JP6460839B2 - Protective member insertion system and protective member insertion method - Google Patents

Description

  The present invention relates to a protection member insertion system and a protection member insertion method.

  Radioactive waste generated in a nuclear power plant nuclear reactor or the like is stored in, for example, a radioactive substance storage container described in Patent Document 1. Such a radioactive substance storage container has the trunk | drum formed in the cylindrical shape, for example. An opening is formed at one end in the axial direction of the body, and the lid is fixed with a screw or the like so as to close the opening. A plurality of screw holes for inserting a screw for fixing the lid portion are formed along the circumferential direction in the peripheral edge portion of the opening portion of the one end portion.

  A protective member that protects the screw holes is disposed in these screw holes. The protection member is formed in a spiral shape, and is disposed between the inner periphery of the screw hole and the outer periphery of the screw. In this configuration, the inner periphery of the protective member arranged in the screw hole becomes a female screw with respect to the screw for fixing the lid. Conventionally, when a protective member is arranged in a screw hole, an operator manually inserts the protective member into the screw hole one by one using a dedicated tool.

JP 2007-205931 A

  However, since the trunk body is provided with a large number of screw holes along the circumferential direction of the one end portion, when the protective member is inserted manually, it takes a long time and increases the burden on the operator. .

  The present invention has been made in view of the above, and an object of the present invention is to provide a protection member insertion system and a protection member insertion method that can shorten the work time and reduce the burden on the operator.

  The protection member insertion system according to the present invention is a rotational support that supports a trunk body that is formed in a cylindrical shape and has a plurality of screw holes provided at one end in the axial direction along the circumferential direction so as to be rotatable in the circumferential direction. A device, a detection device that detects the position of the screw hole, and a protective member that protects the screw hole are held and conveyed to an insertable region including a part of the one end, and are arranged in the insertable region. An insertion device capable of inserting the protection member into the screw hole, and the trunk body is rotated by the rotation support device based on a detection result of the detection device so that the screw hole is disposed in the insertable region. And a control device for inserting the protective member into the insertion device.

  According to the present invention, the screw hole formed in the trunk body is detected by the detection device, the trunk body is rotated in the circumferential direction by the rotation support device according to the detection result, and the screw hole can be inserted by the rotation of the trunk body. Then, the protective member is inserted into the screw hole by the insertion device. For this reason, a protection member can be automatically inserted in a plurality of screw holes, without bothering an operator's hand. Thereby, work time can be shortened and a burden on an operator can be reduced.

  In the protection member insertion system, the insertable region is set in a range including a plurality of the screw holes, and the control device includes a plurality of the screw holes in the insertable region. After rotating the trunk body, the protective member is continuously inserted into the plurality of screw holes in the insertable region.

  According to the present invention, since the protection member is continuously inserted into the plurality of screw holes by the insertion device in a state where the plurality of screw holes are arranged in the insertable region, the protection member can be efficiently inserted. It becomes possible. Thereby, the working time can be shortened.

  In the protection member insertion system, the insertion device includes a movable arm, the detection device is provided on the arm, and the control device moves the arm after rotating the trunk body. Then, the screw hole is detected, and when the screw hole is detected, the protective member is inserted into the detected screw hole.

  According to the present invention, it is possible to detect the screw holes arranged in the insertable region with high accuracy. Further, by making the insertion operation cooperate after the detection operation, it is possible to efficiently detect the screw hole and insert the protective member.

  The protection member insertion system further includes a supply device that supplies the protection member, and the control device causes the insertion device to hold the protection member supplied from the supply device.

  According to the present invention, since the protective member is supplied from the supply device, after the protective member is inserted into the screw hole by the insertion device, the protective member to be inserted into the next screw hole can be prepared in a short time. it can. Thereby, the time which inserts a protection member in a some screw hole can be shortened.

  In the above-described protection member insertion system, a plurality of the supply devices are provided, and the control device selects the supply device that is a supply source of the protection member from among the plurality of supply devices, and from the selected supply device The supplied protective member is held by the insertion device.

  For example, when screw holes having different diameters are formed, it is necessary to prepare protective members having different dimensions according to the diameters of the screw holes. According to the present invention, since the supply device as the supply source is selected from among the plurality of supply positions, the protective members having different dimensions are supplied from the plurality of supply devices, and supplied according to the diameter of the screw hole. You can set the source to be selected. Thereby, even if it is a case where the screw hole of a different diameter is formed, a protection member can be efficiently inserted in a screw hole.

  In the above-described protection member insertion system, the supply device includes a stocker that stores a plurality of the protection members, and a delivery mechanism that sends the protection member held by the stocker to a supply position. The insertion member is held by the protection member sent to the supply position.

  According to the present invention, when a plurality of protection members are stored in the stocker and are held by the insertion device, the protection members are sent to the supply position, so that the protection members can be efficiently supplied to the insertion device.

  In the protection member insertion system, the supply device includes a clamp mechanism that holds the protection member at the supply position, and the control device holds the protection member held by the clamp mechanism in the insertion device. Let

  According to the present invention, since the protection member is held at the supply position by the clamp mechanism, it is possible to prevent the displacement of the protection member. Thereby, since it is not necessary to position between a protection member and an insertion apparatus in a supply position, a protection member can be smoothly supplied to an insertion apparatus.

