JP6817776B2 - Buoyancy adjustment system and buoyancy adjustment method - Google Patents

Description

The present invention mainly relates to an underwater moving device, a buoyancy adjusting system and a buoyancy adjusting method applied in association with an ultrasonic flaw detection inspection underwater.

For example, Patent Document 1 describes an underwater moving device (underwater moving inspection device) that includes an articulated manipulator having a probe at the tip and works in a large container filled with a liquid. This underwater moving device is provided on a fixed base, a swivel base rotatably attached to the fixed base via a swivel mechanism to rotatably support the base end of an articulated manipulator, and a plurality of fixed bases. A traveling device having a number of wheels and a steering mechanism to drive the inspection device along the wall surface of the container in an arbitrary direction, and a traveling device provided via a leg that expands and contracts on a fixed base, and is attracted to the wall surface of the container. A plurality of suction plates for fixing the inspection device at an arbitrary position in the container, and a thruster provided on the swivel and having at least a thruster for navigating the inspection device in a direction orthogonal to the traveling direction of the traveling device. It is equipped. Then, the underwater moving device guides the inspection device to an arbitrary position in the container along the wall surface of the container by the traveling device while pressing the inspection device against the wall surface of the container by the propeller, and guides the inspection device to an arbitrary position in the container by the suction plate. It is attracted and fixed at an arbitrary position, and the probe provided at the tip of the articulated manipulator is guided to an arbitrary position in the container by the operation of the articulated manipulator.

Further, for example, in Patent Document 2, a laser ranging means is provided in a head portion held by a horizontal rotating device and a vertical rotating device in a locating device main body, and a reflected laser beam from a corner cube provided in a moving body is provided. A three-dimensional position locating device that detects and positions a three-dimensional position of a moving body is described. In this three-dimensional position positioning device, the position shift between the distance measuring laser oscillator and the communication laser oscillator provided in the head portion and the laser beam projected from the distance measuring laser oscillator and returned from the corner cube on the moving body. A means for detecting and controlling the rotation of the horizontal rotation device and the vertical rotation device of the head portion based on the misalignment data, and the laser beam projected from the distance measuring laser oscillator and the laser beam returned from the corner cube. A phase measuring means for measuring the phase difference, a locating means for locating the three-dimensional position of the moving body based on the phase difference measured by the phase measuring means and the horizontal rotation angle and the vertical rotation angle of the head portion, and locating by the locating means. A means for projecting a laser beam onto a moving body by modulating and controlling a communication laser oscillator based on the generated position data, and a means for rotatably holding a corner cube provided on the moving body via a horizontal rotating device and a vertical rotating device. A demodizing means provided on the moving body that receives a laser beam from a communication laser oscillator and demolishes the position data, and an attitude angle detecting means provided on the moving body that detects the posture angle of the moving body itself. A control means for rotating the horizontal rotation device and the vertical rotation device of the corner cube to face the corner cube toward the head portion based on the posture data detected by the attitude angle detecting means and the position data decoded by the demodulating means. Equipped with.

Further, for example, in Patent Document 3, a locating device for a mobile ultrasonic flaw detector, which is arranged on an upper flange of a pressure vessel and detects the position of an ultrasonic flaw detector that runs on its own along the inner surface of the pressure vessel. The mounting device of is described. The mounting device for this mobile ultrasonic flaw detector locator is mounted on a plurality of tubular frames fitted in alignment pins inserted in the bolt holes of the upper flange of the pressure vessel, and on the upper and lower parts of the frame. An upper fixing device and a lower fixing device for fixing the frame to the alignment pin, a laser length measuring device for detecting the self-propelled position of the ultrasonic flaw detection inspection machine by transmitting laser light to the ultrasonic flaw detection inspection machine, and a laser measurement. It is equipped with a support mechanism that swings the long device vertically and horizontally with respect to the frame. The upper fixing device has a plurality of upper fluid cylinders that press the outer peripheral surface of the alignment pin to align the axial center of the alignment pin with the axial center of the frame, and the lower fixing device is the inner surface of the reactor pressure vessel. It has a pair of holding rollers that contact with and define the orientation of the laser length measuring device, and a lower fluid cylinder that presses the outer peripheral surface of the alignment pin to align the axial center of the alignment pin with the axial center of the frame.

Further, for example, Patent Document 4 describes a buoyancy adjusting device capable of adjusting buoyancy to enable lowering and ascending with a simple configuration and power saving. This buoyancy adjusting device has a volume control mechanism that deforms the shape of the internal space and controls the volume of the internal space, and a control unit that controls the volume control mechanism during descent and ascent.

Further, for example, Patent Document 5 describes an underwater inspection device capable of easily adjusting the buoyancy of the inspection vehicle while suppressing the increase in size of the inspection vehicle. This underwater inspection device includes an inspection vehicle equipped with a camera and capable of underwater migration, an operation device capable of instructing the operation of the inspection vehicle, and a control device that controls the operation of the inspection vehicle according to the operation of the operation device. The inspection vehicle is provided with a housing in which an equipment storage chamber for accommodating equipment is formed as an air chamber, and is provided at the bottom of the housing so as to communicate with each other inside and outside the air chamber. It has a cylindrical opening, a disk member that closes the opening and is slidably provided, and the volume of the air chamber can be adjusted according to the slide position, and a motor that slides the disk member. ..

Utility Model Registration No. 2535550 Japanese Patent No. 3117351 Japanese Patent No. 2977441 Japanese Unexamined Patent Publication No. 2003-135856 Japanese Unexamined Patent Publication No. 2011-21965

By the way, in an underwater moving device as described in Patent Document 1, a probe is attached to the tip of an articulated manipulator in order to perform an ultrasonic flaw detection inspection. As a probe plate, this probe is detachably attached to the tip of an articulated manipulator, and several types are prepared and can be replaced according to the part to be inspected. Conventionally, when replacing such a probe plate, the underwater moving device is pulled up from the water and the replacement work is performed in an aerial environment.

However, several types of probe plates are prepared depending on the location to be inspected, and the weights differ. Therefore, when replacing the probe plate, it is necessary to adjust the buoyancy (underwater weight) of the underwater moving device to 0 [N]. As a device for adjusting buoyancy, a buoyancy tank is provided and a buoyancy adjustment weight is detachably provided, and the buoyancy is set to 0 [N] in water of the reactor pressure vessel by weight adjustment by the buoyancy adjustment weight. Therefore, when adjusting the buoyancy when replacing the probe plate, the weight of the buoyancy adjusting weight is increased or decreased in the aerial environment as the weight of the replaced probe plate increases or decreases.

However, whether or not the buoyancy is adjusted can be confirmed by putting the underwater moving device in the water, and if the buoyancy is not 0 [N], the underwater moving device is pulled up from the water again and the weight of the buoyancy adjusting weight. Must be adjusted. Therefore, in the buoyancy adjustment, the movement of the underwater moving device from the water to the air and the movement of the underwater moving device from the air to the water may be repeated, which causes a problem that the work takes time. In addition, the polar crane is occupied by the movement of the underwater moving device from underwater to the air and the movement of the underwater moving device from the air to the water, which causes a problem that the work is delayed because other work must be waited for. There is. In addition, when adjusting the buoyancy in the aerial environment, it is necessary to decontaminate the underwater moving device that has moved from the water to the air, and this decontamination work takes time and it is necessary to prevent the expansion of radiation exposure of the operator. is there. Further, when moving the underwater moving device from the air to the water, it is necessary to confirm the operation of the device, and there is a problem that it takes time to confirm the operation.

The present invention solves the above-mentioned problems, and can reduce the working time for adjusting the buoyancy of the underwater moving device and ensure the safety of the operator, the underwater moving device, the buoyancy adjusting system, and the buoyancy. The purpose is to provide an adjustment method.

In order to achieve the above object, the underwater moving device according to one aspect of the present invention has an articulated manipulator to which a probe plate is detachably attached to the tip, and a main buoyancy whose buoyancy can be adjusted by a buoyancy adjusting weight. It includes an adjusting device and a sub-buoyancy adjusting device that adjusts the buoyancy including the weight of the probe plate by compression or expansion of the air chamber.

According to this underwater moving device, when the probe plate is replaced, the buoyancy of the underwater moving device including the weight of the probe plate replaced by the sub-buoyancy adjusting device that adjusts by compression or expansion of the air chamber is adjusted underwater. can do. Therefore, in this buoyancy adjustment, it is possible to prevent the movement of the underwater moving device from the water to the air and the movement of the underwater moving device from the air to the water repeatedly, and the working time can be shortened. In addition, by preventing the movement of the underwater moving device between underwater and air, it is possible to prevent the polar crane from being occupied by buoyancy adjustment, and the polar crane can be used for other work to prevent delays in other work. it can. In addition, by preventing the movement of the underwater moving device between underwater and air, decontamination of the underwater moving device by adjusting the buoyancy can be prevented, the time for this decontamination work can be saved, and the exposure of the worker can be increased. It can be stopped. Further, by preventing the movement of the underwater moving device between air and water, it is possible to eliminate the operation confirmation of the underwater moving device by adjusting the buoyancy and to save the time for checking the operation. As a result, the working time required for adjusting the buoyancy of the underwater moving device can be reduced and the safety of the operator can be ensured.

