JPH0311729Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to an apparatus for automatically inspecting weld lines of a nuclear reactor vessel, etc. of a fast breeder reactor during its service life.

In general, the weld lines of fast breeder reactor reactor vessels, piping, etc. are inspected periodically during their service life to ensure their reliability. However, since the radiation dose around such equipment is high, it is not desirable for workers to inspect weld lines. For this reason, devices have been developed that automatically inspect such weld lines. This automatic inspection device is the first
As shown in Figures 1 and 2, for example, a guide duct 3 with a U-shaped cross section is provided along the weld line 2 of the reactor vessel 1, and an inspection machine 5 is installed along the inside of the guide duct 3. The welding line 2 is inspected remotely and automatically using inspection equipment mounted on the inspection machine 5. Then, a pair of guide rails 4, 4 are bent on both sides of the inner surface of the guide duct 3, and a part of the guide roller 6 provided in the inspection machine 5 is attached to the guide rails 4, 4.
The inspection device 5 is fitted into the inspection device 5 to guide the inspection device 5, and to control the posture and the like of the inspection device 5.

However, in such a device, as shown in FIG. 1, the guide rails 4 break off at the intersections of these guide ducts 3, so when the inspection machine 5 passes through these intersections, the guide rollers 6... ... separated from the guide rails 4, 4, and the guidance of this inspection machine 5 became unstable.

In order to improve this problem, in addition to the guide rails on both sides of the inner surface of the guide duct, guide rails are also provided at the top and bottom of the inner surface of the guide duct, and at the intersection of the guide duct, either guide rail is installed. A structure with continuous rails was considered. However, in this case, the inspection machine is guided by many guide rails, which reduces the degree of freedom of the inspection machine and reduces the running performance of the inspection machine when poisoning bends in the guide duct. This will cause problems.

The present invention was developed based on the above circumstances, and its purpose is to provide an automatic weld line inspection device that can stably guide an inspection machine even at intersections of guide ducts. .

That is, the present invention includes a guide duct provided along the weld line to be inspected, a pair of main guide rails provided on both sides of the inner surface of the guide duct, and a main guide rail provided at the intersection of the guide duct. An auxiliary guide rail provided on the top of the inner surface and continuous with each other, an inspection machine main body that runs within the guide duct, and a main body that is provided on the inspection machine main body and that fits into the main guide rail and guides the inspection machine main body. a guide roller, an auxiliary guide roller provided on the inspection machine main body that fits into the auxiliary guide rail of the guide duct at the intersection to guide the inspection machine main body, and an inspection mechanism provided on the inspection machine main body. It is equipped with the following. Therefore, at the intersection of the guide ducts, the auxiliary guide rollers of the inspection machine fit into the auxiliary guide rails of the guide duct to guide the inspection machine, so at this intersection, the main guide rollers of the inspection machine Even if you move away from the rail, the guidance of the inspection machine will not become unstable. In addition, since this auxiliary guide rail is provided only at the intersection of the guide duct, the auxiliary guide roller will not fit into the auxiliary guide rail at any location other than this intersection, and inspection will be performed at the bent part of the guide duct. It does not impair the running performance of the aircraft.

Hereinafter, one embodiment of the present invention will be described with reference to FIGS. 3 to 6. First, with reference to FIGS. 3 and 4, the configuration of the inspection machine and the guide duct that guides the inspection machine to the inspection location will be explained.
That is, 10 in the figure is the above-mentioned guidance guide duct,
19 is the above inspection machine. The guidance guide duct 10 has a circular cross section, and the inner surface of the guide duct 10 has a circular cross section.
A pair of main guide rails 11, 11 are provided facing each other at 180 degrees, and these main guide rails 11, 11
A pair of auxiliary guide rails 12, 12 are provided at positions 90° apart from each other.

Moreover, 19 in the figure is an inspection machine. Reference numeral 20 denotes the inspection machine main body, and eight roller support arms 21 . . . , 22 . And these roller support arms 21..., 22...
Main guide rollers 23, 23 and auxiliary guide rollers 24, 24, 25, . . . are rotatably attached to the tips of the rollers. Then, the main guide rollers 23, 23 fit into the main guide rails 11, 11, and the auxiliary guide rollers 24, 24 fit into the auxiliary guide rails 12, 12, and the inspection machine main body 20 is It is configured to guide along the guidance guide duct 10. Note that the front roller support arms 22 are bent forward so that the distance between the front and rear guide rollers is increased. Further, an inspection mechanism 26 and an illumination mechanism 27 having a built-in TV camera etc. are provided at the front end of the inspection machine body 20, and these inspection mechanism 26 and illumination mechanism 27 rotate around the central axis of the inspection machine body 20. It is configured as follows. The inspection mechanism 26 and the illumination mechanism 27 are rotated to arbitrary positions by a motor 30 via a pinion 29 and a gear 28. In addition, this inspection machine main body 20 includes a cable 3 for power supply, signal transmission, etc.
1 is connected.

