JPH0434451Y2 - - Google Patents

Description

[Detailed description of the invention] [Field of industrial application] The invention is an automatic piping inspection device for nuclear power plants,
The present invention relates to an inspection device for cylindrical objects that can be applied to general automatic cylindrical surface inspection devices, other general cylindrical surface processing devices, etc.

[Conventional technology]

Conventionally, as an inspection device for inspecting circumferential welding points of piping in a nuclear power plant, for example, a sensor 2 moves in an arc around a piping 1 to be inspected, as shown in FIGS. 5 to 7. It is known that the pipe 1 is inspected in the circumferential direction.

That is, the sensor 2, as shown in FIG.
It is supported on a trolley 4 equipped with running wheels 3 via a telescoping pole 5 and an arcuate slider 6 attached to the upper end of the pole 5, and is connected to a detection device (not shown) with lead wires 7, 8. connected via. The mounting structure of the slider 6 at the upper end of the pole 5 is as follows.

6 and 7 on the inner and outer peripheral surface of the slider 6.
As shown in the figure, racks 9 are formed, and a plurality of pinions 10 are engaged with the inner and outer peripheral surfaces of these racks 9, and rotation of the pinions 10 causes the slider 6 to slide in an arc shape. It's becoming like that.

Therefore, when inspecting piping 1,
First, the trolley 4 is installed below the inspection point on the pipe 1, and the pole 5 is extended to align the center line of the pipe 1 with the center line of the curvature of the slider 6.
The sensor 2 is moved in the circumferential direction of the pipe 1 by rotating the pinion 10 by a drive source (not shown) or by manually sliding the slider 6 in an arc. Furthermore, when inspecting the pipe 1 in the longitudinal direction, the trolley 4 is moved in that direction.

(Problem to be solved by the invention) In the above configuration, the sensor 2 is attached to the arc-shaped slider 6 and the sensor 2 is moved, so as the sensor 2 moves, the center of gravity of the entire inspection device There is a problem in that it fluctuates and becomes unstable. Further, if a hanger, a snubber, etc. are attached to the piping 1, the slider 6 hits these in the vicinity thereof, and the movement of the slider 6 is obstructed, resulting in a portion that cannot be inspected. Furthermore, if there is a T-shaped portion in the pipe 1, a similar problem will occur at that portion, and it is necessary to use a dedicated inspection device for those portions that cannot be inspected.

Furthermore, since the slider 6 is driven by the engagement between the rack 9 and the pinion 10, the clearance between the rack 9 and the pinion 10 causes looseness at the attachment point between the slider 6 and the pole. There was also the problem of not being able to perform highly accurate inspections.

Therefore, the purpose of the present invention is to improve the inspection accuracy even if there are protrusions or bends in the circular tube-shaped object to be inspected, without causing any parts that cannot be inspected.
It is an object of the present invention to provide an inspection device for a circular tubular object in which the stability of the entire device is good.

(Means for Solving the Problems) The present invention provides an inspection device for a circular tubular object that inspects a circular tubular object by moving a sensor along the outer surface of the object. a first pantograph mechanism in which a plurality of links are connected with pins to form a plurality of parallelograms, and a link at one end thereof is connected to the lift table with two pins; It is symmetrical to the first pantograph mechanism, and the sensor is attached to the link on one end of the mechanism, and the link on the other end is attached to the first pantograph mechanism.
a second pantograph mechanism that is shared with the link on the other end side of the pantograph mechanism; a slider that is slidably attached to the link that is shared by these first and second pantograph mechanisms; a pair of interlocking links that connect the links on the other end side of the second pantograph by pin connection; and a pair of interlocking links that are provided on the extension part on the one end side of the first pantograph, and are provided on the extension part on the one end side of the first pantograph, and are arranged to extend and contract the first and second pantograph mechanisms. It is characterized by being equipped with a balancer that prevents the center of gravity from changing due to movement.