In order to achieve the above object, the underwater moving device according to one aspect of the present invention has an articulated manipulator to which a probe plate is detachably attached to the tip, and a main buoyancy whose buoyancy can be adjusted by a buoyancy adjusting weight. The sub-buoyancy adjusting device includes an adjusting device and a sub-buoyancy adjusting device for adjusting the buoyancy by compression or expansion of the air chamber, and the sub-buoyancy adjusting device is provided on both sides of the underwater moving device. It is provided on each side.

According to this underwater moving device, the buoyancy can be adjusted by each sub-buoyancy adjusting device according to the posture in water. The posture can be adjusted underwater.

Further, in the underwater moving device according to one aspect of the present invention, in the sub-buoyancy adjusting device, a fixed casing fixed to the underwater moving device and a moving casing movable with respect to the fixed casing are inside each other. It is preferable that the air chamber is communicated to ensure watertightness, and the air chamber is compressed or expanded by the movement of the moving casing by the buoyancy adjusting drive mechanism.

According to this underwater moving device, the buoyancy can be adjusted in water by making the watertight air chamber formed by the fixed casing and the moving casing a sub-buoyancy adjusting device that compresses or expands by moving the moving casing.

In order to achieve the above object, the buoyancy adjustment system according to one aspect of the present invention has a main buoyancy adjustment in which the buoyancy can be adjusted by an articulated manipulator to which a probe plate is detachably attached to the tip and a buoyancy adjustment weight. The buoyancy of the underwater moving device, which is provided with the device and is configured to be movable in the liquid filled in the container, and the underwater moving device provided in the underwater moving device and including the weight of the probe plate, is air. A sub-buoyancy adjusting device that adjusts by compression or expansion of the chamber is included, and the buoyancy is adjusted by the sub-buoyancy adjusting device with the replacement of the probe plate.

According to this buoyancy adjustment system, when the probe plate is replaced, the buoyancy of the underwater moving device including the weight of the probe plate replaced by the sub-buoyancy adjusting device that adjusts by compression or expansion of the air chamber is adjusted underwater. can do. Therefore, in this buoyancy adjustment, it is possible to prevent the movement of the underwater moving device from the water to the air and the movement of the underwater moving device from the air to the water repeatedly, and the working time can be shortened. In addition, by preventing the movement of the underwater moving device between underwater and air, it is possible to prevent the polar crane from being occupied by buoyancy adjustment, and the polar crane can be used for other work to prevent delays in other work. it can. In addition, by preventing the movement of the underwater moving device between underwater and air, decontamination of the underwater moving device by adjusting the buoyancy can be prevented, the time for this decontamination work can be saved, and the exposure of the worker can be increased. It can be stopped. Further, by preventing the movement of the underwater moving device between air and water, it is possible to eliminate the operation confirmation of the underwater moving device by adjusting the buoyancy and to save the time for checking the operation. As a result, the working time required for adjusting the buoyancy of the underwater moving device can be reduced and the safety of the operator can be ensured.

Further, in the buoyancy adjustment system according to one aspect of the present invention, the storage device in which the buoyancy adjustment data corresponding to the type of the probe plate is stored in advance and the buoyancy adjustment system exchanged with the replacement of the probe plate. It is preferable to include a control device that acquires buoyancy adjustment data according to the probe plate from the storage device and controls the buoyancy adjustment by the sub-buoyancy adjustment device.

According to this buoyancy adjustment system, when the probe plate is replaced, the buoyancy adjustment can be automatically performed by the sub-buoyancy adjustment device according to the buoyancy adjustment data according to the type of the probe plate.

Further, in the buoyancy adjustment system according to one aspect of the present invention, it is preferable to have a switching table installed in the liquid in a mode in which the probe plate is replaced in the liquid.

According to this buoyancy adjustment system, the probe plate can be exchanged in the liquid, so that the underwater moving device can be moved from water to air and from air to water when exchanging the probe plate. It is possible to prevent the polar crane from being occupied without moving the underwater moving device. Further, when replacing the probe plate, it is possible to omit the work of decontaminating the underwater moving device that has moved from the water to the air, and it is possible to prevent the worker from being exposed to radiation. Further, by preventing the movement of the underwater moving device between the air and the water, it is possible to eliminate the operation check of the underwater moving device by exchanging the probe plate and to save the time for checking the operation. As a result, the work time for exchanging the probe plate for the underwater moving device can be reduced, and the safety of the operator can be ensured.

In order to achieve the above object, the buoyancy adjusting system according to one aspect of the present invention is provided with a main buoyancy adjusting device whose buoyancy can be adjusted by a buoyancy adjusting weight so as to be movable in a liquid filled in a container. An configured underwater moving device, a sub-buoyancy adjusting device provided in the underwater moving device that adjusts the buoyancy of the underwater moving device by compression or expansion of an air chamber, and a water quality detecting means for detecting the water quality of the liquid. The buoyancy is adjusted by the sub-buoyancy adjusting device according to the water quality detected by the water quality detecting means.

According to this buoyancy adjustment system, when the underwater moving device is used in liquids of different containers, the buoyancy adjustment can be performed in the liquid by the sub-buoyancy adjusting device according to the difference in buoyancy due to the water quality of the liquid.

In order to achieve the above object, the buoyancy adjusting system according to one aspect of the present invention is provided with a main buoyancy adjusting device whose buoyancy can be adjusted by a buoyancy adjusting weight so as to be movable in a liquid filled in a container. The sub-buoyancy adjusting device includes the configured underwater moving device and a sub-buoyancy adjusting device provided in the underwater moving device to adjust the buoyancy of the underwater moving device by compression or expansion of an air chamber. The buoyancy is adjusted by each of the sub-buoyancy adjusting devices according to the posture of the underwater moving device in the liquid, which is provided on both sides of the moving device.

According to this buoyancy adjustment system, the posture of the underwater moving device can be adjusted in the liquid by adjusting the buoyancy by each sub-buoyancy adjusting device according to the posture of the underwater moving device in the liquid.

Further, in the buoyancy adjusting system according to one aspect of the present invention, in the sub-buoyancy adjusting device, a fixed casing fixed to the underwater moving device and a moving casing movable with respect to the fixed casing are inside each other. It is preferable that the air chamber is communicated to ensure watertightness, and the air chamber is compressed or expanded by the movement of the moving casing by the buoyancy adjusting drive mechanism.

According to this buoyancy adjustment system, the buoyancy can be adjusted in water by making the watertight air chamber formed by the fixed casing and the moving casing a sub-buoyancy adjusting device that compresses or expands by moving the moving casing.

In order to achieve the above object, the buoyancy adjusting method according to one aspect of the present invention is provided with an articulated manipulator to which a probe plate is detachably attached to the tip and moves in a liquid filled in a container. A step of exchanging the probe plate of the underwater moving device configured to be possible, and a step of adjusting the buoyancy according to the weight of the probe plate in the liquid after exchanging the probe plate. including.

According to this buoyancy adjustment method, after replacing the probe plate of the underwater moving device, the buoyancy adjustment according to the weight of the probe plate is performed in the liquid, so that the buoyancy adjustment is performed from underwater to air. It is possible to prevent the movement of the underwater moving device and the repeated movement of the underwater moving device from the air to the water, and the working time can be shortened. In addition, by preventing the movement of the underwater moving device between underwater and air, it is possible to prevent the polar crane from being occupied by buoyancy adjustment, and the polar crane can be used for other work to prevent delays in other work. it can. In addition, by preventing the movement of the underwater moving device between underwater and air, decontamination of the underwater moving device by adjusting the buoyancy can be prevented, the time for this decontamination work can be saved, and the exposure of the worker can be increased. It can be stopped. Further, by preventing the movement of the underwater moving device between air and water, it is possible to eliminate the operation confirmation of the underwater moving device by adjusting the buoyancy and to save the time for checking the operation. As a result, the working time required for adjusting the buoyancy of the underwater moving device can be reduced and the safety of the operator can be ensured.

According to the present invention, it is possible to reduce the working time required for adjusting the buoyancy of the underwater moving device and ensure the safety of the operator.