  In the above-described protection member insertion system, the insertion device includes an attachment / detachment portion that can attach / detach a holding tool that holds at least the protection member.

  According to the present invention, since the holding tool for holding the protective member can be attached and detached at the attaching / detaching portion of the insertion device, for example, a plurality of types of holding tools having different holding part dimensions can be used. Thereby, it is possible to cope with a case where a plurality of types of protective members having different diameters are used.

  In the protection member insertion system, a cleaning tool that is inserted into the screw hole for cleaning can be attached to and detached from the attachment / detachment portion, and the control device is configured to attach the cleaning tool to clean the screw hole. Then, the cleaning tool is removed, the holding tool is attached, the protective tool is held by the holding tool, and then the protective member is inserted.

  According to the present invention, it is possible to remove foreign matter inside the screw hole by using the cleaning tool. Further, the replacement of the holding tool and the cleaning tool can suppress the increase in size of the insertion device.

  The insertion device has a gas nozzle capable of injecting gas into the screw hole.

  According to the present invention, foreign matter in a screw hole can be removed by injecting gas into the screw hole with a gas nozzle.

  In the above-described protection member insertion system, the insertion device has a cleaning liquid nozzle capable of spraying a cleaning liquid into the screw hole.

  According to the present invention, the foreign matter in the screw hole can be more reliably removed by cleaning the screw hole with the cleaning liquid.

  The protection member insertion system further includes an application device that applies a lubricant to the protection member held by the insertion device, and the control device causes the lubricant to be applied to the protection member by the application device. Thereafter, the protective member is inserted.

  According to the present invention, since the protective member is inserted after the lubricant is applied to the protective member, the protective member can be smoothly inserted into the screw hole.

  In the protection member insertion system, the rotation support device supports the trunk body so that the one end portion is oriented in the horizontal direction.

  According to the present invention, since the protective member is inserted into the screw hole with the one end portion facing in the horizontal direction, the protective member can be efficiently inserted without changing the working environment from the conventional one. It becomes.

  In the protective member insertion method according to the present invention, the rotation support device that supports the trunk body formed in a cylindrical shape and provided with a plurality of screw holes along the circumferential direction at one end in the axial direction includes the rotation support device in the circumferential direction. A step of rotating the trunk body; a step of detecting a position of the screw hole in a state where the trunk body is rotated; and a part of the one end portion holding a protective member for protecting the screw hole The detection device detects the screw hole so that the screw hole is disposed in the insertable region of the insertion device capable of inserting the protective member into the screw hole disposed in the insertable region. The rotation support device includes a step of stopping the rotation of the trunk body based on the result, and the insertion device inserts the protection member into the screw hole arranged in the insertable region.

  According to the present invention, the screw hole formed in the trunk body is detected by the detection device, the trunk body is rotated in the circumferential direction by the rotation support device according to the detection result, and the screw hole can be inserted by the rotation of the trunk body. Then, the protective member is inserted into the screw hole by the insertion device. For this reason, a protection member can be automatically inserted in a plurality of screw holes, without bothering an operator's hand. Thereby, work time can be shortened and a burden on an operator can be reduced.

  According to the protection member insertion system according to the present invention, it is possible to shorten the work time and reduce the burden on the operator.

FIG. 1 is a perspective view showing an example of a protection member insertion system according to the present embodiment. FIG. 2 is a longitudinal sectional view showing the radioactive substance storage container. FIG. 3 is a diagram illustrating an example of the rotation support device. FIG. 4 is a plan view showing an example of the hand portion of the insertion device. FIG. 5 is a diagram illustrating an example of a supply device. FIG. 6 is a perspective view showing an example of a coating apparatus. FIG. 7 is a flowchart showing an example of the protective member insertion method. FIG. 8 is a diagram illustrating an example of a detection operation performed by the detection device. FIG. 9 is a flowchart illustrating an example of the insertion operation.

  Hereinafter, an embodiment of a protection member insertion system according to the present invention will be described with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

  FIG. 1 is a perspective view showing an example of a protection member insertion system 100 according to the present embodiment. As shown in FIG. 1, the protection member insertion system 100 includes a rotation support device 101, a detection device 102, an insertion device 103, a supply device 104, a coating device 105, and a tool storage device 106. Each of these devices constituting the protective member insertion system 100 is provided on the floor 113 on the same floor in a factory or the like, for example. Further, the protective member insertion system 100 includes a control device 107 that controls the above-described devices in an integrated manner.

  The protection member insertion system 100 inserts the protection member 50 into the screw holes 41b, 42b, 43b of the trunk body 21 formed in a cylindrical shape. Here, before describing the configuration of each device of the protection member insertion system 100, the trunk body 21 will be described. This trunk body 21 constitutes a part of the cask 11 as a radioactive substance storage container. FIG. 2 is a longitudinal sectional view showing an example of the cask 11.