(Operations and effects of the invention) Since the first and second pantograph mechanisms are pin-coupled with an interlocking link, both mechanisms extend and contract in conjunction with each other, and the sensor attached to the second pantograph mechanism has a circular tubular shape. The robot moves in an arc around the object to be inspected.

In this configuration, the sensor is attached to the lifting platform via the first and second pantograph mechanisms, which are made up of a plurality of pin-connected links, so that even if the object to be inspected has protrusions or bends, it will not bend. Therefore, there are no locations where inspection cannot be performed. Also,
The pantograph mechanism is constructed by connecting multiple links with pins, so there is no backlash like with a gear mechanism.
Therefore, it is possible to improve inspection accuracy. Furthermore, since the balancer prevents the center of gravity from changing due to the expansion and contraction operations of the first and second pantograph mechanisms, the stability of the entire device is improved.

(Embodiment) FIG. 1 shows an embodiment of the present invention, in which a table 11 is provided on the upper surface of a truck 4 and is horizontally rotatable within a range of 180 degrees. A lifting platform 13 is attached to the top surface of the table 11 via a height adjustment mechanism 12.
The structure is such that the height can be adjusted.

The first pantograph mechanism 14 is shown in FIGS.
As shown in the figure, the first to sixth links 15 to 20
are connected by pins A to G to form two parallelograms. First pantograph mechanism 1
A first link 15 (indicated by a virtual line) located at one end of 4 also serves as a part of the lifting platform 13, and both ends of the first link 15 (that is, the second and third links 16) , 17) are connected to the lifting platform 13 by two pins A and C. Note that FIGS. 2 and 3 are schematic illustrations of FIG. 1.

Further, the second link 16 is rotated around the pin A by a drive mechanism (not shown) provided in the lifting table 13.

Further, a balancer 21 is attached to one end extension of the second link 16.

The second pantograph mechanism 22 is symmetrical with the first pantograph mechanism 14, and shares the sixth link 20 and pins F and G in the first pantograph mechanism 14 to form two parallelograms. It is something that That is, the second pantograph mechanism 22 includes the first to fifth links 23 to 27,
It is formed by connecting the sixth link 20 of the first pantograph mechanism 14 with pins H to L and pins F and G, and the sensor 2 is attached to the first link 23 located at one end thereof. There is.

A rod-shaped slide guide 28 is attached to the sixth link 20 that is shared by the first and second pantograph mechanisms 14 and 22, and a slider 29 is attached to this slide guide 28 so as to be freely slidable. ing.

The slider 29 has interlocking links 30 and 31.
One end of each is connected via pins M and N,
The other ends of these links 30 and 31 are the first and second ends.
The pins C and L of the pantographs 14 and 22 are connected to each other.

Here, the relationship between the lengths of the links 15 to 20 and 23 to 27 is as follows: AB=CD=LI=KJ AC=BD=IJ=KL DF=EG=IF=GH DE=FG=IH.

Note that FIG. 4 shows the first and second pantograph mechanisms 14, 22 in a folded state. Also,
The balancer 21 is intended to prevent the center of gravity from fluctuating due to the expansion and contraction operations of the first and second pantograph mechanisms 14 and 22, and its weight and mounting position are set to achieve such an action. .

Next, the operation will be explained.

When inspecting a circular pipe-shaped object to be inspected (piping 1), first, the cart 4 is installed at a position below the inspection point in the pipe 1, and the table 11 is rotated to move the first and second pantographs. The operating surfaces of 14 and 22 are made perpendicular to the center line of the pipe 1. Further, the height adjustment mechanism 12 raises the elevator platform 13 so that the straight line connecting the pins A and C intersects the center line O of the pipe 1.

Therefore, by rotating the second link 12 in the first pantograph mechanism 14 using a drive device provided in the lifting platform 13, the link 15 is rotated.
20, 23 to 27 move in unison, and the first and second pantograph mechanisms 14 and 22 extend and contract.

