JPH0254151A - Device for inspecting and polishing flange face - Google Patents

Abstract

PURPOSE:To enable a flange seal face to be efficiently inspected and repaired, while reducing work hours and improving availability of an atomic reactor by a method wherein each slide, each arm, each grasping finger holding plate and each grasping finger is driven in a specified order. CONSTITUTION:With slides 8a, 8b being driven, arms 9a, 9b and grasping finger holding plates 10a, 10b installed thereon are located at positions opposite to the nearest stud bolt Wa or a stud bolt hole Wb. When a sensor provided on the holding plates 10a, 10b detects the stud bolt Wa, the grasping fingers 11a, 11b are driven so that their interval is narrower to have the bolt Wa grasped, and the holding plates 10a, 10b, that is, the slides 8a, 8b on which said plates are attached, are fixed with respect to the bolt Wa. If the bolt Wa is not detected, the arms 9a, 9b are swung downward to have the grasping fingers 11a, 11b inserted into the bolt hole Wb, and the grasping fingers 11a, 11b are driven so that their interval becomes wider to have the holding plates 10a, 10b fixed with respect to the bolt hole Wb.

Description

Detailed Description of the Invention [Objective of the Invention] (Industrial Application Field) The present invention is directed to detecting the presence or absence of flaws or foreign matter on the flange seal surface of a reactor pressure vessel (hereinafter simply referred to as RPV) in a nuclear power plant, for example. This relates to flange surface inspection and polishing equipment that can perform simple cleaning and damage repair work if necessary.

(Prior art) In recent years, nuclear power plants have been conducting various inspections during normal reactor operation or periodic inspections in order to reduce the radiation exposure of inspectors and periodic inspection workers and improve reactor availability. Automation and remote work are being attempted.

However, at present, inspection of the flange seal surface of RPV is still performed directly by hand, and radiation exposure of the workers has become a problem. In addition, if a flaw is found on the flange seal surface, it should be noted that the RPV flange is in a high radiation environment and even heavily equipped workers can only work for a short period of time, and that due to the location, many workers are working at the same time. Due to reasons such as the inability of the reactors to carry out the work, multiple workers had to take turns in carrying out repair work, which not only resulted in extremely low work efficiency, but also resulted in a drop in the operating rate of the reactor. Furthermore, the top cover of the RPV was open when the flange was inspected, and there was a risk that one worker might fall into the furnace. Furthermore, the heavy equipment made it difficult to carry out the work, and from that aspect as well, the efficiency of the work was low.

The above-mentioned manual inspection and cleaning procedures for the RPV flange seal surface are as follows.

■ Cleaning the flange surface with jet water after draining the water inside the RPV ■ Wiping the RPV flange seal surface with a waste cloth ■ Visual inspection of the RPV flange seal surface ■ Polishing with a sand vapor Among the above series of operations, the operations of Performed multiple times depending on the work involved. Furthermore, if a flaw or the like is found by visual inspection, repair work is performed as appropriate depending on the nature of the flaw or the like. This repair work is also generally done by repeating the polishing work with sandpaper described in (1).

(Problem to be solved by the invention) As mentioned above, the fact that workers directly inspect and repair the flange seal surface increases the radiation exposure of inspectors and workers, and causes inefficiency in such work. It becomes.

The present invention was made based on the above-mentioned circumstances.
Flange surface inspection and polishing equipment that can reduce radiation exposure for workers, efficiently inspect and repair flange seal surfaces by remote control, shorten work time, and improve reactor operating rates. is intended to provide.

[Structure of the Invention] (Means for Solving the Problems) The flange surface inspection/polishing device of the present invention comprises free rotating wheels that are provided on both sides of the front and rear ends of a vehicle body and support the vehicle body on the flange seal surface; A side guide wheel provided on a side surface at a position below the free rotation wheel, two slides driven along a long hole in the longitudinal direction of the vehicle body provided on the other side surface of the vehicle body, and An arm provided on each slide so as to be driven with the longitudinal direction of the vehicle body as an axis; and a gripping finger support plate provided at the tip of each of these arms so as to be driven with the longitudinal direction of the vehicle body as an axis. , gripping fingers supported by the gripping finger support plates and driven in directions approaching or separating from each other, a sensor provided on each of the gripping finger support plates to detect the presence or absence of a stud bolt, and a sensor mounted on the vehicle body. It has a visual sensor for inspecting the flange seal surface and a polishing roller mounted on the vehicle body, and includes processing of the detection output of the visual sensor, operation of the polishing roller, each slide, each arm, and each gripping finger. support plate,
It is characterized in that it communicates with a fixed station that controls each gripping finger using a wireless device.

(Function) In the flange surface inspection/polishing device of the present invention having the above configuration, by driving each slide, each arm, each gripping finger support plate, and each gripping finger in a predetermined order, the flange seal surface is perforated. It is possible to move on the flange seal surface using the stud bolt hole or the stud bolt installed therein as a handhold. In this way, the stud bolt hole or the stud bolt is used as a handhold to move, and when stopping, the movement is performed using these as a reference, so the movement is performed stably and the positioning when stopping is performed accurately.