  As shown in FIG. 2, the cask 11 has a trunk portion 12, a lid portion 13, and a basket 14. The trunk portion 12 includes the trunk body 21, the outer cylinder 25, and the bottom plate 28. The trunk body 21 is formed in a cylindrical shape, and has an opening 22 at one end in the axial direction of the central axis AX, and a bottom 23 at the other end. Hereinafter, the end on the side where the opening 22 is formed in the trunk body 21 will be referred to as an opening end 21a, and the end on the side where the bottom 23 is formed will be referred to as a bottom end 21b. A cavity 24 is formed inside the trunk body 21. The inner surface of the trunk body 21 has a shape that matches the outer peripheral shape of the basket 14. The basket 14 has, for example, a plurality of cells that individually store radioactive materials (not shown) that are spent fuel assemblies. The trunk body 21 including the bottom 23 is a forged product made of carbon steel having a γ-ray shielding function.

  The outer cylinder 25 is provided on the outer peripheral side of the trunk body 21. The outer cylinder 25 is disposed with a predetermined gap between the outer cylinder 25 and the outer peripheral surface of the trunk body 21. A plurality of heat transfer fins (not shown) that conduct heat are welded at predetermined intervals in the circumferential direction between the outer peripheral surface of the trunk body 21 and the inner peripheral surface of the outer cylinder 25. The gap is filled with a resin (neutron shield) 27. As the resin 27, for example, a polymer material containing a large amount of hydrogen is used. Such a polymer material may contain, for example, boron or a boron compound having a neutron shielding function.

  Further, the bottom plate 28 is connected to the bottom side end portion 21 b of the trunk body 21. The bottom plate 28 is disposed with a predetermined gap between the bottom plate 28 and the bottom portion 23. A resin (neutron shield) 29 is provided in the gap between the bottom 23 and the bottom plate 28. A trunnion 30 is fixed to the side surface of the body portion 12.

  A first step portion 41, a second step portion 42, and a third step portion 43 are formed on the opening side end portion 21 a of the trunk body 21. The first step portion 41 has an annular first end surface 41a perpendicular to the axial direction of the central axis AX. A plurality of screw holes 41 b are formed in the first end surface 41 a at equal intervals in the circumferential direction of the trunk body 21. A protective member 50 for protecting the screw hole 41b from rust or the like is inserted into the screw hole 41b. The protection member 50 is formed in a spiral shape using a material such as stainless steel. The inner peripheral surface of the protection member 50 constitutes a female screw. In the present embodiment, a protective member that does not have a protruding portion that protrudes radially inward from the end portion is used as the protective member 50, but is not limited thereto, and protrudes radially inward from the end portion. A protective member having a protrusion may be used.

  The second step portion 42 is formed on the outer side of the opening 22 than the first step portion 41. The second step portion 42 has an annular second end surface 42a parallel to the first end surface 41a. A plurality of screw holes 42 b are formed in the second end surface 42 a at equal intervals in the circumferential direction of the trunk body 21. For example, the screw hole 42b is formed to have the same diameter as the screw hole 41b. The third step portion 43 is formed on the outer side of the opening portion 22 than the second step portion 42. A protective member 50 for protecting the screw hole 42b from rust or the like is inserted into the screw hole 42b.

  The third step portion 43 has an annular third end surface 43a parallel to the first end surface 41a and the second end surface 42a. A plurality of screw holes 43 b are formed in the third end surface 43 a at equal intervals in the circumferential direction of the trunk body 21. For example, the screw hole 43b is formed to have a smaller diameter than the screw holes 41b and 42b. A protective member 50 for protecting the screw hole 43b from rust or the like is inserted into the screw hole 43b. The protective member 50 inserted into the screw hole 43b is formed to have a smaller diameter than the protective member 50 inserted into the screw holes 41b and 42b.

  The lid portion 13 includes a primary lid 31, a secondary lid 32, and a tertiary lid 33. The primary lid 31 is detachably attached to the first step portion 41 of the trunk body 21. The primary lid 31 is fitted to the first step portion 41 and is in close contact with the first end surface 41a. The primary lid 31 is fastened to the first step portion 41 by a bolt 51. The bolt 51 passes through the primary lid 31 and is screwed to the inner periphery of the protection member 50 in the screw hole 41b. The primary lid 31 maintains the negative pressure on the cavity 24 side and prevents leakage of gas filled in the cavity 24. Further, the primary lid 31 shields radiation (γ rays) emitted from the radioactive substance stored in the cavity 24. A resin (neutron shield) is provided outside the primary lid 31 (on the secondary lid 32 side). A pressure monitoring boundary pressurized against the atmosphere is formed between the primary lid 31 and the secondary lid 32.

  The secondary lid 32 is detachably attached to the second step portion 42 of the trunk body 21. The secondary lid 32 is fitted to the second step portion 42 and is in close contact with the second end surface 42a. The secondary lid 32 is fastened to the second step portion 42 by a bolt 52. The bolt 52 passes through the secondary lid 32 and is screwed to the inner periphery of the protection member 50 in the screw hole 42b. The secondary lid 32 prevents gas leakage from the primary lid 31. Further, the secondary lid 32 ensures the pressure on the cavity 24 side.

  The tertiary lid 33 is detachably attached to the third step portion 43 of the trunk body 21. The tertiary lid 33 is fitted to the third step portion 43 and is in close contact with the third end surface 43a. The tertiary lid 33 is fastened to the third step portion 43 by a bolt 53. The bolt 53 passes through the tertiary lid 33 and is screwed to the inner periphery of the protection member 50 in the screw hole 43b. The tertiary lid 33 is fixed to the third step 43 in the opening 22 of the trunk body 21. The tertiary lid 33 protects the secondary lid 32 from external impacts.