FIG. 1 is an explanatory diagram of an outline of an underwater mobile inspection system. FIG. 2 is a side view of the underwater moving device. FIG. 3 is a bottom view of the underwater moving device. FIG. 4 is a side sectional view of a fixed base in the underwater moving device. FIG. 5 is a side sectional view of the traveling device in the underwater moving device. FIG. 6 is a side sectional view of the adsorption device in the underwater moving device. FIG. 7 is a side sectional view of the propulsion device in the underwater moving device. FIG. 8 is a side sectional view of the buoyancy adjusting device in the underwater moving device. FIG. 9 is a perspective view of the orientation marker in the underwater moving device. FIG. 10 is an explanatory diagram of a control marker in an underwater moving device. FIG. 11 is a side sectional view of the swivel table in the underwater moving device. FIG. 12 is a side view of the position locating device. FIG. 13 is a front view of the position locating device. FIG. 14 is a cross-sectional view taken along the line AA in FIG. FIG. 15 is a plan view of the switching table. FIG. 16 is a front view of the switching table. FIG. 17 is a plan view in which the switching table is installed in the position positioning device. FIG. 18 is a plan view of the probe plate. FIG. 19 is a front view of the probe plate. FIG. 20 is a block diagram of a control device including an underwater mobile inspection system and a buoyancy adjustment system. FIG. 21 is an operation diagram of an ultrasonic flaw detection inspection by an underwater mobile inspection system. FIG. 22 is an operation diagram of an ultrasonic flaw detection inspection by an underwater mobile inspection system. FIG. 23 is an operation diagram of an ultrasonic flaw detection inspection by an underwater mobile inspection system. FIG. 24 is an operation diagram of ultrasonic flaw detection inspection by an underwater mobile inspection system. FIG. 25 is an operation diagram of an ultrasonic flaw detection inspection by an underwater mobile inspection system. FIG. 26 is an operation diagram of an ultrasonic flaw detection inspection by an underwater mobile inspection system. FIG. 27 is an operation diagram of the probe plate replacement by the underwater mobile inspection system. FIG. 28 is an operation diagram of the probe plate replacement by the underwater mobile inspection system. FIG. 29 is an operation diagram of the probe plate replacement by the underwater mobile inspection system. FIG. 30 is an operation diagram of the probe plate replacement by the underwater mobile inspection system. FIG. 31 is an operation diagram of the probe plate replacement by the underwater mobile inspection system. FIG. 32 is an operation diagram of the probe plate replacement by the underwater mobile inspection system. FIG. 33 is an operation diagram of the probe plate replacement by the underwater mobile inspection system.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment. In addition, the components 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 an explanatory diagram of an outline of an underwater mobile inspection system.

The underwater mobile inspection system navigates in the reactor pressure vessel 101 with the underwater mobile device 1 and scans the wall surface 101A of the reactor pressure vessel 101 to detect flaws.

The reactor pressure vessel 101 is located below the bottom wall of the cavity pit 102 and is surrounded by a concrete wall 103. Further, the reactor pressure vessel 101, the cavity pit 102 and the like are covered with a concrete reactor containment vessel 104, and the reactor containment vessel 104 shields radiation. The reactor pressure vessel 101 is provided with an upper flange 101B for joining a lid (not shown) with bolts while maintaining watertightness with respect to the bottom wall of the cavity pit 102. Further, the reactor pressure vessel 101 is erected on the upper surface of the upper flange 101B with three alignment pins 101C used for attaching the lid extending upward. Then, before the flaw detection is performed, the lid is removed from the reactor pressure vessel 101, and the inside of the reactor pressure vessel 101 and the cavity pit 102 are filled with water (liquid) to shield the radiation.

The underwater moving device 1 is connected to a cable 105 including a line for transmitting signals such as a flaw detection signal and a control signal and a power line. In connection with this cable 105, a cable adjusting / guiding device 106 that guides the cable 105 while adjusting the length of the cable 105 submerged in water according to the position of the underwater moving device 1 is installed above the cavity pit 102. ing. The cable 105 communicates with the control device 2 for processing the flaw detection data transmitted from the underwater moving device 1. The control device 2 is installed outside the reactor containment vessel 104 for radiation shielding.

Further, the position of the underwater moving device 1 is set by the position setting device 3. The position positioning device 3 is attached to the upper flange 101B via each alignment pin 101C. The position locating device 3 transmits a line for transmitting a signal of the distance data obtained by locating the underwater moving device 1 and a signal of driving data for positioning the position locating device 3 in the direction toward the underwater moving device 1. A cable 107 including a line for this is connected. The cable 107 communicates with the control device 2 for processing the distance data transmitted from the position locating device 3 and the driving data for positioning the position locating device 3.

Hereinafter, the details of the underwater moving device 1, the position positioning device 3, and the control device 2 will be described.

First, the underwater moving device 1 will be described. FIG. 2 is a side view of the underwater moving device. FIG. 3 is a bottom view of the underwater moving device. FIG. 4 is a side sectional view of a fixed base in the underwater moving device. FIG. 5 is a side sectional view of the traveling device in the underwater moving device. FIG. 6 is a side sectional view of the adsorption device in the underwater moving device. FIG. 7 is a side sectional view of the propulsion device in the underwater moving device. FIG. 8 is a side sectional view of the buoyancy adjusting device in the underwater moving device. FIG. 9 is a perspective view of the orientation marker in the underwater moving device. FIG. 10 is an explanatory diagram of a control marker in an underwater moving device. FIG. 11 is a side sectional view of the swivel table in the underwater moving device.

As shown in FIGS. 2 and 3, the underwater moving device 1 includes a fixing base 5, a swivel base 6, a traveling device 7, a suction device 8, a propulsion device 9, an articulated manipulator 10, a buoyancy adjusting device 11, and a locating marker 12. It is roughly composed including.

The fixing base 5 has a shell-type structure.

The swivel base 6 is provided so as to rotate and move so as to be swivel with respect to the fixed base 5.

A plurality of traveling devices 7 (four in this embodiment) are provided on the fixed base 5, and the traveling devices 7 have wheels 7B provided so as to be able to swing and rotate by the steering mechanism 7A. The underwater moving device 1 can freely travel on the wall surface 101A of the reactor pressure vessel 101 by the traveling device 7.

A plurality of suction devices 8 (four in this embodiment) are provided on the fixing base 5, and the suction devices 8 have a suction plate 8B provided so that the suction side and the non-suction side can be slidably moved by the cylinder 8A. .. The underwater moving device 1 can be adsorbed and fixed to the wall surface 101A of the reactor pressure vessel 101 by the adsorption device 8.

The propulsion device 9 is provided on the swivel base 6 with respect to the thrusters 9A and 9B and the wall surface 101A of the reactor pressure vessel 101, which allow the underwater moving device 1 to dive into the water in the reactor pressure vessel 101. It has thrusters 9C and 9D that can approach and leave. The underwater moving device 1 can freely navigate underwater in three dimensions by the propulsion device 9.

The articulated manipulator 10 is a manipulator provided on a swivel base 6 and configured in an articulated type with 6 degrees of freedom (M1 to M6) in the present embodiment. A probe plate 15 is attached to the tip of the articulated manipulator 10. The probe plate 15 can detect a welded portion of the reactor pressure vessel 101. The probe plate 15 is detachably provided at the tip of the articulated manipulator 10 and can be replaced. Since the articulated manipulator 10 is a known manipulator, detailed description thereof will be omitted.

The buoyancy adjusting devices 11 are provided at two locations on both sides of the swivel table 6 to adjust the buoyancy of the underwater moving device 1 in water. Although not specified in the figure, the underwater moving device 1 has a buoyancy tank as a main buoyancy adjusting device and is provided with a detachable buoyancy adjusting weight, and the buoyancy of the reactor pressure vessel 101 in water is adjusted by weight adjustment by the buoyancy adjusting weight. Is 0 [N]. That is, the underwater moving device 1 is configured so as not to float or sink in water, facilitating movement by the propulsion device 9 described above. However, since there are several types of probe plates 15 having different weights, the buoyancy increases or decreases from 0 [N] by exchanging the probe plate 15, so that the buoyancy adjusting device 11 increases or decreases as a sub-buoyancy adjusting device. The buoyancy is adjusted to 0 [N].

The orientation marker 12 is used as a target of the position orientation device 3, and is mounted on the upper part of the swivel base 6 via the biaxial drive device 12A.

In the underwater moving device 1 roughly configured as described above, as shown in FIG. 4, the fixing base 5 is provided with a swivel drive mechanism 5B at the center of the box-shaped fixing base main body 5A. In the swivel drive mechanism 5B, a motor 5Ba which is a drive source, an encoder 5Bb which detects a position, and a speed reducer 5Bc which increases the driving force of the motor 5Ba are arranged on a concentric uniaxial axis. Then, the speed reducer 5Bc is attached to the fixed base body 5A, and the speed reducer output shaft 5Bd on the output side of the speed reducer 5Bc is rotatably supported by the bearing 5Aa provided on the fixed base body 5A. A sealing material 5Ab such as an O-ring that makes the inside of the fixing base 5 watertight is provided between the speed reducer output shaft 5Bd and the fixing base main body 5A.

As shown in FIG. 5, the traveling device 7 is attached along the outer circumference of the fixing base 5. In the traveling device 7, the traveling device main body 7C that supports the steering mechanism 7A and the wheels 7B is attached to the fixed base 5 so as to be movable in the vertical direction via the linear bearing 7Da. The movement of the traveling device main body 7C is urged downward by springs 7Db provided on both sides of the linear bearing 7Da.

The steering mechanism 7A is provided inside the traveling device main body 7C and drives the wheels 7B in a turning manner. In the steering mechanism 7A, the motor 7Aa as a drive source is fixed to the traveling device main body 7C, the gear 7Ab is coupled to the output shaft of the motor 7Aa, and the input shaft 7Ad of the speed reducer 7Ac is coupled so as to mesh with the gear 7Ab. There is. The output shaft 7Ae of the speed reducer 7Ac (the structure is omitted because it is a known internal rotary speed reducer) is rotatably supported by a bearing 7Af provided on the traveling device main body 7C. The output shaft 7Ae of the speed reducer 7Ac is provided with a sealing material 7Ag such as an O-ring that makes the inside of the traveling device main body 7C watertight, and a wheel drive motor 7Ba that drives the wheels 7B is attached. Further, a potentiometer 7Ah is attached to the output shaft 7Ae of the speed reducer 7Ac, and the turning position of the wheel 7B is detected by the potentiometer 7Ah.

