JPH02154148A - Inspecting device for structure - Google Patents

Abstract

PURPOSE:To make a device small in size and light in weight, to facilitate assemblage and installation, to save labor and to shorten the time required for inspection by providing a self-traveling mobile dolly capable of moving along the wall-surface of the structure. CONSTITUTION:The device is furnished with the self-traveling mobile dolly 21 capable of moving along the wall-surface 2a of the structure 2. An attracting means, a multi-joint type manipulator 39, an inspection tool 40 fitted to a tip end of the multi-joint manipulator 39, and a non-contact type position locating means 28 to measure the position of the mobile dolly 21 on the wall-surface, are provided in the self-traveling mobile dolly 21. The mobile dolly 21 is furnished with a self-traveling function and attracting function capable of self- traveling on the vertical wall-surface 2a of the construction 2. Also the mobile dolly 21, the position of which is measured by the non-contact position locating means 28, is made to stop when it reaches the specified position. Further, the inspection tool 40 is fitted to the manipulator 39 of the mobile dolly 21, and a flaw-detection for welded parts of the wall-surface 2a is performed by the inspection tool 40 during the mobile dolly 21 stops at the specified position.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an inspection device for structures, and in particular, for inspecting relics such as various piping and reactor pressure vessels during periodic inspections of nuclear reactors at nuclear power plants. This invention relates to an automatic inspection device used for inspection.

[Prior Art] Conventionally, an ultrasonic flaw detection device, for example, has been generally used as a type of automatic inspection device as described above.

Referring to FIG. 5, the ultrasonic flaw detection device 1 used for inspecting the welds of the reactor pressure vessel 2 will be described.
It has a ring-shaped turning rail 4 provided at the tip thereof, and a support leg 5 and a guide stud 11 extending from the turning rail 4.
The lid body (not shown) is installed on the upper flange 3 of the reactor pressure vessel 2 from which it has been removed. A column 7 hangs down from the main body of the ultrasonic flaw detection device 1 , and a manipulator 10 equipped with a probe assembly 9 is movable along this column 7 by a drive device 8 . In such an ultrasonic flaw detection apparatus 1, the positioning of the manipulator 1O is performed by the rotational movement of the swing rail 4 and the vertical movement of the drive device 8, thereby enabling ultrasonic flaw detection of each weld in the reactor pressure vessel 2. There is.

FIG. 6 shows two types of ultrasonic flaw detection systems used to inspect various types of piping 12. In the semi-automatic flaw detection system, a flaw detector 18 is attached to the pipe 12 via a rail 16, and a worker scans the pipe 12 in the circumferential direction by turning a handle 17 attached to the flaw detector 18, and transmits the signal to the relay device. It is sent to the ultrasonic flaw detector 20 via fi19 to perform flaw detection. In addition, in a fully automatic flaw detection system, a ring-shaped guide track device 13 is installed in place of the handle 17, and a manipulator 14 attached thereto is remotely controlled by a positioning device 15 to scan the pipe 12 in the circumferential direction. , the signal is sent to the ultrasonic flaw detector 20 via the relay device 19 to realize flaw detection.

[Problem to be Solved by the Invention 1] However, when the ultrasonic flaw detection device shown in FIG. This slows down the work speed, and as a result, a lot of time is spent on installation and assembly, so when used for flaw detection in nuclear reactor pressure vessels, this has a significant impact on reducing radiation exposure for workers.

Further, in the ultrasonic flaw detection system shown in FIG. 6, whether it is a semi-automatic type or a fully automatic type, the flaw detector 18 or the manipulator 14 is
Since it can only move as far as it can rotate along a guide device such as the rail 16 or the guide track device 13, in order to detect flaws along the length of the pipe 12, workers must stick to the site and assemble it. Repeat installation and guide device 13.16
The position of the internal body must be changed, which does not reduce the exposure of the worker.