  Then, the structure of each apparatus of the protection member insertion system 100 is demonstrated. FIG. 3 is a diagram illustrating an example of the rotation support device 101. In FIG. 3, only the third end surface 43a is shown among the three end surfaces of the trunk body 21, and the first end surface 41a and the second end surface 42a are not shown. As for the screw holes, only the screw holes 43b formed in the third end face 43a are shown, and the screw holes 41b and the screw holes 42b are omitted.

  As shown in FIG. 3, the rotation support device 101 supports the trunk body 21 in a laid state so that the opening-side end 21 a faces the horizontal direction. The rotation support device 101 can rotate in the circumferential direction while supporting the trunk body 21. For example, a turning roller is used as the rotation support device 101.

  The rotation support device 101 includes a support base 111, a plurality of legs 112, and a pair of support rollers 114 and 115. The support base 111 is installed on the floor surface 113 by a plurality of legs 112. The pair of support rollers 114 and 115 are rotatably provided. The support rollers 114 and 115 are arranged at two locations in the axial direction of the central axis AX so as to support the opening side end 21a and the bottom side end 21b of the trunk body 21 respectively. A driving device 116 is connected to each of the support rollers 114 and 115. The driving device 116 rotationally drives the support rollers 114 and 115 in one direction and the other direction in the circumferential direction.

  As shown in FIG. 3, positioning holes 44 are formed in the trunk body 21. The positioning hole 44 is used as a reference position detected by a screw hole detecting device 102 described later. The positioning hole 44 is used for positioning when the tertiary lid 33 is fixed to the third step portion 43. A plurality of positioning holes 44 are formed at equal intervals in the circumferential direction of the trunk body 21. The plurality of positioning holes 44 are formed at positions corresponding to the screw holes 43b. A plurality of positioning holes 44 are provided, for example, for every six screw holes 43b. By detecting the positioning holes 44, the positions of the plurality of screw holes 43b can be recognized from the positional relationship between the positioning holes 44 and the plurality of screw holes 43b. The reference position is not limited to the positioning hole 44 and may be another member. Further, instead of the positioning hole 44, a member serving as a reference position may be separately fixed by a magnet or bolt welding. Moreover, about the arrangement | positioning of the positioning hole 44, you may provide one for every five or less or seven or more screw holes 43b. In addition, although illustration is abbreviate | omitted, the structure similar to the positioning hole 44 is provided also about the 1st end surface 41a and the 2nd end surface 42a.

  Next, the insertion device 103 will be described. As the insertion device 103, for example, a six-axis articulated robot is used. As shown in FIG. 1, the insertion device 103 includes a base portion 61, an arm support portion 62, an arm portion 63, and a hand portion 64. The insertion device 103 holds the protection member 50 and conveys it to the insertable region 130. The insertion device 103 can insert the protective member 50 into the screw holes 41b, 42b, 43b arranged in the insertable region 130.

  The base 61 is fixed to the floor surface 113. The arm support portion 62 is supported by the base portion 61. The arm support part 62 is provided to be rotatable around the axis of the central axis along the vertical direction. The arm part 63 is supported by the arm support part 62. The arm part 63 is provided so that it can extend and contract in the horizontal direction.

  FIG. 4 is a plan view illustrating an example of the hand unit 64 of the insertion device 103. The hand part 64 is provided at the tip of the arm part 63. The hand unit 64 has a frame 65. The frame 65 is provided so as to be rotatable around the axis of the central axis AX2 of the support member extending from the arm portion 63. A chuck 66, a gas nozzle 67, and a cleaning liquid nozzle 68 are supported on the frame 65. The chuck 66 can detach various tools arranged in the tool storage device 106. The hand portion 64 is movable to the insertable region 130 including the six screw holes 43b among the plurality of screw holes 43b arranged at the opening side end portion 21a of the trunk body 21.

  The gas nozzle 67 can inject gas. The gas nozzle 67 is connected to a gas supply unit 69 via a gas supply pipe such as a tube. The gas supply unit 69 is provided in the arm support unit 62. The cleaning liquid nozzle 68 can eject the cleaning liquid. The cleaning liquid nozzle 68 is connected to the cleaning liquid supply unit 70 via a cleaning liquid supply pipe such as a tube.

  A detection device 102 is attached to the frame 65. The detection device 102 detects the positions of the plurality of screw holes 41b, 42b, 43b provided in the first end surface 41a, the second end surface 42a, and the third end surface 43a of the trunk body 21. The detection device 102 moves integrally with the hand unit 64.

  The detection device 102 includes a CCD camera 122 and a laser sensor 123. The CCD camera 122 images the first end surface 41a, the second end surface 42a, and the third end surface 43a. By binarizing the photographed image, the screw holes 41b, 42b, 43b or the inside of the positioning hole 44 becomes black, and the screw holes 41b, 42b, 43b or the positioning hole 44 are externally arranged (on each end face). An image having a white surface is generated. For this reason, the outline of the screw holes 41b, 42b, 43b or the positioning holes 44 can be recognized. With this contour, the center position (center point) of the screw holes 41b, 42b, 43b or the positioning hole 44 can be detected.