The wheel drive motor 7Ba is attached to the output shaft 7Ae of the speed reducer 7Ac in the steering mechanism 7A. The wheel drive motor 7Ba is coupled to the speed reducer 7Bc. In the speed reducer 7Bc, the wheels 7B are coupled to the outer circumference of the cylindrical output shaft 7Bd. The wheel 7B is provided with an output shaft 7Bd rotatably provided on the output shaft 7Ae in the steering mechanism 7A via a bearing 7Be. Therefore, the wheel 7B is driven by the wheel drive motor 7Ba to rotate via the speed reducer 7Bc, which enables traveling. Further, the output shaft 7Bd of the speed reducer 7Bc has a wheel drive motor 7Ba and a speed reducer 7Bc housed inside the cylindrical shape, and is housed in a casing formed by the output shaft 7Ae of the steering mechanism 7A, and between the cylindrical shape and the casing. Is provided with a sealing material 7Bf such as an O-ring that makes the inside of each watertight. Further, an encoder 7Bg is provided on the output shaft 7Bd of the speed reducer 7Bc, and the mileage is detected by the encoder 7Bg as the rotation speed of the wheel 7B.

As shown in FIG. 6, the suction device 8 is attached along the outer circumference of the fixing base 5. In the suction device 8, the cylinder tube 8Aa of the cylinder 8A is fixed to the fixing base 5. In the cylinder 8A, a piston rod 8Ab is provided inside the cylinder tube 8Aa via a bearing 8Ac and a sealing material 8Ad. The cylinder 8A is provided with pneumatic introduction holes 8Aaa and 8Aab at the closed upper end and the center of the cylinder tube 8Aa, and selectively applies pneumatic pressure to the pneumatic introduction hole 8Aaa or the pneumatic introduction hole 8Aab. As a result, the piston rod 8Ab moves up and down. A suction plate 8B is attached to the lower end of the piston rod 8Ab via a spherical bearing 8Ba. The suction plate 8B has a circular shape in which the upper side is closed and the lower side is open, and the inside thereof is connected to the lower end of the piston rod 8Ab and the vacuum pressure introduction hole 8Aba penetrating the spherical bearing 8Ba. Then, by applying a vacuum pressure to the vacuum pressure introduction hole 8Aba, the inside of the suction plate 8B becomes a vacuum and can be sucked on the wall surface 101A of the reactor pressure vessel 101.

As shown in FIG. 7, the propulsion device 9 constitutes thrusters 9A, 9B, 9C, and 9D, and a motor is provided inside a thruster cover 9a attached to the swivel base 6 via a streamlined motor cover 9b. 9c is attached. In the motor 9c, the output shaft 9f is rotatably supported via a bearing 9d and a seal 9e provided on the motor cover 9b. A screw 9g is attached to the tip of the output shaft 9f. Therefore, the propulsion device 9 constituting the thrusters 9A, 9B, 9C, 9D drives the screw 9g by the motor 9c. This propulsion device 9 dives and ascends with thrusters 9A and 9B installed in parallel with the swivel table 6 by rotating the screw 9 g in the forward and reverse directions, while the thrusters 9C and 9D installed perpendicular to the swivel table 6 perform the diving and ascent. The approach and detachment of the reactor pressure vessel 101 to and from the wall surface 101A can be performed.

As shown in FIG. 8, the buoyancy adjusting device 11 has a fixed casing 11A, a moving casing 11B, and a motor casing 11C. The fixed casing 11A is attached to and fixed to the swivel base 6. The fixed casing 11A is formed in a cylindrical shape, one end is open and the other end is closed. The moving casing 11B is formed in a cylindrical shape and is inserted into the inside of the cylindrical shape from the open side of the fixed casing 11A. A sealing material 11Aa such as an O-ring is provided inside the open end of the fixed casing 11A to ensure watertightness with the outer peripheral surface of the moving casing 11B.

In the moving casing 11B, one end protruding to the outside of the fixed casing 11A is closed, and the other end arranged inside the fixed casing 11A is open. Therefore, the fixed casing 11A and the moving casing 11B communicate with each other to form an air chamber S in which watertightness is ensured. The moving casing 11B is provided so as to be movable with respect to the fixed casing 11A via the sealing material 11Aa in the extending direction (axial direction) of the cylindrical shape.

The motor casing 11C accommodates the motor 11Da of the buoyancy adjustment drive mechanism 11D, and is coupled to the closed side, which is the other end of the fixed casing 11A, while ensuring watertightness. In the buoyancy adjustment drive mechanism 11D, the speed reducer 11Db is coupled to the motor 11Da, and the output shaft 11Dc of the speed reducer 11Db is rotatably supported by the bearing 11Dd with respect to the motor casing 11C. Further, in the buoyancy adjustment drive mechanism 11D, the screw shaft 11De is fixed to the tip of the output shaft 11Dc on the same axis. The screw shaft 11De penetrates the fixed casing 11A and extends inside the fixed casing 11A and the moving casing 11B. The screw shaft 11De is arranged in a cylindrical support casing 11Df provided inside the fixed casing 11A and the moving casing 11B and fixed to the fixed casing 11A, and both ends are rotated by bearings 11Dg with respect to the support casing 11Df. It is supported freely. Further, in the buoyancy adjustment drive mechanism 11D, a nut member 11Dh is attached to the screw shaft 11De. The nut member 11Dh is connected to the open other end side of the moving casing 11B by a rod-shaped connecting member 11Di. The connecting member 11Di is inserted into a slit hole 11Dj formed on the outer periphery of the support casing 11Df along the extending direction of the screw shaft 11De.

Then, in the buoyancy adjustment drive mechanism 11D, the nut member 11Dh moves along the extending direction of the screw shaft 11De by the forward and reverse rotation of the screw shaft 11De via the speed reducer 11Db by the motor 11Da. As the nut member 11Dh moves, the moving casing 11B moves with respect to the fixed casing 11A in the extending direction (axial direction) of the cylindrical shape. Then, the air chamber S in which the insides of the fixed casing 11A and the moving casing 11B communicate with each other to ensure watertightness is compressed by the relative proximity of the fixed casing 11A and the moving casing 11B, and the fixed casing 11A and the moving casing 11B are compressed. It is expanded when 11B is relatively separated. As a result, the buoyancy is reduced by compressing the air chamber S, while the buoyancy is adjusted by increasing the buoyancy by expanding the air chamber S. Further, a potentiometer 11Dk is attached to the motor 11Da, and the position (stroke) of the moving casing 11B is detected by the potentiometer 11Dk.

As shown in FIG. 9, the orientation marker 12 is attached to the swivel base 6 via a biaxial drive device 12A. Specifically, the drive device 12A is provided with a vertical shaft 12Aa forming the first axis attached to the swivel base 6 and a horizontal shaft 12Ab forming the second axis orthogonal to the vertical shaft 12Aa. The orientation marker 12 is supported by the horizontal axis 12Ab. That is, the orientation marker 12 swivels in the horizontal direction around the vertical shaft 12Aa of the drive device 12A, and tilts in the vertical direction around the horizontal shaft 12Ab. Therefore, the locating marker 12 can be directed toward the locating device 3 according to the posture of the underwater moving device 1 in water.

Then, as shown in FIG. 10, the orientation marker 12 is composed of a corner cube 12a and a spherical light source 12b. A spherical light source 12b is provided at the center of the corner cube 12a, and an incident signal to the corner cube 12a is reflected. The vertical axis 12Aa and the horizontal axis 12Ab of the drive device 12A intersect at the point A where the incident signal is reflected and passes on the center line of the corner cube 12a. That is, the orientation marker 12 moves around the point A on the center line of the corner cube 12a.

As shown in FIG. 11, the swivel base 6 can be swiveled by being fixed to the speed reducer output shaft 5Bd of the swivel drive mechanism 5B provided on the fixed base main body 5A in the fixed base 5. The swivel base 6 has an amplifier that drives the motors of each drive mechanism, a command value from the position locating device 3, and data to the position locating device 3 in a box-shaped interior that ensures watertightness. An electrical box 6A composed of D, D / A, E / O, O / E converters and the like is provided, and the cable 105 described above is connected to the electrical box 6A.

Next, the position locating device 3 will be described. FIG. 12 is a side view of the position locating device. FIG. 13 is a front view of the position locating device. FIG. 14 is a cross-sectional view taken along the line AA in FIG.

The position positioning device 3 has a length measuring device 21, a mounting device 22, and a mounting base 23.

The length measuring device 21 has a length measuring device 21A and a support mechanism 21B. The length measuring device 21A transmits a laser beam to the orientation marker 12 of the underwater moving device 1 to detect the position of the underwater moving device 1. The length measuring device 21A includes a laser light irradiation unit 21Aa, a visual sensor 21Ab composed of a camera, an image processing device 21Ac, a phase difference meter 21Ad, and a laser modulation signal generator 21Ae (see FIG. 24). The support mechanism 21B supports the length measuring device 21A and is provided in the mounting device 22. The support mechanism 21B makes the length measuring device 21A swingable in the vertical and horizontal directions with respect to the mounting device 22, and directs the length measuring device 21A toward the positioning marker 12 according to the posture of the underwater moving device 1 in water. Can be done.

