shaft 23 constitutes a first joint K1 that rotates the first arm in the horizontal direction, and includes a lock mechanism 91 that locks the rotation at an arbitrary angular position.

A connecting block 24 is connected to the tip of the first arm 21 through a rotating shaft 25 having an axis line in the vertical direction so as to be rotatable in the horizontal direction. A base end portion of the second arm 26 is connected to the connecting block 24 through a rotating shaft 27 having an axis line in the vertical direction so as to be rotatable in the horizontal direction.
In this case, the connecting block 24 is rotatably connected to the first arm 21 through the rotating shaft 25 in the horizontal direction as indicated by an arrow X2 in FIG. 2, and the second arm 26 is connected to the connecting block 24. 2 is pivotally connected in the horizontal direction via another pivot shaft 27 as indicated by an arrow X3 in FIG.

Each of the pivot shafts 25 and 27 is provided with a lock mechanism 92 and 93, and a second arm 26 that pivots the second arm 26 in the horizontal direction with respect to the first arm 21 by both the pivot shafts 25 and 27. The joint K2 is configured. The second arm 26 is also formed so as not to be deformed into a rectangular frame shape by a pair of upper and lower horizontal bars 80 and a pair of left and right vertical bars 81 connecting both ends of the pair of upper and lower horizontal bars 80.
Here, as the lock mechanisms 91, 92, 93, for example, a mechanism that grips and fixes at a predetermined angle so as not to rotate the rotation shaft by remote operation using air can be considered. In addition to air, it may be fixed by remote operation using electromagnetic force.

  A connecting block 28 (corresponding to the tip of the horizontal movable frame 20) is connected to the tip of the second arm 26, and a vertical direction is provided via a rotating shaft 29 that has an axis line in the vertical direction. A base end portion of the movable frame 30 is rotatably connected in the horizontal direction as indicated by an arrow X4 in FIG. The rotation shaft 29 is provided with a lock mechanism 94, and the third rotation shaft 29 rotates the vertical movable frame 30 with respect to the second arm 26 of the horizontal movable frame 20 in the horizontal direction. The joint K3 is configured.

  As described above, the horizontal movable frame 20 is connected to the connection block 22 by the rotation shaft 23 from the proximal end portion of the first arm 21 through the rotation shaft 29. It is comprised by the element to the connection block 28 of the front-end | tip part of the 2nd arm 26 connected with the part.

  On the other hand, the vertical movable frame 30 includes a third arm 32 configured as a parallel link mechanism, as shown in FIG. The third arm 32 is formed in a parallelogram shape from a pair of upper and lower horizontal bars 83 and a pair of vertical bars 82 connecting the ends of the pair of upper and lower horizontal bars 83. However, it is connected to connecting blocks 31 and 34 provided at the upper and lower ends of the vertical bar 82 through a rotating shaft 33 and 35 having an axis line in the horizontal direction so as to be rotatable in the vertical direction. Thereby, the vertical bar 82 at the distal end can be translated in the vertical direction with respect to the vertical bar 82 at the proximal end.

  Here, the base end portion of the third arm 32 is connected to the connecting block 28 at the distal end of the second arm 26 by the connecting block 31 so as to be rotatable in the horizontal direction via the rotating shaft 29. Further, a base block (base) 41 of the turning mechanism 40 is fixed to the vertical bar 82 provided at the front end portion of the vertical movable frame 30 or the connecting block 34 at the upper and lower ends thereof. Since the base block 41 of the turning mechanism 40 is attached to the distal end portion of the vertical movable frame 30 configured by a parallel link mechanism, the base block 41 can be translated in the vertical direction while maintaining a constant posture.

