JPH0451002B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an inspection device for inspecting the inner surface of a cylinder, etc., and particularly for long cylinders installed in places such as nuclear facilities where people cannot enter due to high radiation. The present invention relates to an inspection periscope reflector device suitable for observing the inside of a device over a wide range by remote control.

[Background of the invention]

In conventional inspection devices that combine a periscope and a reflecting mirror, only a type in which the periscope and a reflecting mirror are integrated has been put into practical use, and this type has the following drawbacks.

(1) The conventional periscope 101 and reflecting mirror 102 shown in FIG. 12 are mechanically rigidly coupled, and it is impossible to move the reflecting mirror alone to the object to be inspected. For this reason, the inspection range was limited to a narrow area near the reflector installation area (Unexamined Japanese Patent Publication No.
58-82218).

(2) When attempting to observe the interior of a long cylinder over a wide range using the conventional example shown in Figure 13, it is necessary to attach a telescopic mechanism such as a telescopic tube to the tip of the observation mirror. I don't get it, but
In such a configuration (Japanese Patent Application Laid-open No. 57-26791),
Since the periscope 107 and the reflector 110 are integrated via the telescopic tube 108, the overall shape of the inspection device becomes large, and a large space is required for installing the device on the object to be inspected. It takes. The periscope 107 is installed horizontally, and the telescopic tube 10
8 is a structure that moves in the vertical direction and has an inverted L shape. For this reason, in facilities where a wall shields the area between the operation room where people are located and the hot cell where people cannot enter, the reflector integrated with the periscope 107 can be seen through a hole about the outside diameter of the periscope 107 in the wall. It is not possible to insert the attached telescopic tube 108 into the hot cell. A reflector 11 integrated with a telescopic tube 108 is inserted into the hot cell from the operation room side.
If it is necessary to insert 0, the shielding wall must be broken and inserted, which poses problems such as radioactive materials flowing into the operation room from the hot cell side and a large amount of cost required to destroy the shielding wall. Yes, it is not practical.

When the inner surface of a long cylindrical device with a relatively small diameter is to be inspected, the center of the long cylindrical device and the center of the telescopic tube 108 must be approximately aligned. Since the relative distance l between the periscope 107 and the axial center of the telescopic tube 108 is always constant, if the long cylindrical device that is the object to be inspected is set with a rough precision like that of a general building, Correspondingly Periscope 10
Since the relative distance l between the telescopic tube 7 and the telescopic tube 108 cannot be adjusted, positional deviation occurs, making insertion and inspection impossible.

[Purpose of the invention]

An object of the present invention is to be able to inspect a wide range of the inner surface of a long cylindrical device attached to a facility where no one can enter, and to have a function to sufficiently adjust the error in the attachment of the object to be inspected. An object of the present invention is to provide a compact and remotely controllable inspection periscope reflector device.

[Summary of the invention]

In order to eliminate the drawbacks of the prior art described above, the present invention constructs a periscope reflector device for inspection based on the following considerations.

In conventional devices, the periscope and reflector are mechanically rigidly coupled, which narrows the observation range. This ensures a degree of freedom. As a result, a telescopic tube is not required, reducing weight and compactness.

In order to inspect a wide range of the inner surface of a long cylindrical device,
The reflecting mirror is divided into an elevating device section and a reflecting mirror device section, and these devices are connected by wires and electric cables. An observation mirror is built into the reflecting mirror device, and a wire winding type lifting device is attached to the top of the long cylindrical device to move the observation mirror vertically over a wide range. Further, the inside of the reflecting mirror device, the lifting device, the wires, and the electric cables are arranged so that the central portion is hollow so that the light from the observation mirror inside the reflecting mirror device can be received by the reflecting mirror at the tip of the periscope. In particular, the electric cable is a coiled cable with a hollow center so that it can sufficiently follow the rise and fall of the reflecting mirror unit and not block the light from the observation mirror.

In order to inspect the object without any problems even if there is an installation error in the object to be inspected, the tip of the periscope is reflected according to the amount of deviation so that it receives the light from the observation mirror of the reflector unit inserted into the object to be inspected that has shifted. The mirror part is movable, the periscope tip reflector part is movable back and forth, and the tip reflector part has a structure that can be rotated left and right using one end of the tip part reflector as a rotation support shaft. In addition, if the cylindrical device that is the object to be inspected is tilted, a mechanism for raising and lowering the reflector provided in the reflector section at the tip of the periscope, a mechanism for rotating the entire periscope about the center in the axial direction of the periscope's long body, and a mechanism for rotating the periscope at the tip of the periscope are also available. Combining each mechanism that rotates the partial reflector left and right,
Align the optical axis with the observation mirror in the reflector unit.