  The laser sensor 123 irradiates each end face with a laser beam and detects the reflected light, thereby measuring the distance to the object. When the laser light is irradiated to the screw holes 41b, 42b, and 43b, the distance becomes longer than the surface of each end face. For this reason, the screw holes 41b, 42b, and 43b can be detected by detecting a change in distance. Instead of the laser sensor 123, another sensor may be used as long as it can measure the distance to the object, such as an ultrasonic sensor or an infrared sensor.

  Next, the supply device 104 will be described. FIG. 5 is a diagram illustrating an example of the supply device 104. As shown in FIG. 5, the supply device 104 supplies the protection member 50 to the insertion device 103. The supply device 104 supplies the protection member 50. The supply device 104 includes a base 80, a stocker 81, a delivery mechanism 82, and a clamp mechanism 83.

  The base 80 is fixed on the floor surface 113. The stocker 81 stores a plurality of protection members 50. The inside of the stocker 81 is formed in a plurality of stages (three stages in FIG. 5) by the partition member 81a. The stocker 81 and the partition member 81 a are disposed to be inclined with respect to the base 80. The protection member 50 is arrange | positioned for every step along the partition member 81a. The stocker 81 has a discharge port 81b through which the protection member 50 is discharged. The discharge port 81b is directed to the base 80 side (downward in FIG. 5). The protective members 50 are discharged one by one from the discharge port 81b. A stopper 81c is provided between each stage in the stocker 81 and the discharge port 81b. The stopper 81c regulates the drop of the protection member 50 at each stage. The stopper 81c is provided so that it can be opened and closed. When the stopper 81c is in the open state, the protection member 50 at each stage falls along the partition member 81a. The stopper 81c is opened and closed by an opening / closing drive mechanism (not shown). The stocker 81 is provided with a sensor (not shown) that detects the protection member 50 for each stage. When it is detected by this sensor that the protective member 50 has been lost, the step to be opened / closed of the stopper 81c is changed. Thus, since the protection member 50 can be supplied for each stage, the clogging of the protection member 50 in the stocker 81 can be suppressed.

  The sending mechanism 82 sends the protective member 50 discharged from the discharge port 81b to the discharge position P1 to the supply position P2. A placement portion 84 on which the protection member 50 is placed is provided at the supply position P2. As the delivery mechanism 82, for example, an air cylinder mechanism or the like is used. The clamp mechanism 83 holds the protection member 50 sent to the supply position P <b> 2 between the mounting portion 84. As the clamp mechanism 83, for example, an electric cylinder mechanism or the like is used. By holding the protection member 50 by the clamp mechanism 83, the displacement of the protection member 50 is suppressed.

  Subsequently, the coating apparatus 105 will be described. FIG. 6 is a perspective view showing an example of the coating apparatus 105. As shown in FIG. 6, the coating device 105 applies a lubricant to the protective member 50. The coating apparatus 105 includes a discharge unit 91, a receiving unit 92, and a standby unit 93. The discharge unit 91 discharges the lubricant downward. The receiving unit 92 receives the lubricant discharged from the discharge unit 91. The receiving unit 92 is disposed in the ejection direction of the ejection unit 91. The standby unit 93 accommodates the tip of the discharge unit 91. By being accommodated in the standby unit 93, drying of the tip of the discharge unit 91 is suppressed. The discharge part 91 can be moved between the upper part of the receiving part 92 and the standby part 93 by a moving mechanism 94.

  Further, as shown in FIG. 1, the tool storage device 106 is provided with holding tools T1 and T2, retapping tools T3 and T4, and extraction tools T5 and T6. Holding tool T1, T2 hold | maintains the protection member 50 in a front-end | tip part. The holding tools T1 and T2 can hold the protection members 50 having different diameters. For example, the holding tool T1 is used when holding the protective member 50 inserted into the screw hole 43b. The holding tool T2 is used when holding the protection member 50 inserted into the screw holes 41b and 42b.

  The retapping tools T3 and T4 are inserted into the screw holes 41b, 42b, and 43b, and the inner peripheral surface of each screw hole is retapped. The retapping tools T3 and T4 can be inserted into screw holes having different diameters. For example, the retapping tool T3 is used when inserting into the screw hole 43b. Further, the rip-tapping tool T4 is used when inserting into the screw holes 41b and 42b.

  The extraction tools T5 and T6 are used when extracting the protection member 50 inserted into the screw holes 41b, 42b, and 43b. The extraction tools T5 and T6 can extract the protection members 50 having different diameters. For example, the extraction tool T5 is used when extracting the protective member 50 inserted into the screw hole 43b. The extraction tool T6 is used when extracting the protection member 50 inserted into the screw holes 41b and 42b. Note that the extraction tools T5 and T6 may not be provided.

  Then, the protection member insertion method which inserts the protection member 50 using the protection member insertion system 100 which concerns on this embodiment is demonstrated. This protection member insertion method includes a step of detecting screw holes 41b, 42b, 43b by the detection device 102 in a state in which the trunk body 21 is rotatably supported by the rotation support device 101, and an insertion of the insertion device 103. The step of rotating the trunk body 21 by the rotation support device 101 based on the detection result of the detection device 102 so that the screw holes 41 b, 42 b, 43 b are arranged in the possible region 130, and the insertion possible region 130 by the insertion device 103. And inserting the protective member 50 into the screw holes 41b, 42b, 43b disposed in the.