Moreover, since the guide device itself must be replaced with one of a different size depending on the diameter of the pipe to be inspected, it is necessary to prepare guide devices of various sizes in advance.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a structure inspection device that is small and lightweight, and requires relatively little effort and time to assemble and install.

[Means for Solving the Problems] To achieve this object, a structure inspection device configured according to the present invention includes a self-propelled mobile cart that can move along the wall surface of the structure, and a self-propelled mobile cart that can move along the wall surface of the structure. Installed on a mobile trolley,
an adsorption means for the self-propelled mobile trolley to the wall surface; an articulated manipulator equipped on the self-propelled mobile trolley; an inspection tool attached to the tip of the articulated manipulator; and non-contact position locating means for measuring the position of the self-propelled mobile trolley.

[Function] In the embodiment, this inspection device is applied to a nuclear reactor pressure vessel (structure). The mobile cart has a self-propelling function and an adsorption function, and can run on the vertical wall of the reactor pressure vessel with its own blades. The position of this mobile cart is measured by a non-contact position locating means, and stops when it reaches a predetermined position. Furthermore, an inspection tool is attached to a manipulator equipped on the movable trolley, and the welded portion of the wall is detected by the inspection tool while the movable trolley is stopped at a predetermined position.

[Embodiments] Next, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, in which the same reference numerals indicate the same or corresponding parts.

Figure 1 shows the reactor pressure vessel structure of a nuclear power plant)2
1 shows an overview of an embodiment of the automatic inspection device of the present invention applied to flaw detection of welded parts in .

This automatic inspection equipment W scans the inner wall surface 2a of the reactor pressure vessel 2 with its self-propelled mobile cart 21 for flaw detection. Before performing flaw detection, the lid body (not shown) has already been removed from the reactor pressure vessel 2, which is located below the bottom wall of the cavity bit 24 and surrounded by a concrete wall body 25, and the reactor pressure The container 2 and the cavity bit 24 are filled with water to shield radiation. The upper flange 3 of the reactor pressure vessel 2 is sealed to the bottom wall of the cavity bit 24.

In addition, the above-mentioned reactor pressure vessel 2, cavity bit 24
etc. are covered with a concrete container called the reactor containment vessel 22, which completely shields radiation.

Now, a cable 30 including a power line and a line for transmitting signals such as flaw detection signals and control signals is connected to the self-propelled mobile trolley 21, and this cable 30 also serves to suspend the mobile trolley 21. Also serves as.

A cable adjustment/guiding device 31 is installed above the cavity pit 24 to guide the cable 30 while adjusting the length of the cable 30 to be submerged in the water according to the position of the moving cart 21. , an ultrasonic flaw detection device 3 for processing flaw detection data transmitted from the movable cart 21 via the cable adjustment/guidance device 31;
2 and a position control device 33 for controlling the position of the movable trolley 21. The ultrasonic flaw detection device 32 and the position control device 33 are installed outside the reactor containment vessel 22 for radiation shielding.

In addition, the lid body (not shown) is attached to the reactor pressure vessel 2 with bolts.
The upper part 7 is detachably fixed to the upper flange 3 of the
In one of the plurality of bolt holes 3a drilled in the lunge 3,
A guide stud 11 is vertically screwed together, and in the embodiment, a sensor head equipped with a visual sensor and a distance sensor, which will be described later, is installed approximately in the middle of the guide stud 11 for positioning the movable cart 21. (position locating means) 28 and a position detection/drive mechanism (position locating means) 29 for positioning the sensor head 28 in the direction of the movable cart 21. The cable 27 is connected at one end to the above-mentioned sensor head 28 and position detection/drive mechanism 29, and at the other end to the above-mentioned position control device 33 and position measurement device (position locating means) located outside the reactor containment vessel 22. )34
The 6-position control device 33, which is in communication with the 6-position control device 33, not only controls the position of the movable cart 21 as described above, but also controls the position of the position detection/drive mechanism 29, and the position measurement device 34 33, and calculates the absolute position of the movable trolley 21 from the distance data sent from the sensor head 28 via the position control device 33 and the position data of the position detection/drive mechanism 29. has.