(Embodiment) FIG. 1 is a perspective view showing an entire embodiment of the present invention, and FIG. 2 is an enlarged perspective view showing a traveling mechanism in the embodiment. In FIG. 1, a vehicle body 1 of the present invention device is mounted on a sealing surface Wa of a flange W of an RPV, with a stud bolt hole wb drilled in this sealing surface, and a stud bolt Wc planted in the sealing surface Wa. It runs as a.

Note that the control of the vehicle body 1, various sensors for inspection mounted on the vehicle body, repair means, etc. is performed by signals from the wireless device 3 of the fixed station 2. Furthermore, if the sensor is a visual sensor, its signal is handled in the image processing device 4 of the fixed station.

In FIG. 1, numeral 5 indicates a control device for the various controls provided in the fixed station 2, and numeral 6 indicates various structures inside the RPV.

In FIG. 2, the vehicle body 1 is placed and supported on a sealing surface Wa by freely rotating wheels 7 provided on both the front and rear ends of the vehicle body, and is independently driven in the longitudinal direction of the vehicle body 1 by a drive mechanism (not shown) on the side surface of the vehicle body 1. Slides 8a, 8b driven by
is provided.

These slides 8a, 8b are provided with arms 9a, 9b which are rotated about the longitudinal direction of the vehicle body by a drive mechanism (also not shown), and the tips of these arms 9a, 9b are provided with a drive mechanism (also not shown). Rotated by a mechanism around an axis parallel to the rotation axis of each arm 9a, 9b,
A rod-shaped grasping finger support plate 10a that is long in the slide driving direction.
, 10b are attached. The gripping finger support plates 10a, 10b are provided with gripping fingers 11a, 11b that are driven in the longitudinal direction of the gripping finger support plates by a drive mechanism (not shown), and are moved toward or away from each other.

Note that 12 in the figure indicates an antenna for a wireless device provided on the vehicle body. Although not shown, the grasping finger support plate 1
At the longitudinal center of 0a and 10b is a stud bolt W.
A sensor is provided to detect the presence or absence of c. The vehicle body 1 shall have a total length that is at least twice the planting pitch of the stud bolts Wa, and each of the slides 8a and 8b is provided on the side surface of the vehicle body 1 and has a length that is at least twice the pitch. It is assumed that it is driven along the hole 1a.

FIG. 3 is a perspective view of the vehicle body 1 with a portion of the casing removed and viewed from the opposite side to FIG. 2. FIG. In this figure, a side guide wheel 13 is provided on the side surface of the vehicle body 1 opposite to the side surface on which the slides 8a and 8b are provided, and a side guide wheel 13 is provided that hangs down below the free rotation wheel 7.
and a light source 15 for imaging, and a motor 1 that drives it via a polishing roller 16 and a timing belt 17.
8 is accommodated.

In addition, the above-mentioned ITV camera 14, light source 15, motor 18,
Each slide 8a, 8b, arm 9a, 9b, grasping finger 11
a, llb, etc. are determined by the battery installed in the vehicle body 1.
It is designed to be driven by C.

The flange surface inspection/polishing apparatus of the present invention having the above configuration operates as follows.

First, a worker operates the crane to move the device of the present invention so that the side guide real shaft 13 comes into contact with the inner circumferential surface We of the RPV, and the axis of each free-rotating wheel 7 is approximately in the radial direction of the RPV. Place it on the flange seal surface. At this time, the worker is in the operator's seat of the crane and is not in a high radiation environment, so there is no risk of radiation exposure.

After being placed as described above, the arm 9a was attached to the slides 8a and 8b by driving them.

9b, the gripping finger support plates 10a, 10b are positioned to face the nearest stud bolt Wa or stud bolt hole wb. Here, the grasping finger support plate 10a,
When a sensor (not shown) provided at 10b detects a stud bolt, the grasping fingers are driven in a direction where the distance between them becomes narrower to grasp the stud bolt Wa, and the grasping finger support plate, and thus it, is attached. Fix the slide to the stud bolt.

If the stud bolt is not detected, the arm is rotated downward, each gripping finger is inserted into the stud bolt hole wb, and the gripping fingers are driven in a direction that increases the distance between the gripping fingers and the stud bolt hole wb. to secure the gripping finger support plate and thus the slide to which it is attached.

FIG. 2 shows a state in which the slide 8a is fixed to the stud bolt We, and the slide 8b is fixed to the stud hole wb.

In this manner, the vehicle body of the apparatus of the present invention is fixed in position on the flange seal surface, and necessary inspection and polishing are performed in this fixed position.

Note that both the gripping fingers 11a and llb are stud bolts W.
It is clear that the device of the present invention can be fixed in position in the same manner as described above when engaging either the stud bolt hole wb or the stud bolt hole wb.

In this embodiment, a mechanical TV camera 14 is mounted as a visual sensor, and its image signal is transmitted by a wireless device to a fixed station 2, where it is appropriately processed by an image processing device 4 to detect damage to the flange seal surface. The presence or absence of is determined. In other words, an image processing device! ! Step 4 extracts singular points in the image, in other words, detects flaws and foreign objects on the flange seal surface Wa.