The mounting device 22 positions and fixes the position positioning device 3 with respect to the alignment pin 101C. The mounting device 22 includes a tubular frame 22A that can be fitted and removed from the alignment pin 101C with a predetermined clearance, an upper fixing device 22B that is provided at the upper and lower parts of the frame 22A and fixes the frame 22A to the alignment pin 101C. It has a lower fixing device 22C.

The upper fixing device 22B has three upper air cylinders 22Ba for pressing the outer peripheral surface of the alignment pin 101C to align the axial center of the alignment pin 101C with the axial center of the frame 22A. That is, the upper fixing device 22B fixes the upper axial center of the frame 22A so as to coincide with the axial center of the alignment pin 101C by each upper air cylinder 22Ba.

The lower fixing device 22C presses the direction defining mechanism 22CA that contacts the upper surface of the upper flange 101B of the reactor pressure vessel 101 to define the direction of the length measuring device 21 and the outer peripheral surface of the alignment pin 101C, and the alignment pin 101C. It has a lower air cylinder 22CB for aligning the axis center of the frame 22A with the axis center of the frame 22A.

In the direction defining mechanism 22CA, brackets 22CAa are fixed to both sides of the frame 22A, and an intermediate portion of the operation arm 22CAc is rotatably attached to each bracket 22CAa by a horizontal pivot 22CAb. A holding roller 22CAd is attached to the lower end of each operation arm 22CAc, and an operation air cylinder 22CAe is attached to the upper end. The operating air cylinder 22CAe is swingably supported by a pivot axis horizontal to the frame 22A.

In the lower air cylinder 22CB, one end of the piston shaft 22CBa is fixed to the frame 22A by the mounting bracket 22CBb, and the piston 22CBc is fixed to the other end. The piston 22CBc is movably provided in the cylinder case 22CBd, and the inside of the cylinder case 22CBd is divided into two rooms 22CBd1 and 22CBd2. A holding arm 22CBe having a bifurcated tip is fixed to the cylinder case 22CBd, and the bifurcated tip of the holding arm 22CBe enters the frame 22A and presses the outer peripheral surface of the alignment pin 101C, respectively. 22CBf is attached.

The mounting device 22 configured in this way, after fitting the frame 22A into the alignment pin 101C, operates each upper air cylinder 22Ba of the upper fixing device 22B to press the outer peripheral surface of the alignment pin 101C, thereby pressing the alignment pin 101C. The axis center of the frame 22A is aligned with the axis center of the frame 22A, and the upper portion of the frame 22A is fixed to the alignment pin 101C.

Subsequently, the pair of holding rollers 22CAd is moved downward by the direction defining mechanism 22CA of the lower fixing device 22C and brought into contact with the inner surface of the upper flange 101B, respectively, so that the two points of the arc on the inner surface of the upper flange 101B and the alignment pin 101C The direction of the length measuring instrument 21A is defined on the center side of the reactor pressure vessel 101 with reference to the three points with respect to the center of the axis. Further, by pressing the outer peripheral surface of the alignment pin 101C with the lower air cylinder 22CB of the lower fixing device 22C, the axis center of the alignment pin 101C and the axis center of the frame 22A are aligned, and the lower part of the frame 22A is fixed to the alignment pin 101C. To do.

When the frames 22A are fixed to the alignment pins 101C in this way, the attachment of the position positioning device 3 is completed. Therefore, using this position locating device 3, the locating marker of the underwater moving device 1 from the length measuring device 21A is adjusted by swinging the direction of the length measuring device 21A in the vertical direction and the horizontal direction by the support mechanism 21B in the length measuring device 21. By transmitting a laser beam to 12, the distance to the underwater moving device 1 is measured and the position and distance of the underwater moving device 1 are detected.

The mounting base 23 positions and mounts the switching base 25, which will be described later. As shown in FIGS. 13 and 14, the mounting base 23 is mounted on the lower part of the frame 22A together with the lower fixing device 22C, and the reactor pressure vessel is in a state where the frame 22A is fixed to the alignment pin 101C by the mounting device 22. It is configured as a plate-shaped member arranged along the upper surface of the upper flange 101B of 101. The mounting base 23 has two guide pins 23A and 23B as a positioning mechanism extending upward from the upper surface of the plate-shaped member. The guide pins 23A and 23B are arranged in parallel with each other, and one of them is formed to be long and has a different length.

Here, the exchange table 25 will be described. FIG. 15 is a plan view of the switching table. FIG. 16 is a front view of the switching table. FIG. 17 is a plan view in which the switching table is installed in the position positioning device. FIG. 18 is a plan view of the probe plate. FIG. 19 is a front view of the probe plate.

The exchange table 25 serves as a station for exchanging the probe plate 15 in the underwater moving device 1. The switching table 25 has a switching table main body 25A, a holding portion 25B, and a housing portion 25C.

As shown in FIGS. 15 to 17, the switching table main body 25A is configured as a plate-shaped member arranged along the upper surface of the upper flange 101B of the reactor pressure vessel 101. The exchange base main body 25A has support holes 25Aa and 25Ab into which the guide pins 23A and 23B of the mounting base 23 are inserted. By inserting the guide pins 23A and 23B into the support holes 25Aa and 25Ab, the arrangement of the switching table main body 25A is defined, and the switching table 25 is positioned and fixed to the alignment pin 101C together with the position positioning device 3. Will be done. Therefore, in the present embodiment, the position positioning device 3 functions as a position recognition device that recognizes the position on which the switching table 25 is placed. Further, since the guide pins 23A and 23B of the mounting base 23 have different lengths, the long guide pins 23B are inserted into the support holes 25Ab first, and the short guide pins 23A are adjusted so as to align the support holes 25Aa. The short guide pin 23A is inserted into the support hole 25Aa. The mounting base 23 having the guide pins 23A and 23B does not have to be provided in the position positioning device 3, and in this case, with respect to the bolt hole for fixing the lid provided on the upper surface of the upper flange 101B. The mounting base 23 is mounted so that the position of the mounting base 23 is positioned in the bolt hole. The positions of the mounting base 23 and the switching base 25 in this case are defined by bolt holes. In this case, the mounting base 23 is provided with a position recognition device having a function of transmitting a position signal so as to recognize the position where the switching base 25 is placed.

The holding portion 25B holds the probe plate 15 to be joined to the tip of the articulated manipulator 10 in exchange. The holding portion 25B has a clamp mechanism 25Ba and two cameras 25Bb and 25Bc as an image pickup device. The clamp mechanism 25Ba is provided, for example, so that the tubular body 25Baa is formed in half, one is fixed to the switching table main body 25A side, and the other is movable so as to close or open the tubular body with respect to one side. ing. Further, the clamp mechanism 25Ba has a drive unit 25Bab that drives the closing or opening of the tubular body 25Baa. Therefore, the clamp mechanism 25Ba closes the tubular body 25Baa and clamps the probe plate 15 to hold the probe plate 15, while the tubular body 25Baa is opened to release the clamp and the probe. Release the holding of the plate 15. The clamp mechanism 25Ba holds the probe plate 15, but since it absorbs the mutual positional error between the tip side of the articulated manipulator 10 and the probe plate 15 side, the probe The probe plate 15 is held with a gap so that the plate 15 can move slightly by a millimeter. The two cameras 25Bb and 25Bc are arranged so that one (25Bb) images from the side and the other (25Bc) images from above on the front side of the tubular body 25Baa. The configuration of the probe plate 15 will be described later, but the probe plate 15 is provided with a connecting portion 15A to be joined to the connecting portion 10A provided at the tip of the articulated manipulator 10. Therefore, the joint state of the articulated manipulator 10 and the probe plate 15 can be confirmed by photographing the joint surface 15Aa of the connection portion 15A from each direction with the two cameras 25Bb and 25Bc. The connecting portion 10A of the articulated manipulator 10 is provided with a clamp mechanism (not shown) for joining or separating the probe plate 15 from the connecting portion 15A.

The accommodating portion 25C accommodates the probe plate 15 which is removed from the tip of the articulated manipulator 10 in exchange. The accommodating portion 25C has an accommodating box 25Ca and two cameras 25Cb and 25Cc as imaging devices. The storage box 25Ca is a box body with an open upper part, and is formed in a size that allows the probe plate 15 to be inserted from the open portion. In the two cameras 25Cb and 25Cc, one (25Cb) images from the side on the front side of the storage box 25Ca, and the other (25Cb) images the inside of the storage box 25Ca from diagonally above the open portion of the storage box 25Ca. It is arranged like this. Therefore, it is possible to image and confirm how the probe plate 15 is removed from the tip of the articulated manipulator 10 with one camera 25Cb, and the probe plate 15 removed by the other camera 25Cc is accommodated. It is possible to image and confirm the state of being put into the box 25Ca.