Because the periscope and reflector device are separate, the periscope can be easily inserted using a plug hole that is typically provided in the shielding wall of the high radiation cell. On the other hand, the reflector device can be lifted from a door provided in a normal high-radiation cell using a crane or a hoist, moved, and easily attached to the top of the object to be inspected.

[Embodiments of the invention]

Embodiments of the present invention will be described with reference to FIGS. 1 to 11.

FIG. 1 is a schematic diagram showing an embodiment of the present invention. A periscope reflector for inspection in a remote inspection device consisting of a combination of a periscope and a reflector, characterized in that the periscope 1 and the reflector device 4 are each independent devices and are not mechanically coupled but optically coupled. It is a device. The main places where the present invention is used are places where humans cannot enter, such as areas with high radiation atmosphere or contaminated areas with high radioactivity. A periscope 1 is inserted into a vertical inspection object 6 installed in a shielded room 16, which is shielded by shielding side walls 15, a ceiling wall, and a floor wall 14 and cannot be entered by humans, through a small opening provided in the shielding wall. In addition, the reflector device 4, which is carried in through another small opening, is lifted up by the crane 21 and moved, and installed above the inspection object 6, and the periscope 1 is optically combined with the reflector device 4. use. In order to observe a wide area inside the vertical inspection object 6, the reflecting mirror device includes a lifting device 17,
It is composed of a reflecting mirror device section 2 and a cable processing section 3 for handling electric cables and the like for the reflecting mirror device section.

The reflecting mirror device section 2 connects the lifting wire 18 to the lifting device 1.
7 allows it to be raised or lowered by winding it up or returning it. The reflecting mirror device section 2 has a built-in observation mirror 5.
The image of the object to be inspected is reflected by the observation mirror 5, passes through the interior of the reflecting mirror unit 2, the cable processing unit 3, and the lifting device 17, and is reflected by the distal end reflecting mirror 7 of the periscope 1. The reflected light passes through the inside of the long body of the periscope 1 having an objective lens, and is observed with an optic lens 13.

The image No. 2 can be directly observed by a person in the operation room through an eyepiece 13, and can also be displayed on a monitor 12 by attaching a television camera 20 as an attachment. Further, an electric cable 8 for remotely controlling the reflector device 4 is inserted into the hot cell through a cable penetration 9, and a person in the operation room side monitors the hot cell room 16 through the shielding glass window 15a and operates the hot cell as a manipulator. Connect the male and female connectors remotely using a suitable remote control. The reflector device 4 is remotely controlled from a control panel 11 .

In addition, the direction in which the reflector device 2 faces on the circumference within the inspection object 6, the tilt angle, etc. are detected using a phase detection encoder, etc., and the observed part is clearly determined. It's meant to be.

According to this embodiment, the inner surface of the inspection object 6 attached to a facility where no one can enter can be inspected over a wide range, and the periscope 1 and the reflector device 4 are each independent devices. , the device becomes very compact. In addition, periscope 1 and reflector device 4
Hemming becomes very easy. Furthermore, since the electric cable for control can be connected remotely and the reflector device can be moved independently, the reflector device can be given complex functions such as rotation and tilting, and if necessary, it can be used to prevent fogging of the observation mirror. A heater can be installed.

FIG. 2 shows another embodiment. In this example,
The reflecting mirror device 2 is raised and lowered by a separate crane 21 not only when hemming but also when in use, so as to bring it close to the part to be inspected. The image from the observation mirror 5 is received by the tip reflector 7 of the periscope 1,
It can be observed in the same manner as in the first illustrated embodiment. The reflecting mirror device 2 is attached to a crane hook 21a using a lifting device 21b with a wire 18 for lifting and lowering, and the crane hook 21a is lowered and inserted into the long cylindrical device that is the object to be inspected. allows observation of parts. 2a shows the state of the reflector device close to the part to be inspected. In the present invention, since the reflector device 2 is inserted directly into the object to be inspected using a crane installed in the hot cell, there is no need to provide the reflector device with an elevating function, making the reflector device simpler and more compact. can.