  FIG. 7 is a flowchart showing an example of the protective member insertion method. Hereinafter, the case where the protection member 50 is inserted into the screw hole 43b formed in the third end surface 43a of the trunk body 21 will be described as an example. The same applies to the case where the protective member 50 is inserted into the screw hole 41b formed in the first end surface 41a, and the case where the protective member 50 is inserted into the screw hole 42b formed in the second end surface 42a. Explanation is possible.

  First, the trunk body 21 is transported using a crane or the like (not shown), and the trunk body 21 is placed on the support rollers 114 and 115 of the rotation support device 101 in a lying state (step S11). The trunk body 21 is placed on the four support rollers 114 and 115 with the third end face 43a oriented in the direction along the floor surface 113, so that the trunk body 21 can be rotated by the rotation support device 101. Supported.

  After the trunk body 21 is supported by the rotation support device 101, the control device 107 moves the hand portion 64 of the insertion device 103 so that the CCD camera 122 and the laser sensor 123 of the detection device 102 face the third end face 43a. Let At this time, the control device 107 arranges the detection device 102 on the horizontal direction of the central axis AX of the trunk body 21. Then, the control apparatus 107 rotates the trunk | drum main body 21 by driving-controlling the rotation support apparatus 101 (step S12). After rotation of the trunk body 21, the control device 107 detects the position of the screw hole 43b using the detection device 102 (CCD camera 122 and laser sensor 123) (step S13).

  FIG. 8 is a diagram illustrating an example of a detection operation performed by the detection device 102. As shown in FIG. 8, in step S <b> 13, the positioning hole 44 on the third end surface 41 a is detected by the detection device 102 that is arranged in advance in the horizontal direction of the central axis AX of the trunk body 21. At this time, the position of the detection device 102 is fixed.

  If the positioning hole 44 is detected by the detection device 102 (Yes in step S14), the control device 107 causes the rotation support device 101 to stop the rotation of the trunk body 21 (step S15). In this case, the control device 107 adjusts the rotation amount of the trunk body 21 so that the positioning hole 44 is disposed at a position P3 on the horizontal direction of the central axis AX of the trunk body 21. In the third end face 43a, the position of the positioning hole 44 and the position of each screw hole 43b are associated with each other. By positioning the positioning hole 44 at the position P3, as shown in FIG. 8, six screw holes 43b (43b-9, 43b-10,..., 43b-14) are inserted into the insertable region 130 of the insertion device 103. Placed in. Thus, when the detection device 102 detects the positioning hole 44, it can be recognized that the six screw holes 43b are arranged in the insertable region 130 of the insertion device 103.

  Next, the control device 107 causes the protection device 50 to be inserted using the insertion device 103 (step S16). FIG. 9 is a flowchart showing the procedure of the insertion operation of the protection member 50. As shown in FIG. 9, the control device 107 first ejects air to the six screw holes 43b in the insertable region 130 (step S16-1). In step S16-1, the control device 107 detects the screw hole 43b while moving the detection device 102 along the circumferential direction of the third end face 43a. When the detection device 102 detects the screw hole 43b, the control device 107 obtains the position of the screw hole 43b based on the detection result, and the hand of the insertion device 103 so that the tip of the gas nozzle 67 faces the screw hole 43b. The part 64 is moved. After making the tip of the gas nozzle 67 face the screw hole 43 b, the control device 107 ejects gas from the gas nozzle 67. Foreign matter inside the screw hole 43b is removed by the gas jetted from the gas nozzle 67. The control device 107 causes this air blow operation to be continuously performed one by one with respect to the six screw holes 43b.

  Next, the control device 107 causes the six screw holes 43b to be retapped (step S16-2). In step S <b> 16-2, the control device 107 moves the hand portion 64 of the insertion device 103 to the tool storage device 106, selects the rip-tapping tool T <b> 3, and attaches it to the chuck 66. When the protective member 50 is inserted into the screw hole 41b or 42b, the control device 107 selects the retapping tool T4 and attaches it to the chuck 66.

  After the rip-tapping tool T3 is mounted on the chuck 66, the control device 107 causes the detection device 102 to detect the screw hole 43b as in step S16-1. When the screw hole 43b is detected by the detection device 102, the control device 107 obtains the position of the screw hole 43b and moves the hand portion 64 of the insertion device 103 so that the tip of the rip-tapping tool T3 faces the screw hole 43b. . Then, the control apparatus 107 inserts the front-end | tip of the rip-tapping tool T3 in the screw hole 43b, and performs retapping. The internal shape of the screw hole 43b is adjusted by the rip-tapping tool T3, and foreign matter is removed. The control device 107 causes the six tapped holes 43b to sequentially perform the retapping operation one by one. After the end of the retapping operation, the control device 107 may return the retapping tool T3 to the tool storage device 106.