Next, referring to FIG. 2, the details of the self-propelled mobile trolley 21 will be explained. The mobile trolley 21 has a relatively thin rectangular main body part 35, and a circular opening in the center thereof has a rectangular main body part 35. ,
A rotary vane (adsorption means) 36 is mounted to be rotated by a drive device (not shown) which is supplied with power from the power line of the cable 30 described above. By rotating this rotating blade 36 in a predetermined direction, an air flow is generated from the lower surface of the main body 35 toward the upper surface (from the bottom to the top in the paper of FIG. 2), and the wall surface 2 of the reactor pressure vessel 2
Negative pressure is generated between a and the lower surface of the main body portion 35, and the movable trolley 2I is attracted to the wall surface 2a of the reactor pressure vessel 2. Also,
The lower surface of the main wooden part 35 has an appropriate number of pieces (in the embodiment, a total of four pieces at each corner) that can be rotated in all directions by a drive device (not shown) having a well-known steering mechanism (not shown). Wheels 37 are rotatably provided, so that the movable trolley 21 can freely run on the wall surface 2a of the reactor pressure vessel 2.

Further, in the embodiment, an articulated manipulator 39 having six degrees of freedom extends from the main body 35, and a probe assembly (inspection tool) 40 is attached to the tip thereof. This probe assembly 40 is connected to the wall surface 2a of the reactor pressure vessel 2.
Detect flaws. Furthermore, in the embodiment, a position locating target (position locating means) 38 is attached to the side of the main body 35 . As will be described later, by combining this target 3 days consisting of a spherical light source and a corner cube prism, the aforementioned sensor head 2B for positioning, and the position detection/driver t1429, the movable trolley main body 35 can be set in the manner described later.
It becomes possible to determine the absolute position of

That is, in FIG. 3, the sensor head 28 has an image processing device 41<th (not shown in Figure 1). A reference position is set in advance in the image processing device 41, and the image processing device 41 inputs the deviation between the measured center of gravity position and this reference position to the position control device 33 as a tracking signal. Based on the tracking signal, the position control device 33 sends a position command signal representing the target position to the position detection/drive mechanism 29, which includes a positioning mechanism 29a at an angle θ in the rotation direction and a positioning mechanism 29b at an angle ψ in the swing direction. Delivery, position detection/drive mechanism 2
9 is controlled so that it is directed toward the movable trolley main body part 35.

Further, the angles θ and ψ of the rotation direction and swing direction of the position detection/drive mechanism 29 at this time are also input to the position measurement device 34 .

On the other hand, the distance between the position detection/drive mechanism 29 and the movable trolley body 35 is measured by the distance sensor 28b. In the embodiment, the distance sensor 28b uses a laser as a non-contact medium for distance measurement. However, sound waves, light, etc. can also be used. The laser signal transmitted from the laser modulation signal generator 43 is incident on the corner cube prism 38b for laser reflection, which is another target mounted on the movable trolley body 35, via the distance sensor 28b, and the prism 38b. The transmitted signal and the above-mentioned reflected signal are input to the phase difference meter 42, where the phase difference between both signals is measured and the distance sensor 28b sends the signal to the target 38.
The distance Dis to is calculated, and this distance data is similarly input to the position measuring device 34.

In the position measuring device 34, the position detecting/driving mechanism 2
Assuming that the horizontal distance from the rotation axis 9 to the wall surface 2a of the reactor pressure vessel 2 is R, the absolute position of the movable trolley body 35 is determined by the following calculation.

Circumferential direction: The angle θ is used as it is, and ultrasonic flaw detection is performed based on this. It includes a storage device 44 in which so-called map information such as the order of flaw detection on the wall surface of the movable trolley 21, the stop position on the wall surface of the movable trolley 21, and the operation procedure of the manipulator 39 is calculated and stored in advance. Flaw detection is performed by the following steps.