At this time, since the links 15 to 20 in the first pantograph mechanism 14 are parallel links,
As shown in Figures 2 and 3, the COFD is a parallelogram and the GFOs are aligned in a straight line. Also, the second
Links 23 to 2 in the pantograph mechanism 22 of
7 and the shared link 20 are also parallel links, so
〓FOLI also becomes a parallelogram, and KLO lines up in a straight line. Therefore, KL is always relative to the surface of pipe 1,
This will coincide with the normal direction. Further, the first and second pantograph mechanisms 14 and 22 are interlocked by the pair of interlocking links 30 and 31 and the slider 29, and when the shared link 20 is opened, the slider 29 and pins M and N are used as slide guides. 28 to approach the pipe 1, and then the pin N
As the pin L moves, the pin L is pushed out.

Also, since 〓COFD and 〓FOLI are symmetrical with respect to the straight line OFG, LO is always
= CO = constant, pin L is the center line O of pipe 1
Move in an arc around. Therefore, the sensor 2 located at a certain distance from the pin L on the extension line of KL always moves in the circumferential direction along the surface of the pipe 1.

Moreover, since the movement range of the sensor 2 is one half of one side of the pipe 1, in order to inspect the other half, the first and second pantograph mechanisms 14 and 22 are folded once as shown in FIG. 4, and then, table 1
1 by 180° and perform the same test on the opposite half.

The above configuration provides the following effects.

The sensor 2 is attached to the lifting platform 13 via the first and second pantograph mechanisms 14 and 22, which are made up of a plurality of pin-connected links, so that there is no protrusion of hangers, snubbers, etc. on the pipe 1, which is the object to be inspected. Even if the pipe 1 itself has a bent part such as a T-shape, there will be no part that cannot be inspected. In addition, pantograph mechanisms 14, 22
Since it is constructed by connecting a plurality of links with pins, there is no backlash unlike in a gear mechanism, and therefore inspection accuracy can be improved. In addition, balancer 2
1, the first and second pantograph mechanisms 14, 2
Since fluctuations in the position of the center of gravity due to the expansion and contraction operations of 2 are prevented, the stability of the entire device is also improved.

In addition, the first and second pantograph mechanisms 14 and 2
Since the sensor 2 is moved in the circumferential direction by the sensor 2, it is possible to easily conduct a visual inspection, a damage inspection, etc. by remote control.

Furthermore, first and second pantograph mechanisms 14,
When 22 is folded, it becomes a bar shape as shown in FIG. 4, so the device can be carried in through a narrow gap, and the inspection range can be expanded.

[Brief explanation of drawings]

Figures 1 to 4 show an embodiment of the present invention, in which Figures 1 and 4 are front views of an apparatus for inspecting circular tubular objects, and Figures 2 and 3 are pantograph mechanisms of the apparatus. , and FIGS. 5 to 7 show conventional examples. FIG. 5 is an external perspective view of an inspection device for cylindrical objects, and FIGS. 6 and 7 show the peripheral part of the slider of the same device. FIG. 1...Piping (object to be inspected), 2...Sensor,
4... Trolley, 13... Lifting platform, 14... First pantograph mechanism, 15-20, 23-27... Link, 21... Balancer, 22... Second pantograph mechanism, 29... Slider, 30, 31
...Connection link.

Claims (1)

[Scope of utility model registration request] In an inspection device for a circular tubular object that inspects the object by moving a sensor along the outer surface of the object, a cart, an elevator mounted on the cart, and a plurality of links are connected by pins. a first pantograph mechanism, which forms a plurality of parallelograms, and whose one end link is connected to the lifting platform with two pins, and which is symmetrical to the first pantograph mechanism and whose one end A second pantograph mechanism in which the sensor is attached to a link on the other end side is shared with a link on the other end side of the first pantograph mechanism, and the second pantograph mechanism is slidable into a link shared by the first and second pantograph mechanisms. a pair of interlocking links that connect the slider and links on the other end sides of the first and second pantographs by pin connection;
A balancer provided on an extension of one end of the first pantograph to prevent fluctuations in the center of gravity due to expansion and contraction operations of the first and second pantograph mechanisms. Inspection equipment.