Next, the configuration of the guide duct will be explained with reference to FIGS. 5 and 6. In the figure, 1 is a structure to be inspected, such as a reactor vessel of a fast breeder reactor, and 2... are weld lines to be inspected. And this welding line 2...
A guide duct 40... is provided along... These guide ducts 40 have a U-shaped cross section and are attached to the outer surface of the reactor vessel 1. A pair of main guide rails 41 are provided on both sides of the inner surface of the guide duct 40. The guide ducts 40... are connected to the guidance guide duct 10, and the inspection machine 19 is inserted into the guide duct 40 from within the guidance guide duct 10, and the main guide rollers 23, 23 is this guide duct 40...
The main guide rail 41 on the inner surface of the main guide rail 41 is configured to fit and guide the inspection machine 19. Further, auxiliary guide rails 42..., 43... are provided at the intersections of these guide ducts 40.... This auxiliary guide rail 42... is provided at the top of the inner surface of the guide duct 40.... Therefore, this auxiliary guide rail 42...
The four guide ducts 40 are connected in a cross shape at the intersection of the guide ducts 40. In addition, the auxiliary guide rail 43
. . . is provided at the top of the guide duct 40 . . . at a position 45° away from the auxiliary guide rail 42 . Note that these auxiliary guide rails 42...
..., 43... are provided only at the intersection portion of this guide duct 40, and are not provided at other portions.

Next, the operation of this embodiment will be explained. The inspection device 19 is inserted into the guide duct 40 through the guide duct 10. and,
In this guide duct 40..., the main guide rollers 23, 23 of the inspection machine 19 are connected to the main guide rail 41,
41, and also the auxiliary guide rollers 24, 24
contacts the top of the inner surface of the guide duct 40 and the outer surface of the reactor vessel 1, and guides the inspection device 19. And these guide ducts 4
At the intersection of 0..., the auxiliary guide roller 24
is fitted to the auxiliary guide rail 42..., and the auxiliary guide rollers 25, 25 are fitted to the auxiliary guide rail 43.
Fits into... Therefore, even if the main guide rollers 23, 23 are separated from the main guide rail 41 at this intersection, the auxiliary guide rollers 24,
25, 25 are auxiliary guide rails 42..., 43...
...Since they are fitted, the guidance of this inspection machine 19 will not become unstable. In addition, at locations other than this intersection, the auxiliary guide rails 42..., 43
... are not provided, and the main guide rollers 23,
23 fits into the main guide rails 41, 41 and guides this inspection machine 19, so this inspection machine 19
Therefore, the guide duct 40 is not unnecessarily restrained.
The running performance of this inspection machine 19 is not impaired at the bends, etc.

As described above, the present invention includes a guide duct provided along the weld line to be inspected, a pair of main guide rails provided on both sides of the inner surface of the guide duct, and a guide rail provided at the intersection of the guide ducts. An auxiliary guide rail provided at the top of the inner surface of the duct and continuous with each other, an inspection machine body that runs within the guide duct, and a main guide rail provided on the inspection machine body that fits into the main guide rail to guide the inspection machine body. an auxiliary guide roller that is provided on the inspection machine body and that fits into the auxiliary guide rail of the guide duct at the intersection to guide the inspection machine body; It is equipped with a mechanism. Therefore, at the intersection of the guide ducts, the auxiliary guide rollers of the inspection machine fit into the auxiliary guide rails of the guide duct to guide the inspection machine, so at this intersection, the main guide rollers of the inspection machine Even if you move away from the rail, the guidance of the inspection machine will not become unstable. In addition, since this auxiliary guide rail is provided only at the intersection of the guide duct, the auxiliary guide roller will not fit into the auxiliary guide rail at any location other than this intersection, and inspection will be performed at the bent part of the guide duct, etc. The effect is great, as it does not impair the running performance of the aircraft.

[Brief explanation of drawings]

Fig. 1 and Fig. 2 show a conventional example, Fig. 1 is a longitudinal cross-sectional view of the guide duct, and Fig. 2 is a - of Fig. 1.
It is an arrow view. Figures 3 to 6 show an embodiment of the present invention, with Figure 3 being a side view of the inspection machine and Figure 4 being a side view of the inspection machine.
3, FIG. 5 is a vertical cross-sectional view of the guide duct, and FIG. 6 is a cross-sectional view taken along the line - in FIG. 5. 19...Inspection machine, 20...Inspection machine body, 23...
...Main guide roller, 24, 25...Auxiliary guide roller, 40...Guide duct, 41...Main guide rail, 42, 43...Auxiliary guide rail.

Claims (1)

[Scope of utility model registration request] A guide duct provided along the weld line to be inspected, a pair of main guide rails provided on both sides of the inner surface of this guide duct, and a pair of main guide rails provided at the top of the inner surface of the guide duct at the intersection of the guide ducts. auxiliary guide rails that are continuous with each other; an inspection machine body that runs within the guide duct; a main guide roller that is provided on the inspection machine body and that fits into the main guide rail and guides the inspection machine body; An auxiliary guide roller provided on the inspection machine body and adapted to guide the inspection machine body by fitting into the auxiliary guide rail of the guide duct at the intersection, and an inspection mechanism provided on the inspection machine body. Features: Automatic inspection equipment for weld lines.