  Next, the control device 107 causes the six screw holes 43b to be cleaned (step S16-3). In step S16-3, the control device 107 causes the detection device 102 to detect the screw hole 43b as in step S16-1, and the hand unit 64 of the insertion device 103 so that the tip of the cleaning liquid nozzle 68 faces the screw hole 43b. Move. After the front end of the cleaning liquid nozzle 68 is opposed to the screw hole 43 b, the control device 107 ejects the cleaning liquid from the cleaning liquid nozzle 68. The inside of the screw hole 43b is cleaned by the cleaning liquid sprayed from the cleaning liquid nozzle 68. The control device 107 causes this cleaning operation to be continuously performed one by one with respect to the six screw holes 43b.

  Next, the control apparatus 107 makes the insertion apparatus 103 hold | maintain the protection member 50 (step S16-4). In step S16-4, the control device 107 moves the hand unit 64 of the insertion device 103 to the tool storage device 106, selects the holding tool T1, and attaches it to the chuck 66. After the holding tool T1 is mounted on the chuck 66, the control device 107 moves the holding tool T1 to the supply position P2 of the supply device 104, and holds the protective member 50 at the tip of the holding tool T1.

  Next, the control device 107 applies a lubricant to the protective member 50 (step S16-5). In step S <b> 16-5, the control device 107 moves the hand portion 64 of the insertion device 103 to the coating device 105 and places the protective member 50 held by the holding tool T <b> 1 below the discharge portion 91. Thereafter, the control device 107 discharges the lubricant from the discharge unit 91. The discharged lubricant is applied to the surface of the protection member 50.

  Next, the control device 107 inserts the protection member 50 into the screw hole 43b (step S16-6). In step S16-6, the control device 107 moves the hand portion 64 of the insertion device 103 to the third end face 43a and causes the detection device 102 to detect the screw hole 43b as in step S16-1. When the screw hole 43b is detected by the detection device 102, the control device 107 causes the tip of the holding tool T1 to face the screw hole 43b, and inserts the tip into the screw hole 43b together with the protection member 50. Since the lubricant is applied to the protective member 50, the friction between the screw hole 43b and the protective member 50 is reduced, and the protective member 50 is smoothly inserted into the screw hole 43b.

  After inserting the protection member 50 into one screw hole 43b, the control device 107 determines whether or not the protection member 50 has been inserted into all of the six screw holes 43b arranged in the insertable region 130 (step S16). -7). When it is determined that even one of the six screw holes 43b does not have the protective member 50 inserted (No in step S16-7), the control device 107 repeatedly performs the operations from step S16-4 to step S16-6. (No in step S16-7). When it is determined that the protection member 50 has been inserted into all the six screw holes 43b (Yes in step S16-7), the control device 107 completes the insertion operation.

  Next, the control device 107 determines whether or not the protection member 50 has been inserted into all the screw holes 43b formed in the third end face 43a (step S17). When it is determined that there is one or more screw holes 43b into which the protection member 50 is not inserted (No in Step S17), the control device 107 repeatedly performs the operations after Step S12. In this case, the control device 107 causes the rotation support device 101 to rotate the barrel main body 21, and the detection device 102 moves the next positioning hole 44 (for positioning between the screw hole 43b-2 and the screw hole 43b-3 in FIG. 8). The rotation is stopped when the hole 44) is detected. Thereafter, the control device 107 inserts the protective member 50 into the six screw holes 43b (43b-3, 43b-4,..., 43b-8 in FIG. 8) arranged in the insertable region 130 of the insertion device 103. Let it be done. As described above, the control device 107 can shorten the insertion operation of the protection member 50 by performing the insertion operation collectively for each predetermined number (six in this case) of the screw holes 43b.

  When it is determined that the protective member 50 has been inserted into all the screw holes 43b of the third end surface 43a (Yes in step S17), the control device 107 ends the operation. Thereafter, an operation of inserting the protective member 50 into the screw hole 41b of the first end face 41a or the screw hole 42b of the second end face 42a may be performed.

  As described above, according to the present embodiment, the positions of the screw holes 41b, 42b, 43b formed in the trunk body 21 are detected by the detection device 102, and the trunk body 21 is detected by the rotation support device 101 according to the detection result. After rotating in the circumferential direction and the screw holes 41b, 42b, 43b are arranged in the insertable region 130 by the rotation of the trunk body 21, the protection device 50 is inserted into the screw holes 41b, 42b, 43b by the insertion device 103. For this reason, the protective member 50 can be automatically inserted into the plurality of screw holes 41b, 42b, 43b without bothering the operator. Thereby, work time can be shortened and a burden on an operator can be reduced.

  It should be noted that the technical scope of the present invention is not limited to the above-described embodiment, and modifications can be made as appropriate without departing from the spirit of the present invention. For example, in the above-described embodiment, the case where the protective member 50 is inserted into the screw hole 43b formed in the third end surface 43a of the trunk body 21 has been described as an example, but the screw formed in the first end surface 41a. The same can be done when the protective member 50 is inserted into the hole 41b and the screw hole 42b formed in the second end face 42a. In this case, the control device 107 selects the retapping tool T4 and attaches it to the chuck 66 in step S16-2. In step S16-4, the control device 107 selects the holding tool T2 and holds it on the chuck 66.