As shown in FIGS. 18 and 19, the probe plate 15 has a connecting portion 15A and a probe 15B. The connecting portion 15A is provided with a flat joint surface 15Aa on the front side. The joint surface 15Aa is joined to the joint surface of the connection portion 10A on the distal end side of the articulated manipulator 10. In a state where the joint surface 15Aa and the joint surface of the connection portion 10A on the distal end side of the articulated manipulator 10 are joined, it is possible to transmit and receive signals between each other. Further, although not explicitly shown in the drawing, the connecting portion 10A on the tip end side of the articulated manipulator 10 is provided with a clamp mechanism that maintains the joining with the connecting portion 15A of the probe plate 15 while releasing the joining. There is. The clamp mechanism 25Ba of the holding portion 25B clamps and holds the connecting portion 15A of the probe plate 15.

Next, the control device 2 will be described. FIG. 20 is a block diagram of a control device including an underwater mobile inspection system and a buoyancy adjustment system.

The control device 2 controls the underwater moving device 1 and the position positioning device 3 in an underwater mobile inspection system. Further, the control device 2 controls the buoyancy adjusting device 11 in an integrated manner in the buoyancy adjusting system. As shown in FIG. 20, the control device 2 includes a position measuring device 51, a position control device 52, a storage device 53, an ultrasonic flaw detection device 54, a probe plate replacement control device 55, and a buoyancy adjustment control device. 56 and water quality detecting means 57 are included.

The position measuring device 51 has a function of calculating the absolute position of the underwater moving device 1 from the distance data transmitted from the length measuring device 21A of the length measuring device 21 and the position data of the support mechanism 21B.

The position control device 52 has a function of controlling the position of the underwater moving device 1 and controlling the position of the support mechanism 21B of the length measuring device 21.

The storage device 53 includes the order of flaw detection of the wall surface 101A by the underwater moving device 1, the stop position on the wall surface 101A of the underwater moving device 1, the operation procedure of the articulated manipulator 10, and the detection set on the switching table 25. It has a function of storing information such as the type of the child plate 15 in advance.

The ultrasonic flaw detection device 54 has a function of receiving a flaw detection position signal from the position control device 52 and issuing a flaw detection command to the probe plate 15 to collect flaw detection data in real time. Since the flaw detection position is input from the position control device 52 in the ultrasonic flaw detection device 54, when a defect is found, the position can be determined and specified.

The probe plate replacement control device 55 receives the replacement position signal from the position control device 52 and the image data from the cameras 25Cb and 25Cc on the switchboard 25, and receives the image data from the cameras 25Cb and 25Cc on the switchboard 25 by the clamping mechanism at the connection portion 10A of the articulated manipulator 10. It has a function of separating the joint of the probe plate 15 from the connecting portion 15A. Further, the probe plate replacement control device 55 receives the replacement position signal from the position control device 52 and the image data from the cameras 25Bb and 25Bc on the switchboard 25, and receives the clamp at the connection portion 10A of the articulated manipulator 10. It has a function of joining the probe plate 15 with the connecting portion 15A by a mechanism. Further, the probe plate replacement control device 55 receives the image data from the cameras 25Bb and 25Bc on the switching table 25 and releases the clamp by the clamp mechanism 25Ba of the holding portion 25B to release the holding of the probe plate 15. Has a function.

The buoyancy adjustment control device 56 receives information on the type of the probe plate 15 (buoyancy adjustment data) set on the switching table 25 from the storage device 53 and the position data of the moving casing 11B in the buoyancy adjustment device 11. It has a function of moving the moving casing 11B with a moving stroke based on the weight of the probe plate 15. Further, the buoyancy adjustment control device 56 does not receive the buoyancy adjustment data from the storage device 53, and moves the moving casing 11B with a moving stroke based on an operation instruction by an operator based on an empirical rule according to the type of the probe plate 15. It has a function to make it. Although not specified in the figure, the operation instruction by the operator is given by, for example, an input device connected to the buoyancy adjustment control device 56 (such as inputting a moving numerical value of the moving casing 11B by a keyboard or a mouse).

Further, the buoyancy adjustment control device 56 can independently control each buoyancy adjustment device 11 provided at two locations on both sides of the swivel table 6 in the underwater moving device 1. Therefore, for example, when the underwater moving device 1 is tilted on both sides of the swivel table 6 in water, the buoyancy adjusting control device 56 makes the moving casing 11B of each buoyancy adjusting device 11 independent with a moving stroke based on an operation instruction by the operator. The posture of the underwater moving device 1 in water is adjusted by moving the device 1.

The water quality detecting means 57 detects the liquid water quality of the reactor pressure vessel 101 (for example, the boric acid concentration of the water in the reactor pressure vessel 101 in this embodiment). The water quality detecting means 57 may or may not be provided in the underwater moving device 1. The water quality data detected by the water quality detecting means 57 is received by the buoyancy adjustment control device 56. Therefore, the buoyancy adjustment control device 56 has a function of moving the moving casing 11B in the buoyancy adjustment device 11 based on the buoyancy adjustment data according to the water quality detected by the water quality detecting means 57. The buoyancy adjustment data according to the water quality is the data of the moving stroke of the moving casing 11B based on the water quality, and is stored in advance in the storage device 53. Further, the buoyancy adjustment control device 56 does not receive the buoyancy adjustment data from the storage device 53, and moves the moving casing 11B with a moving stroke based on an operation instruction by the operator based on an empirical rule according to the water quality detected by the water quality detecting means 57. It has a function to move. Although not specified in the figure, the operation instruction by the operator is given by, for example, an input device connected to the buoyancy adjustment control device 56 (such as inputting a moving numerical value of the moving casing 11B by a keyboard or a mouse).

Then, in the underwater mobile inspection system, ultrasonic flaw detection inspection is performed according to the following procedure. 21 to 26 are operation diagrams of ultrasonic flaw detection inspection by an underwater mobile inspection system.

First, the three length measuring devices 21 are positioned and fixed to each alignment pin 101C (see FIG. 1).

Next, as shown in FIG. 21, the underwater moving device 1 is suspended above the water surface of the cavity pit 102 by a polar crane (not shown) installed in the reactor containment vessel 104, and is swung over the water surface. .. As described above, the underwater moving device 1 has a buoyancy (underwater weight) of 0 [N]. Further, since the positional relationship between the center of gravity and the floating center of the underwater moving device 1 is the relationship shown in FIG. 21, the posture in which the articulated manipulator 10 is directed downward can be stably taken in water.

Next, the underwater moving device 1 is submerged or levitated by rotating the screws 9g of the thrusters 9A and 9B of the propeller 9. Further, the underwater moving device 1 approaches or separates from the wall surface 101A by rotating the screws 9g of the thrusters 9C and 9D of the propeller 9. As shown in FIG. 22, the posture of the underwater moving device 1 with respect to the wall surface 101A can be changed by adjusting the rotation speed or the rotation direction of the screws 9g of the thrusters 9C and 9D, respectively. Specifically, as shown in FIG. 22A, if the rotation speeds of the screws 9g of the thrusters 9C and 9D are equal, the thrusters 9C and 9D go straight to the wall surface 101A. Further, as shown in FIG. 22B, if the rotation speeds of the screws 9g of the thrusters 9C and 9D are different, the directions are changed. Further, as shown in FIG. 22C, if the rotation speeds of the screws 9g of the thrusters 9C and 9D are the same and the rotation directions are different, the thrusters 9C and 9D are rotated on the spot. In this way, the underwater moving device 1 can be guided to the target position of the wall surface 101A.

Next, after the underwater moving device 1 comes into contact with the wall surface 101A, as shown in FIGS. 23 and 24, the length measuring device 21 determines the absolute position of the underwater moving device 1 with respect to the reactor pressure vessel 101.

As shown in FIG. 24, the length measuring device 21A is coupled to an image processing device 21Ac for measuring the position of the spherical light source 12b of the underwater moving device 1 imaged by the visual sensor 21Ab. A reference position is set in advance in the image processing device 21Ac, and the deviation between the measured position and this reference position is input to the position control device 52 as a tracking signal. Based on the tracking signal, the position control device 52 sends a position command signal indicating a target position to an angle θ in the rotation direction and an angle δ in the swing direction in the support mechanism 21B, and directs the position command signal to the orientation marker 12 of the underwater moving device 1. The support mechanism 21B is controlled so that the support mechanism 21B is controlled, and at the same time, the drive device 12A is controlled so that the orientation marker 12 points toward the length measuring device 21A. Further, the angles θ and δ of the support mechanism 21B at this time are also input to the position measuring device 51.

On the other hand, the distance between the length measuring device 21 and the underwater moving device 1 is measured by the length measuring device 21A. In the present embodiment, the length measuring instrument 21A uses an argon laser as a non-contact medium for distance measurement (in addition, sound waves, light, and the like can also be used). The laser modulation signal transmitted from the laser modulation signal generator 21Ae is incident on the laser reflection corner cube 12a of the orientation marker 12 mounted on the underwater moving device 1 via the laser light irradiation unit 21Aa, and the corner cube 12a Reflected by. The transmitted signal and the above-mentioned reflected signal are input to the phase difference meter 21Ad, the phase difference between the two signals is measured there, the distance Dis from the laser light irradiation unit 21Aa to the control marker 12 is calculated, and this distance data is obtained. Similarly, it is input to the position measuring device 51.