There is a rotation shaft 33 that supports the base end portion of the third arm 32 of the vertical movable frame 30 so as to be freely rotatable in the vertical direction, and the third arm 32 is rotated in the vertical direction by the rotation shaft 33. A fourth joint K4 is configured. Further, the rotation shaft 35 at the distal end portion of the third arm 32 is provided with a lock mechanism 95, and the rotation shaft 35 causes the base block 41 of the rotation mechanism 40 to be displaced at the distal end portion of the third arm 32. Regardless of this, the fifth joint K5 is configured to rotate relative to the third arm 32 in the vertical direction so as to maintain a constant posture. The third arm 32 configured as a parallel link mechanism is supported by an arrow Z1 in FIG. 3 because the base ends of the upper and lower horizontal bars 83 are supported by the upper and lower pivot shafts 33 so as to be pivotable in the vertical direction. As shown, it can swing in the vertical direction as a whole.
Since the joints K4 and K5 of the parallel link mechanism move in the same manner, it is not necessary to provide the locking mechanisms for the joints K4 and K5 individually, and only one is required. In this embodiment, the joint K5 is provided with a lock mechanism 95 using a friction force that is manually operated, such as a cam or a toggle mechanism.

  Further, the vertical movable frame 30 configured as described above is provided with a gas spring 38 that supports a load acting on the distal end portion of the vertical movable frame 30 at the base end portion with a damper effect. That is, one end of the gas spring 38 is rotatably connected to a position close to the tip of the horizontal bar 83 on the upper side of the third arm 32 configured as a parallel link mechanism, and the other end of the gas spring 38 is parallel. The third arm 32 configured as a link mechanism is pivotally connected to a position near the base end portion of the lower horizontal bar 83.

  The turning mechanism 40 attached to the tip of the vertical movable frame 30 includes a first turning part 42 that turns around a first turning shaft 43 with respect to the base block 41, and a first turning part 42. A second turning portion 45 that turns around the second turning shaft 44 is provided. As shown in FIGS. 1 and 2, the first turning shaft 43 is set as an axis extending in the horizontal direction parallel to the vertical plane on which the third arm 32 moves, and the first turning portion 42 is With the horizontal first turning shaft 43 as the center, it can be rotated along a vertical plane as indicated by an arrow α in FIGS.

  The second turning shaft 44 is set as an axis orthogonal to the first turning shaft 43 on the first turning portion 42 as shown in FIGS. 1 and 2, and the second turning portion 45 is The second swivel shaft 44 can be rotated as indicated by an arrow β in FIGS. 1 and 2.

  The first turning shaft 43 and the second turning shaft 44 are also provided with lock mechanisms 96 and 97, respectively. These pivot shafts 43 and 44 constitute a sixth joint K6 and a seventh joint K7, respectively. Similarly to the lock mechanism 95, the lock mechanisms 96 and 97 are also lock mechanisms of a type using a manually operated frictional force.

  The second turning portion 45 is a member as a bracket for attaching the peening head 50, and the head body 51 of the peening head 50 is attached to the second turning portion 45.

  When performing the shot peening process, as shown in FIG. 4, the chamber 60 is mounted on the head body 51 of the peening head 50, and the chamber 60 is set so as to surround the work target portion of the shot peening process. Then, the shot material (steel ball or the like) accommodated in the chamber 60 is ejected toward the work target location by the vibration of the vibration surface 55 of the vibrating body 53 provided in the head main body 51, and the shot material is ejected. Shot peening processing is performed on the work target portion.

  The head main body 51 incorporates a vibration generator (not shown) that applies ultrasonic vibration to the vibrating body 53 held by the case 52. One chamber 60 is provided with a chamber wall 61 that surrounds a shot material accommodation space 62, and a front opening 64 that opens the front surface of the shot material accommodation space 62 in order to inject the shot material to a work target location. A rear opening 63 that allows the vibration surface 55 of the vibrating body 53 of the head main body 51 to face the accommodation space 62; a mounting tool 68 that detachably mounts the chamber 60 on the mounting tool 58 on the case 52 side of the head main body 51; Is provided.

  By the way, the shot peening apparatus M shown in FIGS. 1-4 is for performing the shot peening process of the predetermined location of the water turbine runner 800 as shown in FIG. 5, for example. The work locations that require shot peening on the water turbine runner 800 are locations where wear due to cavitation is recognized, and are the tip of the vane 803 and the region near the tip. The vane 803 is joined between the upper and lower support plates 801 and 802, and the joint location or the like is an operation target location of the shot peening process.