(2) The sensor head 28, the position detection/drive mechanism 29, and the position measuring device 34 locate the absolute position of the movable cart main body 35 as described above.

■ The next flaw detection position is retrieved from the map information storage device 44 and sent to the position control device 33. The position control device 33 calculates a target position command from the deviation from the current position of the movable trolley main body 35, and A drive device (not shown) for the wheels 37 mounted on the main body 35 and a position detection drive 81 are applied to the lateral side 29.

(2) When the movable trolley body 35 stops, its position is measured again, and if the position deviates from the target position, the position is corrected.

■ Next, from the map information storage device 44, the manipulator 3
9 is extracted and sent to the position control device 33, and based on this motion information, a drive device (not shown) built in the manipulator 39 is actuated to control the manipulator 39.
The position of the probe assembly 40 provided at the tip of the probe is controlled.

When the probe assembly 40 is at the position to be inspected, the ultrasonic flaw detection device 32 receives a flaw detection position signal from the position control device 33 and issues a flaw detection command to the probe assembly 40.
This allows flaw detection data to be collected in real time. Since the current flaw detection position is input to the ultrasonic flaw detection device 32 from the position control device 33, when a defect is discovered, the position can be determined and specified.

■ Repeat steps from ■ to ■.

Although an embodiment in which the inspection device of the present invention is used for ultrasonic flaw detection on the inner wall of a nuclear reactor pressure vessel has been described, as is clear to those skilled in the art, the inspection device of the present invention can be used in various applications such as nuclear power plants, etc. It can also be applied to flaw detection of various piping and other structures in plants. In addition, if you attach an ECT (eddy current flaw detection @) tool or [TV right camera industrial television camera] as an inspection tool to the tip of the manipulator, you can use it as an inspection tool that requires positioning over a wide range, such as an ECT device or inspection device. The present invention can also be practiced.

[Effects of the Invention] As described above, according to the present invention, the inspection device includes a self-propelled mobile cart that can be moved by adhering to the wall surface of a structure,
This moving trolley is equipped with a manipulator having an inspection tool, and is configured to measure the position of the moving trolley using a non-contact position locating means. Since the weight is about 1740 yen or less compared to the device of , assembly, installation, 1! Easy to adjust. Therefore, not only can the number of workers be reduced, but in the case of nuclear reactor pressure vessels, the number of days required for flaw detection can also be shortened to 174 to 115, which greatly reduces worker exposure, shortens the number of inspection days, and reduces costs. can contribute.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram showing an embodiment of the inspection device of the present invention applied to flaw detection of welds in a reactor pressure vessel of a nuclear power plant, and FIG. FIG. 3 is a schematic diagram for explaining the positioning of the mobile cart in the inspection device shown in FIG. 1, and FIG. A block diagram for explaining the flow, Fig. 5 is a sectional view showing a conventional ultrasonic flaw detection device applied to a reactor pressure vessel, and Fig. 6 is a conventional semi-automatic and fully automatic flaw detection device applied to piping. 1 is a perspective view showing an ultrasonic flaw detection system. 2...Structure (reactor pressure vessel) 2a...Wall surface of structure 21...Self-propelled mobile trolley 28...Position locating means (sensor head) 29...Position locating means (position detection・Driver 1ll) 34...Position locating means (position measuring device) 36...Adsorption means (rotary vane) 38...Position locating means (target) 39...Articulated manipulator

Claims (1)

[Claims] A self-propelled mobile trolley movable along a wall surface of a structure; a means for adhering the self-propelled mobile trolley to the wall surface provided on the self-propelled mobile trolley; A multi-joint manipulator, an inspection tool attached to the tip of the multi-joint manipulator, and a non-contact position locating means for measuring the position of the self-propelled mobile trolley on the wall surface. , structure inspection equipment.