Then, as shown in FIG. 23, in the position measuring device 51, assuming that the horizontal distance from the rotation axis of the support mechanism 21B to the wall surface 101A of the reactor pressure vessel 101 is R, the absolute position of the underwater moving device 1 is determined next. It is done by the calculation of.
Circumferential direction ... Angle θ is used as it is Depth direction ... Depth L = Dis · sin (cos-1R / Dis)

The absolute position of the underwater moving device 1 can be calculated by the above calculation. Further, since the mounting position of the length measuring device 21A is set to the upper part of the scanning range of the underwater moving device 1, the position of the underwater moving device 1 can be set without a blind spot. Further, the flaw detection position is pulled out from the storage device 53 and sent to the position control device 52, and the position control device 52 calculates a target position command from the current position and deviation of the underwater moving device 1 and gives a drive command to the traveling device 7. Drive to the target position. During traveling, the thrusters 9C and 9D are operated in the approaching direction, and the underwater moving device 1 is pressed against the wall surface 101A to enable traveling.

After the underwater moving device 1 travels to the target position, the traveling device 7 is stopped, the cylinder 8A of the suction device 8 is operated, the suction plate 8B is pressed against the wall surface 101A, and the inside of the suction plate 8B is evacuated. As a result, the underwater moving device 1 is adsorbed and fixed to the wall surface 101A. At this time, the length measuring device 21A again sets the absolute position of the underwater moving device 1.

Next, the operation information of the articulated manipulator 10 is extracted from the storage device 53 and sent to the position control device 52, and the drive device (not shown) built in the articulated manipulator 10 is operated based on this operation information. The position of the probe plate 15 provided at the tip of the articulated manipulator 10 is controlled. When the probe plate 15 reaches the position where it should be detected, the ultrasonic flaw detector 54 receives the flaw detection position signal from the position control device 52 and issues a flaw detection command to the probe plate 15, thereby producing the flaw detection data. Collect in time. Since the flaw detection position is input to the ultrasonic flaw detector 54 from the position control device 52, when a defect is found, the position can be determined and specified.

At this time, since the underwater moving device 1 is fixed to the wall surface 101A and the flaw detection operation is performed by the articulated manipulator 10, the pressing force against the probe plate 15 and the high trajectory accuracy of the probe plate 15 are used. , Traverse at a constant speed is possible. Further, after the flaw detection, the action of separating the suction plate 8B from the wall surface 101A is performed by the action of the cylinder 8A, and the fixing of the underwater moving device 1 is released.

By repeating the above procedure, flaw detection in the target flaw detection range is performed. When the flaw detection position is the upper part of the underwater moving device 1, as shown in FIG. 25, by turning the swivel base 6, the vertical position of the articulated manipulator 10 can be reversed to perform flaw detection. .. Further, as shown in FIG. 26, the reaction force F from the articulated manipulator 10 generated by the flaw detection operation can be reduced by arranging the suction plate 8B and receiving the reaction force F by lengthening the W. , The underwater moving device 1 can be stably fixed.

Next, the procedure for replacing the probe plate 15 will be described. 27 to 33 are operation diagrams of probe plate replacement by the underwater mobile inspection system.

During the above-mentioned flaw detection inspection, or after positioning and fixing the length measuring device 21 to the alignment pin 101C, as shown in FIG. 27, the switching table 25 is suspended and the guide pins 23A and 23B of the position positioning device 3 are used. Install via. Therefore, the position of the exchange table 25 is defined by the position locating device 3.

Next, as shown in FIG. 28, the underwater moving device 1 is moved to the position of the switching table 25 and is adsorbed and fixed to the wall surface 101A at that position.

Next, as shown in FIG. 29, in the underwater moving device 1, the swivel base 6 is swiveled to move the articulated manipulator 10 to an upward position. Further, in the underwater moving device 1, the articulated manipulator 10 is moved to a range where the connecting portion 10A of the articulated manipulator 10 can be seen in the image of the camera 25Cb of the accommodating portion 25C on the switching table 25.

Next, as shown in FIG. 30, while the operator confirms the images of the cameras 25Cb and 25Cc of the accommodating portion 25C on the switching table 25, the articulated manipulator 10 is used in the clamping mechanism of the connecting portion 10A of the articulated manipulator 10. The connector plate 15 currently joined to the connecting portion 10A is separated from the joint, and the probe plate 15 is put into the accommodating portion 25C.

Next, as shown in FIG. 31, the operator confirms the images of the cameras 25Bb and 25Bc of the holding portion 25B on the switching table 25, and the probe plate 15 held by the holding portion 25B is held by the articulated manipulator 10. It is joined to the connecting portion 10A of. Further, after confirming that the probe plate 15 is joined to the connecting portion 10A of the articulated manipulator 10 by the images of the cameras 25Bb and 25Bc of the holding portion 25B, the probe plate by the holding portion 25B is used by the clamp mechanism 25Ba. Release the holding of 15.

Next, as shown in FIG. 32, the moving casing 11B of the buoyancy adjusting device 11 is moved by a moving stroke based on the type (weight) of the probe plate 15 joined to the connecting portion 10A of the articulated manipulator 10. Let it adjust the buoyancy.

Here, the ultrasonic flaw detection inspection described above is performed.

Next, as shown in FIG. 33, the exchange table 25 is lifted and collected.

After that, the probe plate 15 to be newly replaced is held by the holding portion 25B, and the switching table 25 having an empty accommodating portion 25C is installed as shown in FIG. 27, and the procedure for replacing the probe plate 15 described above is performed. Do the same.

When the above-mentioned underwater transfer device 1 is used for inspection of another reactor pressure vessel 101, in the buoyancy adjustment system, the buoyancy adjustment control device 56 buoyancy is based on the buoyancy adjustment data according to the water quality detected by the water quality detecting means 57. Control is performed to adjust the buoyancy by moving the moving casing 11B in the adjusting device 11.

The underwater moving device 1 according to the present embodiment described above includes an articulated manipulator 10 to which a probe plate 15 is detachably attached to the tip, a main buoyancy adjusting device whose buoyancy can be adjusted by a buoyancy adjusting weight, and a main buoyancy adjusting device. A sub-buoyancy adjusting device (buoyancy adjusting device 11) that adjusts the buoyancy including the weight of the probe plate 15 by compression or expansion of the air chamber is included.

According to this underwater moving device, when the probe plate 15 is replaced, the weight of the probe plate 15 replaced by the sub-buoyancy adjusting device (buoyancy adjusting device 11) adjusted by compression or expansion of the air chamber S is included. The buoyancy of the underwater moving device 1 can be adjusted underwater. Therefore, in this buoyancy adjustment, it is possible to prevent the movement of the underwater moving device 1 from the water to the air and the movement of the underwater moving device 1 from the air to the water repeatedly, and the working time can be shortened. Further, by preventing the movement of the underwater moving device 1 between underwater and air, it is possible to prevent the polar crane from being occupied by the buoyancy adjustment, and the polar crane can be used for other work to prevent delays in other work. Can be done. Further, by preventing the movement of the underwater moving device 1 between the water and the air, the decontamination of the underwater moving device 1 by adjusting the buoyancy can be prevented, the time for this decontamination work can be saved, and the worker is exposed to radiation. It can prevent the expansion. Further, by preventing the movement of the underwater moving device between the air and the water, it is possible to eliminate the operation check of the underwater moving device 1 in the buoyancy adjustment and to save the time for checking the operation. As a result, the working time required for adjusting the buoyancy of the underwater moving device 1 can be reduced and the safety of the operator can be ensured.

Further, in the underwater moving device 1 of the present embodiment, it is preferable that the buoyancy adjusting devices 11 are provided on both sides of the underwater moving device 1.

According to the underwater moving device 1, the buoyancy can be adjusted by each buoyancy adjusting device 11 according to the posture in water. The posture can be adjusted underwater.

Further, in the underwater moving device 1 of the present embodiment, in the buoyancy adjusting device 11, the fixed casing 11A fixed to the underwater moving device 1 and the moving casing 11B movable with respect to the fixed casing 11A are inside each other. It is preferable that the air chamber S is formed by communicating with each other to ensure watertightness, and the air chamber S is compressed or expanded by the movement of the moving casing 11B by the buoyancy adjusting drive mechanism 11D.

According to the underwater moving device 1, the watertight air chamber S formed by the fixed casing 11A and the moving casing 11B is made into a buoyancy adjusting device 11 that is compressed or expanded by the movement of the moving casing 11B by the buoyancy adjusting drive mechanism 11D. Buoyancy can be adjusted in water.

The buoyancy adjusting system according to the present embodiment described above includes an articulated manipulator 10 to which a probe plate 15 is detachably attached to the tip and a main buoyancy adjusting device capable of adjusting buoyancy by a buoyancy adjusting weight. The buoyancy of the underwater moving device 1 configured to be movable in the liquid filled in the reactor pressure vessel 101 and the underwater moving device 1 provided in the underwater moving device 1 and including the weight of the probe plate 15 is air. A sub-buoyancy adjusting device (buoyancy adjusting device 11) that adjusts by compression or expansion of the chamber S is included, and the buoyancy is adjusted by the buoyancy adjusting device 11 with the replacement of the probe plate 15.