  Specifically, the root 811 of the R portion of the water turbine runner 800, the tip 812 of the root of the R portion, the tip 813 of the vane 803, and the surface 814 of the vane 803. Since these parts have different surface shapes in the work area, it is necessary to perform shot peening using different types of chambers 60, and the chambers 60 can be replaced with respect to the head body 51. Yes.

Next, the control system will be described.
The lock mechanisms provided at the joints K1 to K7 of the support frame 2 can be configured to be manually operable, or can be configured to be remotely operated, for example, by supplying compressed air as necessary. it can. It is desirable that the joints (for example, K1 to K3) other than the distal end side (the side to which the peening head 50 is attached) of the support frame 2 be configured so as to be remotely operable. In this case, the operation of the peening head 50 is controlled. In addition to the peening head control, a lock control unit that controls the operation of the joint locking mechanism is provided, and the switch that operates the peening head control unit and the lock control unit can be moved separately from the peening head control unit and the lock control unit. It is desirable to be able to carry it around.

  Next, the operation of the shot peening apparatus M will be described by taking as an example the case where the water turbine runner 800 of FIG.

  When using this shot peening apparatus M, first, the upper and lower ends of the three columns 11 of the fixed support portion 1 are brought into contact with the upper support plate 801 and the lower support plate 802 of the water turbine runner 800 of FIG. The shot peening apparatus M is supported and fixed by stretching. In this case, since it is supported at three points by the three columns 11, the fixed support portion can be easily and stably fixed.

  Next, by manually moving a number of joints K1 to K7 of the support frame 2, the position and posture of the peening head 50 are adjusted to an optimum position and posture that can be worked on the work target location. That is, the horizontal movable frame 20 is moved to determine the horizontal position of the peening head 50, and the vertical movable frame 30 is moved to determine the vertical position. Further, the posture of the peening head 50 is adjusted by moving the first turning unit 42 and the second turning unit 45.

  Then, when positioning and posture adjustment are completed, the joints K1 to K7 are locked so as not to move by operating the lock mechanism of the joints K1 to K7. The positioning and posture adjustment and the operation of the lock mechanism may be performed sequentially from the proximal end side to the distal end side, or may be performed in an arbitrary order. By finally setting all the lock mechanisms to the locked state, the peening head 50 can be stably held and fixed in the position adjusted to the positioned position, and support by human hands is not required.

  In this way, the peening head 50 can be manually guided and positioned and fixed to a work target location without using an actuator as in a manipulator, so that the mechanism can be simplified and guided and Positioning operation becomes easier.

  In the case of the shot peening apparatus M of this embodiment, since the parallel link mechanism is employed for the vertical movable frame 30, the distal end portion of the vertical movable frame 30 can be translated relative to the base end portion, The base block 41 of the turning mechanism 40 connected to the tip of the directional movable frame 30 can be supported in a fixed posture. Therefore, after moving the vertical movable frame 30, the posture of the peening head 50 can be easily determined with respect to the work target place by simply moving the turning mechanism 40.

  Further, when the peening head 50 attached to the front end side of the vertical movable frame 30 is manually positioned, the peening head 50 can be prevented from hanging down due to its own weight by the support force of the gas spring 38. It becomes easy to operate.

  The positioning of the base block 41 of the turning mechanism 40 can be similarly performed by arranging the vertical movable frame 30 on the proximal end side of the support frame 2 and the horizontal movable frame 20 on the distal end side of the support frame 2. Although it can be performed, the load applied to the gas spring 38 interposed in the vertical direction movable frame 30 can be reduced in the case of the arrangement as in the present embodiment as compared to the case of such arrangement. The effect that the gas spring 38 can be reduced in size can also be obtained.

  In addition, when the locking mechanism of the joint of the connecting portion of the fixed support portion and the horizontal movable frame, each joint of the horizontal movable frame, and the joint of the connecting portion of the horizontal movable frame and the vertical movable frame is remote-controlled. After the peening head 50 is roughly positioned by manually locking the joint locking mechanism on the peening head side, the joint locking mechanism located on the proximal end side is prepared by a remote operation switch. By performing the locking operation, an effect that the peening head 50 can be easily and easily positioned is obtained.