FIGS. 3 to 7 are diagrams showing the rotation and tilting mechanisms. If the object to be inspected inside the hot cell is eccentric or tilted from its normal position due to poor hemming accuracy, the periscope is installed so that it can receive light even if the optical axis of the reflector device shifts. The tip reflector is equipped with mechanisms for moving back and forth, left and right, and tilting up and down.

FIG. 3 shows the tip of the periscope 1. FIG. The light from the observation mirror 5 is reflected by the reflecting mirrors 41 and 42 at the tip of the periscope and the tilting mirror 43,
47a, 47b, 47c, 47d, and 47e, and reach the eyepiece lens 13 through the lens barrel 45. The reflecting mirror 41 and the reflecting mirror 42 are arranged in parallel,
It is built into the reflecting lens barrel 40. The reflecting mirror 40 is
From the 40a position as shown in the B direction arrow view, 40
It can be rotated arbitrarily to positions d and 40e. 40
Even when rotating from a to 40d and 40e, the reflecting mirror 42 and the tilting mirror 43 face each other, so the light is guided in the direction 47e. Moreover, the reflecting mirror 41, the reflecting mirror 42, and the elevation mirror 43 can be moved by sliding the lens barrel 45 that supports them in the front and back direction. The forward and backward movement is based on L _b ,
The range of L _a can be set arbitrarily. In response to the inclination of the object to be inspected, the tilting mirror can receive light from the observation mirror 5 arbitrarily within the range α _a and α _b from the fixed position.

FIG. 4 shows the optical path from the observation mirror 5 when the object to be inspected is tilted. When the object to be inspected is perpendicular to the horizontally skirted periscope, the images of the object to be inspected are 47a, 47b,
47c, 47d, and 47e, and the light 52e passes through the periscope lens barrel and is guided to the eyepiece 13. However, when the inspection object is tilted by β as shown at 55A, and the tilting mirror angle 43 is the same as when the inspection object is not tilted, the image from the observation mirror 5 is 52a, 52b, 52
c, 52d, and 52f, and the optical axis f is inclined by β _b with respect to the horizontal axis 47e of the periscope lens barrel, making it impossible to obtain the necessary image with the eyepiece lens 13. In this case, when the tilting mirror is tilted up and down so that the rotation angle α _b = β _b , the optical axis changes from 52f to 52e, becomes the same direction as the periscope lens barrel horizontal axis 47e, and the desired image is focused on the eyepiece. obtained in the lens 13.

Fig. 5 shows a reflecting mirror 41, a reflecting mirror 42, and an elevation mirror 4.
3 shows the back and forth movement mechanism. As is clear from FIG. 5A, the periscope tip rotating reflecting lens barrel 40,
The elevation lens barrel 48 is integrally joined to the lens barrel 45, and the lens barrel 4
5 and a plurality of bearings 4 in the axial direction of the lens barrel.
9 so that the lens barrel 45 can be moved. A shaft support 51 fixed to the outer tube of the periscope 1 supports a shaft 50, and this shaft 50 supports a bearing 49 provided on the lens barrel 45.

FIG. 5B shows a mechanism for moving the lens barrel 45 in the front-back direction. When the handle 67 attached near the eyepiece on the operation room side is rotated, the shaft 66, gears 65, 66, shaft 63, gears 62, 61, shaft 6
0, sprockets 57, 59, and chain 58 convert the lens barrel 45 into linear movement. Lens barrel 45
The linear movement is performed by fixing the barrel drive piece 56 attached to the chain 58 to the barrel 45 and fixing the sprocket 57 to the inside of the periscope outer barrel 1.

Figure 6 shows the rotating reflector barrel 40 at the tip of the periscope.
The rotation mechanism is shown. Bearing 44 shown in FIG.
This is a mechanism that rotates the reflecting barrel around the center.
When the handle provided near the eyepiece on the operation room side is rotated, the shaft 78, gears 77, 76, shaft 7
5, gears 74, 73, shaft 72, gears 71, 70,
The motion is transmitted via the shaft 70a and the gear 69, and rotationally drives the gear 69 integrally attached to the periscope tip rotation reflecting lens barrel 40. FIG. 7 shows the elevating mechanism of the elevating mirror 43. When the handle 92 provided near the eyepiece on the operation room side is rotated, the shaft 91 and the worm 9 are rotated.
0, the motion is transmitted by the wheel 89, shaft 88, worm 87, wheel 86, shaft 85, gears 84, 83, shaft 82, gears 80, 81, and the tilting mirror 43
looks down.