According to this buoyancy adjusting system, when the probe plate 15 is replaced, the weight of the probe plate 15 replaced by the sub-buoyancy adjusting device (buoyancy adjusting device 11) adjusted by compression or expansion of the air chamber S is included. The buoyancy of the underwater moving device 1 can be adjusted underwater. Therefore, in this buoyancy adjustment, it is possible to prevent the movement of the underwater moving device 1 from the water to the air and the movement of the underwater moving device 1 from the air to the water repeatedly, and the working time can be shortened. Further, by preventing the movement of the underwater moving device 1 between underwater and air, it is possible to prevent the polar crane from being occupied by the buoyancy adjustment, and the polar crane can be used for other work to prevent delays in other work. Can be done. Further, by preventing the movement of the underwater moving device 1 between the water and the air, the decontamination of the underwater moving device 1 by adjusting the buoyancy can be prevented, the time for this decontamination work can be saved, and the worker is exposed to radiation. It can prevent the expansion. Further, by preventing the movement of the underwater moving device between the air and the water, it is possible to eliminate the operation check of the underwater moving device 1 in the buoyancy adjustment and to save the time for checking the operation. As a result, the working time required for adjusting the buoyancy of the underwater moving device 1 can be reduced and the safety of the operator can be ensured.

Further, in the buoyancy adjustment system of the present embodiment, the storage device 53 in which the buoyancy adjustment data corresponding to the type of the probe plate 15 is stored in advance and the probe exchanged with the exchange of the probe plate 15 It is preferable to include a control device 2 that acquires buoyancy adjustment data corresponding to the plate 15 from the storage device 53 and controls the buoyancy adjustment by the buoyancy adjustment device 11.

According to this buoyancy adjustment system, when the probe plate 15 is replaced, the buoyancy adjustment device 11 can automatically adjust the buoyancy according to the buoyancy adjustment data according to the type of the probe plate 15. ..

Further, in the buoyancy adjusting system of the present embodiment, it is preferable to have a switching table 25 installed in the liquid in a manner in which the probe plate 15 is replaced in the liquid.

According to this buoyancy adjustment system, the probe plate 15 can be exchanged in the liquid, so that the underwater moving device 1 can be moved from underwater to the air and from the air in the exchange of the probe plate 15. It is possible to prevent the polar crane from being occupied without moving the underwater moving device 1 into the water. Further, when the probe plate 15 is replaced, the work of decontaminating the underwater moving device 1 that has moved from the water to the air can be omitted, and the expansion of radiation exposure of the operator can be prevented. Further, by preventing the movement of the underwater moving device between the air and the water, it is possible to eliminate the operation check of the underwater moving device 1 by exchanging the probe plate 15, and to save the time for checking the operation. As a result, the work time for replacing the probe plate 15 with respect to the underwater moving device 1 can be reduced, and the safety of the operator can be ensured.

Further, it is preferable that the buoyancy adjusting system of the present embodiment includes the water quality detecting means 57 for detecting the water quality of the liquid, and the buoyancy adjusting device 11 adjusts the buoyancy according to the water quality detected by the water quality detecting means 57.

According to this buoyancy adjustment system, when the underwater moving device 1 is used in liquids of different containers, the buoyancy depends on the water quality of the liquid (for example, the boric acid concentration is different in the case of the reactor pressure vessel 101). The buoyancy adjusting device 11 can adjust the buoyancy in water.

Further, in the buoyancy adjusting system of the present embodiment, the buoyancy adjusting devices 11 are provided on both sides of the underwater moving device 1, and the buoyancy adjusting by each buoyancy adjusting device 11 is performed according to the posture of the underwater moving device 1 in the liquid. It is preferable to do so.

According to this buoyancy adjusting system, the posture of the underwater moving device 1 can be adjusted in water by adjusting the buoyancy by each buoyancy adjusting device 11 according to the posture of the underwater moving device 1 in the liquid.

Further, in the buoyancy adjusting system of the present embodiment, in the buoyancy adjusting device 11, the fixed casing 11A fixed to the underwater moving device 1 and the moving casing 11B movable with respect to the fixed casing 11A communicate with each other inside each other. It is preferable that the air chamber S is ensured to be watertight, and the air chamber S is compressed or expanded by the movement of the moving casing 11B by the buoyancy adjusting drive mechanism 11D.

According to this buoyancy adjustment system, the watertight air chamber S formed by the fixed casing 11A and the moving casing 11B is made into a buoyancy adjusting device 11 that is compressed or expanded by the movement of the moving casing 11B by the buoyancy adjusting drive mechanism 11D. Buoyancy can be adjusted in.

Further, the buoyancy adjusting method of the present embodiment is configured to be provided with an articulated manipulator 10 to which a probe plate 15 is detachably attached to the tip so as to be movable in a liquid filled in the reactor pressure vessel 101. It includes a step of replacing the probe plate 15 of the underwater moving device 1 and a step of adjusting the buoyancy according to the weight of the probe plate 15 in the liquid after replacing the probe plate 15.

According to this buoyancy adjustment method, after replacing the probe plate 15 of the underwater moving device 1, the buoyancy adjustment according to the weight of the probe plate 15 is performed in the liquid, so that the buoyancy adjustment is performed from underwater. It is possible to prevent the movement of the underwater moving device 1 into the air and the repeated movement of the underwater moving device 1 from the air to the water, and the working time can be shortened. Further, by preventing the movement of the underwater moving device 1 between underwater and air, it is possible to prevent the polar crane from being occupied by the buoyancy adjustment, and the polar crane can be used for other work to prevent delays in other work. Can be done. Further, by preventing the movement of the underwater moving device 1 between the water and the air, the decontamination of the underwater moving device 1 by adjusting the buoyancy can be prevented, the time for this decontamination work can be saved, and the worker is exposed to radiation. It can prevent the expansion. Further, by preventing the movement of the underwater moving device 1 between air and water, it is possible to eliminate the operation confirmation of the underwater moving device 1 in the buoyancy adjustment and to save the time for checking the operation. As a result, the working time required for adjusting the buoyancy of the underwater moving device 1 can be reduced and the safety of the operator can be ensured.

By the way, in the above-described embodiment, the underwater moving device 1 has been described as inspecting the inside of the reactor pressure vessel 101, but the present invention is not limited to this. For example, an inspection may be performed in a fuel pool for storing spent fuel in a nuclear facility.

Further, in the above-described embodiment, the inspection is performed by the probe plate 15, but the present invention is not limited to this. For example, a jig for processing or welding instead of the probe plate 15 may be attached to the tip of the articulated manipulator 10 and replaced in an underwater environment or an aerial environment.

1 Underwater moving device 2 Control device 10 Articulated manipulator 11 Buoyancy adjustment device (secondary buoyancy adjustment device)
11A Fixed casing 11B Moving casing 11D Buoyancy adjustment drive mechanism 15 Detector plate 25 Exchange stand 53 Storage device 101 Reactor pressure vessel (container)
S air chamber

Claims (7)

Equipped with an articulated manipulator with a detachable probe plate attached to the tip and a main buoyancy adjustment device that can adjust the buoyancy with a buoyancy adjustment weight, it is configured to be movable in the liquid filled in the container. With a mobile device
An auxiliary buoyancy adjusting device provided in the underwater moving device and adjusting the buoyancy of the underwater moving device including the weight of the probe plate by compression or expansion of an air chamber.
A buoyancy adjusting system that adjusts the buoyancy by the sub-buoyancy adjusting device when the probe plate is replaced. A storage device in which buoyancy adjustment data according to the type of the probe plate is stored in advance, and
A control device that acquires buoyancy adjustment data corresponding to the probe plate exchanged with the replacement of the probe plate from the storage device and controls the buoyancy adjustment by the sub-buoyancy adjustment device.
The buoyancy adjusting system according to claim 1 . The buoyancy adjusting system according to claim 1 or 2 , further comprising an exchange table installed in the liquid in a manner in which the probe plate is exchanged in the liquid. Underwater mobile device with a liquid which filled in the container includes a main buoyancy equipment adjustable buoyancy configured to be moved by the buoyancy weight,
A sub-buoyancy adjusting device provided in the underwater moving device and adjusting the buoyancy of the underwater moving device by compression or expansion of an air chamber.
A water quality detecting means for detecting the water quality of the liquid and
A buoyancy adjusting system that adjusts buoyancy by the sub-buoyancy adjusting device according to the water quality detected by the water quality detecting means. Before SL sub buoyancy device, wherein provided on both sides of the underwater vehicle device performs the buoyancy by each said sub buoyancy device in accordance with the attitude of the underwater vehicle device in said liquid, according to claim 1 to 4 The buoyancy adjustment system according to any one of the above . The sub-buoyancy adjusting device forms the air chamber in which a fixed casing fixed to the underwater moving device and a moving casing movable with respect to the fixed casing communicate with each other to ensure watertightness. The buoyancy adjustment system according to any one of claims 1 to 5 , wherein the air chamber is compressed or expanded by the movement of the moving casing by the buoyancy adjustment drive mechanism. A step of replacing the probe plate of an underwater moving device having an articulated manipulator at the tip to which a probe plate can be detachably attached so as to be movable in a liquid filled in a container.
After replacing the probe plate, a step of adjusting the buoyancy according to the weight of the probe plate in the liquid and
Buoyancy adjustment method including.

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