  Moreover, when the switch which operates a peening head control part and a lock control part is provided so that a movement is possible separately from those control parts, only the operation switch is carried near the peening head 50, the peening head 50 After manual positioning, the peening head 50 can be fixed at that position, and shot peening can be performed using the fixed peening head 50. Therefore, even when the work space when performing the shot peening process is very narrow, for example, when performing the shot peening process on the vane 803 of the water turbine runner 800, good workability of the shot peening process is achieved. It can be secured. By the way, an operation switch can also be set as the structure which can operate at least one of a peening head control part and a lock control part.

The present invention is not limited to the above-described embodiment described with reference to the drawings, and various modifications can be considered within the technical scope thereof.
For example, in the above-described embodiment, the device holding device of the present invention has been described by taking the peening head holding device that positions and holds the peening head as an example. However, the device holding device according to the present invention is not limited thereto. It can also be used when positioning and holding a measuring instrument head for measuring the residual stress in the welded part or a device such as a camera for observing the welded part.
Moreover, in the said embodiment, although the water turbine runner was mentioned as an example of the workpiece | work which arrange | positions the apparatus hold | maintained by the apparatus holding | maintenance apparatus of this invention facing, it is not restricted to this, As a workpiece | work, a guide vane or a casing etc. hydraulic power Other workpieces used in power generation facilities may be used.

DESCRIPTION OF SYMBOLS 1 Fixed support part 2 Support frame 11 Support | pillar 20 Horizontal direction movable frame 30 Vertical direction movable frame 38 Gas spring 40 Turning mechanism 41 Base block (base)
43, 44 Rotating shaft 50 Peening head 91-97 Lock mechanism 800 Turbine runner (work)
K1-K7 Joint M Shot Peening Device

Claims (5)

A device holding device for positioning and holding a device for performing treatment or observation on a workpiece used in a hydroelectric power generation facility so as to face a target portion of the workpiece,
A fixed support portion fixed to the workpiece;
A base end portion is connected to the fixed support portion and a tip end portion is connected to the device so that the base end portion is interposed between the fixed support portion and the device, and is provided between the base end portion and the tip end portion. By moving a large number of joints, the movable device is positioned so that the device is positioned at an arbitrary position in the space and the posture of the device is adjusted to a posture for performing treatment or observation with respect to the target site of the workpiece. An articulated support frame;
Have
A device holding device, wherein each joint of the support frame is provided with a lock mechanism capable of fixing each joint at an arbitrary angular position. The support frame has a horizontally movable frame that moves its tip in the horizontal direction relative to its base end, and a vertically movable that moves its tip in the vertical direction relative to its base end. A frame and a turning mechanism having at least two orthogonal turning axes,
Each movable part of the horizontal direction movable frame, the vertical direction movable frame, and the turning mechanism is configured as a joint provided with the lock mechanism, respectively.
A base end portion of the horizontal movable frame is coupled to the fixed support portion, a base end portion of the vertical movable frame is coupled to a distal end portion of the horizontal movable frame, and the distal end portion of the vertical movable frame is coupled to the distal end portion of the vertical movable frame. The base of the turning mechanism is connected, and the device is attached to the turning portion of the turning mechanism,
In addition, the vertical movable frame is configured by a parallel link mechanism, and a gas spring that supports the load acting on the distal end portion of the vertical movable frame at the base end portion with a damper effect is interposed in the vertical movable frame. The apparatus holding apparatus according to claim 1, wherein the apparatus holding apparatus is mounted.   3. The fixed support part according to claim 1 or 2, wherein each of the fixed support parts is adjustable in length, and is composed of three support columns that are arranged in parallel to each other at intervals and connected to each other. The apparatus holding device as described.   Among the multiple joints, at least the joints of the joints between the fixed support part and the horizontal movable frame, the joints of the horizontal movable frame, and the joints of the joints of the horizontal movable frame and the vertical movable frame are remotely controlled. The device holding device according to claim 1, wherein the device holding device can be locked by an operation.   A device control unit that controls the device; and a lock control unit that controls a lock mechanism of each joint of the support frame, and a switch that operates the device control unit and the lock control unit includes the device control unit and the lock control. The device holding device according to claim 1, wherein the device holding device is movable separately from the unit.

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