Due to the forward/backward, left/right, and up/down mechanisms of the reflector at the tip of the periscope described above in Figures 3 to 7, the long cylindrical device that is the object to be inspected is eccentric or tilted from its normal position and inserted into the interior. Even if the optical axis of the observation mirror 5 is shifted, the periscope tip reflector can sufficiently receive light from the object to be inspected. In addition, since all operations of the periscope tip reflector are performed by mechanical components such as gears and shafts, reliability is high.

FIG. 8 shows the elevating mechanism of the reflecting mirror device. The reflecting mirror device 4 includes an elevating device including an elevating winding drum 24 and a motor 23, a reflecting mirror device section 2, an electric cable processing section 3, and an elevating wire 18. In order to secure an optical path between the observation mirror 5 and the periscope distal end reflector, the elevating device section is hollow in the center, and the elevating wire is As two wires eccentric from the center, the electric cable processing section 3 is also made into a coiled cable so that the center part is a space. Further, a hanging tool 119 for lifting and moving the entire reflecting mirror device is attached to the lifting device section.
When this hanging tool 119 is not used, as shown in FIG. 8B, the pin 119 should be
It is rotated around a as a fulcrum. The reflecting mirror unit 2 moves up and down while being centered by a spring-loaded centering ring 27. When descending, the electric cable processing section extends using the connector 94 of the cable holder 93 as a fulcrum, as shown in FIG. 9, but has a structure with a space in the center. Even if the electric cable processing section expands or contracts, the cable will not be held by the cable presser 9.
5, it is safely held in the holder 93.

Figure 10 shows the structure of the connector. A guide cover 97 assembled integrally with a female connector 99 is attached to the connector terminal block 26 shown in FIG. 8, and a male connector 96 is attached to one end of the electric cable 8.
is held by the manipulator, and the guide cover 9
It is designed to be inserted in line with the groove 7. When a guide pin 98 is attached to the male connector 96 and inserted into the groove provided in the guide cover 97 of the female connector as a guide, the phases can be automatically aligned. In this way, since electric cables can be connected remotely, a multifunctional reflector device combining a control motor, lighting, etc. can be realized.

FIG. 11 is a diagram showing the reflecting mirror section 2. FIG. The reflecting mirror section 2 is provided with an illumination 28. In order to rotate the built-in observation mirror 5 about the optical axis of the reflecting mirror at the tip of the periscope, a motor 34 is driven by a gear train 36 to rotate a hollow shaft 29 supported by a bearing 35. Further, the observation mirror 5 is rotated up and down by a motor 31 for raising and lowering via a screw toothed shaft 32 and a gear 33 . Electric cables for the motor 31 and the lighting 28 are arranged in a spiral coil shape on the outer diameter side of the hollow shaft 29 via a terminal block 37. The observation mirror 5, the illumination 28, and the terminal block 37 are rotated together by a hollow shaft 29, and the electric cable is formed into a spiral coil shape. Even if one end 30a of the electric cable is connected to the fixed end, there is a space inside the spiral coiled cable 30 for winding and unwinding to accommodate rotation, so there is no need to force the fixed end 30a of the electric cable to connect to the fixed end 30a. The hollow shaft 29 can be rotated without applying force. As shown in Figure 11,
Hollow shaft 29, spiral coiled electric cable 3
0 and if the drive motor 34 of the hollow shaft 29 is arranged eccentrically, an intermediate space can be secured in the center.

FIG. 11C shows a cross section taken along line CC in FIG. 11A. The illumination lamp 28 is provided with a reflective plate 39 for condensing light in order to make the illumination effective.

The reflecting mirror device according to the embodiment of the present invention having the configuration and operation as described above can be moved up and down over a wide range by the lifting device, and can be inspected in various directions at the observation position by the rotating and elevating mechanisms.

〔Effect of the invention〕

According to the present invention, the following effects can be obtained.