Also, if the scratches found as described above are of a level that can be repaired by the polishing roller 16.

The polishing roller 16 is driven by a command from the fixed station 2, and polishing is performed until the image processing device 4 determines that the repair is complete. Further, the control device 5 receives the above processing results, holds and records them together with information on the position of the vehicle body 1 on the flange seal surface, and outputs them to a CRT display, printer, etc. (not shown). be.

When the apparatus of the present invention finishes inspection, polishing, etc. at one position, it moves to the next inspection position as shown in FIGS. 4A to 4. In order to simplify the explanation, FIG. 4A shows the device of the present invention fixed in position by two adjacent stud bolt holes We. Assume that the vehicle body 1 is moved to the left in the figure from the state shown in FIG. 4A. Prior to the start of movement, the polishing roller 16 is pulled up and separated from the flange seal surface by a mechanism not shown.

In this case, first move the gripping fingers (not shown in this figure) engaged with the left stud bolt hole in the direction that closes the space between them, and then support the gripping fingers. Rotate the left arm 9a and pull them out of the stud bolt hole. When the gripping finger Lla has completely separated from the stud bolt hole, move the slide 8a to the left as shown by arrow A in FIG. Position it directly above the stud bolt hole adjacent to.

Here, as shown in FIG. 4B, the grasping fingers are inserted into the stud bolt hole in the reverse order to the time of detachment, engaged, and fixed to the stud bolt hole.

Next, in the same manner as in the case of detachment, the right gripping finger is detached from the stud bolt hole, and the slide 8b that supports them is removed.
Move it to the left as shown by arrow B and position it directly above the adjacent stud bolt hole.

The gripping fingers are then engaged and secured to the stud bolt holes as shown in FIG. 4C. Here, the slides 8a and 8b are fed rightward. Then.

The vehicle body 1 will be moved to the left as shown by arrow C.

As this movement progresses, the relative relationship between the vehicle body 1 and the stud bolt hole becomes the same as that shown in FIG. 4A, as shown in the fourth diagram. Therefore, the vehicle body 1 can be moved further to the left by the procedure explained with reference to FIGS. 4A to 4C, and by repeating this process, it can be moved to a desired position.

In addition, when moving the vehicle body 1 toward the right side, since the slides 8a and 8b are located biased to the left side of the vehicle body 1 when the vehicle body 1 is stopped, the operation must be started from the gripping fingers on the right side. You can repeat the same procedure as above.

Furthermore, even when stud bolts are present or stud bolts and stud bolt holes are alternately present, the only difference is whether the grasping fingers grasp the stud bolt or engage in the stud bolt hole, and the movement is not possible. The procedure is exactly the same as above.

In the device of the present invention, the side guide wheels 13 that come into contact with the RPV inner surface We are provided on the side surfaces of the vehicle body 1, so that the vehicle body 1 can be moved stably.

The present invention is not limited to the above embodiments. For example, the polishing roller 16 does not necessarily need to be separated from the flange seal surface when the vehicle body 1 moves, and may be set in a free rotating state so that it does not act on the flange seal surface. As the visual sensor, instead of the illustrated ITV camera, a device that inspects the reflectance of the seal surface by scanning a light beam may be used.

[Effects of the Invention] As is clear from the above, the flange surface inspection/polishing device of the present invention uses the stud bolt holes drilled in the flange seal surface or the stand bolts planted in the stud bolt holes as clues, so to speak, to measure Since the flange sealing surface can be moved and positioned on the flange seal surface, the positioning can be performed accurately. Therefore, it is possible to accurately record and display the positions of flaws and foreign objects found through inspection.

[Brief explanation of the drawing]

FIG. 1 is a schematic perspective view showing the overall configuration of an embodiment of the present invention, FIG. 2 is an enlarged side view of the embodiment seen from one side, and FIG. 3 is a diagram of the vehicle body of the embodiment. A side view as seen from the other side with a part removed, and FIGS. 4A to 4D are diagrams showing the movement procedure of the embodiment.

Claims (1)

[Claims] Free rotating wheels provided on both front and rear ends of the vehicle body to support the vehicle body on a flange seal surface; a side guide wheel provided on one side of the vehicle body at a position below the free rotating wheels; and another side surface of the vehicle body. two slides that are driven along a long hole in the longitudinal direction of the vehicle body, an arm provided on each of these slides so as to be driven with the longitudinal direction of the vehicle body as an axis, and each of these slides. A gripping finger support plate provided at the tip of the arm so as to be similarly driven with the longitudinal direction of the vehicle body as an axis, and gripping fingers supported by each of these gripping finger support plates and driven in directions toward or away from each other. , a sensor provided on each gripping finger support plate to detect the presence or absence of a stud bolt, a visual sensor mounted on the vehicle body to inspect the flange seal surface, and a polishing roller mounted on the vehicle body; A wireless device communicates with a fixed station that processes the detection output of the visual sensor, operates the polishing roller, and controls each slide, each arm, each gripping finger support plate, and each gripping finger. Flange surface inspection and polishing equipment.