DESCRIPTION OF SYMBOLS 11 Cask 12 Body part 13 Cover part 14 Basket 21a Opening side edge part 21b Bottom part side edge part 21 Body main part 22 Opening part 23 Bottom part 24 Cavity 25 Outer cylinder 27 Resin 28 Bottom plate 30 Trunnion 31 Primary lid 32 Secondary lid 33 Secondary lid 41 , 42, 43 Step portions 41a, 42a, 43a End faces 41b, 42b, 43b Screw holes 44 Positioning holes 50 Protective members 51, 52, 53 Bolt 61 Base portion 62 Arm support portion 63 Arm portion 64 Hand portion 65 Frame 66 Chuck 67 Gas Nozzle 68 Cleaning liquid nozzle 69 Gas supply part 70 Cleaning liquid supply part 80 Base 81 Stocker 81a Partition member 81b Discharge port 81c Stopper 82 Delivery mechanism 83 Clamp mechanism 84 Mounting part 91 Discharge part 92 Receiving part 93 Standby part 94 Moving mechanism 100 Protection member Insertion system 101 Rotation support device 102 Hole detection device 102 Detection device 103 Insertion device 104 Supply device 105 Application device 106 Tool storage device 107 Control device 111 Support base 112 Leg 113 Floor surface 114, 115 Support roller 116 Drive device 122 Camera 123 Laser sensor 130 Insertable area AX, AX2 Center axis P1 Discharge position P2 Supply position P3 Position T1, T2 Holding tools T3, T4 Retapping tools T5, T6 Extraction tools

Claims (14)

A rotation support device for supporting a trunk body formed in a cylindrical shape and provided with a plurality of screw holes along one circumferential end in the circumferential direction so as to be rotatable in the circumferential direction;
A detection device for detecting the position of the screw hole;
An insertion device capable of holding a protective member that protects the screw hole, transporting it to an insertable region including a part of the one end, and inserting the protective member into the screw hole disposed in the insertable region;
A control device for causing the insertion device to insert the protective member after rotating the trunk body on the rotation support device based on a detection result of the detection device so that the screw hole is disposed in the insertable region; ,
A protective member insertion system comprising: The insertable region is set in a range including a plurality of the screw holes,
The control device rotates the trunk body to the rotation support device so that the plurality of screw holes are included in the insertable region, and then continues the protection member to the plurality of screw holes in the insertable region. The protection member insertion system according to claim 1. The insertion device has a movable arm;
The detection device is provided on the arm,
The control device causes the screw hole to be detected while moving the arm after rotating the trunk body, and when the screw hole is detected, the protective member is placed in the detected screw hole. The protective member insertion system according to claim 1, wherein the protection member insertion system is inserted. A supply device for supplying the protective member;
The protection device insertion system according to any one of claims 1 to 3, wherein the control device causes the insertion device to hold the protection member supplied from the supply device. A plurality of the supply devices are provided,
The said control apparatus selects the said supply apparatus used as the supply source of the said protection member among several said supply apparatuses, and makes the said insertion apparatus hold | maintain the said protection member supplied from the selected said supply apparatus. The protective member insertion system as described. The supply device includes a stocker that stores a plurality of the protection members, and a delivery mechanism that sends the protection members held by the stocker to a supply position.
The protection member insertion system according to claim 4, wherein the control device causes the insertion device to hold the protection member sent to the supply position. The supply device has a clamp mechanism that holds the protection member at the supply position;
The protection member insertion system according to claim 6, wherein the control device causes the insertion device to hold the protection member held by the clamp mechanism. The protection member insertion system according to any one of claims 1 to 7, wherein the insertion device includes an attachment / detachment unit that can attach / detach a holding tool that holds at least the protection member. A cleaning tool that is inserted into the screw hole for cleaning can be attached to and detached from the attachment / detachment portion.
The control device attaches the cleaning tool to clean the screw hole, then removes the cleaning tool, attaches the holding tool, and holds the protective member on the holding tool, and then the protective member. The protection member insertion system according to claim 8. The protection member insertion system according to any one of claims 1 to 9, wherein the insertion device includes a gas nozzle capable of injecting gas into the screw hole. The protection member insertion system according to any one of claims 1 to 10, wherein the insertion device includes a cleaning liquid nozzle capable of injecting a cleaning liquid into the screw hole. A coating device for applying a lubricant to the protective member held by the insertion device;
The protection member insertion system according to any one of claims 1 to 11, wherein the control device inserts the protection member after the lubricant is applied to the protection member by the coating device. The protection member insertion system according to any one of claims 1 to 12, wherein the rotation support device supports the trunk body so that the one end portion faces a horizontal direction. A rotation support device that supports a trunk body that is formed in a cylindrical shape and is provided with a plurality of screw holes along a circumferential direction at one end in an axial direction; and a step of rotating the trunk body in the circumferential direction;
In a state where the trunk body is rotated, the detection device detects the position of the screw hole;
The insertion of the insertion device capable of holding the protective member that protects the screw hole, transporting it to the insertable region including a part of the one end, and inserting the protective member into the screw hole arranged in the insertable region A step of stopping the rotation of the trunk body based on the detection result of the detection device so that the screw hole is disposed in the possible region;
The insertion device inserting the protective member into the screw hole disposed in the insertable region;
A method for inserting a protective member.

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