Since the periscope and reflector are only optically coupled, each device can be made very compact. In particular, the reflector device can be miniaturized so that each component can fit into an elongated cylindrical device with a small diameter. Because the periscope and reflector equipment can be attached in a short time, efficient inspection is possible. This effect is particularly great when there are a large number of long cylindrical objects. Also,. Since the reflecting mirror device is equipped with an elevating device, even if the object to be inspected becomes very fine, it is possible to accurately move the observation mirror to the area to be inspected.If the rotating speed of the winding drum of the elevating device is increased, the observation mirror travel time can be reduced. Furthermore, even if there is an installation error in the object to be inspected, the movement strokes of the periscope in front and rear, left and right, and upward and downward movements can be selected in accordance with the deviations, and light can be received from the observation mirror 5.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing one embodiment of the inspection periscope reflector device according to the present invention, Fig. 2 is a diagram showing another embodiment in which the reflector device is moved up and down by a crane, and Fig. 3 is a diagram showing the tip of the periscope. Figure 4 shows the optical path from the observation mirror when the object to be inspected is tilted, Figure 5 shows the back and forth movement mechanism of the periscope tip, and Figure 6 shows the rotation mechanism of the periscope tip. , Fig. 7 is a diagram showing the elevating mechanism, Fig. 8 is a diagram showing the elevating mechanism of the reflecting mirror device, Fig. 9 is a diagram showing the electric cable processing section, Fig. 10 is a diagram showing the structure of the connector, and Fig. 11 is a diagram showing the structure of the connector. 12 shows a conventional mechanically coupled periscope reflector device, and FIG. 13 shows a conventional periscope reflector device using a telescopic tube. 1...Periscope, 2...Reflector device section, 3
... Cable processing section, 4 ... Reflector device, 5 ...
Observation mirror, 6...Long cylindrical device, 7...Periscope tip reflector, 8...Electric cable, 9...Cable penetration, 10...Control device section, 1
1... Control operation panel, 12... Monitor TV, 1
3...Eyepiece part, 14...Hot cell floor, 1
5... Radiation shielding wall, 15a... Radiation shielding glass window, 16... Hot cell, 17... Lifting device,
18... Lifting wire, 19... Control room, 2
0... Periscope television camera, 21... Crane, 21a... Hook, 21b... Hanging equipment,
22... Connector, 23... Lifting device motor, 24... Winding drum, 25... Chain, 2
6...Connector terminal block, 27...Reflector unit centering spring wheel, 28...Illumination lamp, 2
9...Hollow shaft, 30...Electric cable, 31...
Observation mirror elevation motor, 32... screw toothed shaft, 34... motor, 36... gear train, 37...
Cable terminal mounting base, 38... Hollow hole, 39...
Reflector plate, 40...Periscope tip rotating reflecting lens barrel, 41, 42...Reflector, 43...Elevating mirror, 4
4...bearing, 45...lens barrel, 46...protective tube, 4
7... Optical path, 48... Elevating mirror, 49... Bearing, 5
0...Axis, 51...Axis support, 52...Optical path,
53... Center line of the long cylindrical device, 54... Center line of the tilted long cylindrical device, 56... Lens barrel drive piece, 57...
...Sprocket, 58...Chain, 59...Sprocket, 67, 79...Handle, 91...
Handle, 92... Electrical cable, 93... Cable holder, 94... Connector, 95... Cable holder, 96... Male side connector, 97... Guide cover, 98... Guide pin, 99... Female Side connector, 100... Holding part, 101... Lens barrel, 1
02...Observation mirror, 107...Periscope, 10
8...Telescopic tube, 110...Reflector or television camera.

Claims (1)

[Claims] 1. In an inspection periscope reflecting mirror device that serves as a reflecting mirror device that guides light from a periscope and an object to be inspected to the periscope, the reflecting mirror device is mechanically independent of the periscope. What is claimed is: 1. A periscope reflecting mirror device for inspection, characterized in that the reflecting mirror device is a device for optically coupling only, and is provided with a moving means for moving the reflecting mirror device independently of the periscope to face the object to be inspected. 2. In the inspection periscope reflector device according to claim 1, the moving means of the reflector device is installed on the floor and moves the reflector device at least in the vertical direction with respect to the object to be inspected. A periscope reflector device for inspection, characterized in that it includes an elevating mechanism for moving. 3. In the inspection periscope reflector device according to claim 1, the moving means for the reflector device is installed on the ceiling and moves the reflector device at least in the vertical direction with respect to the object to be inspected. A periscope reflector device for inspection, characterized in that it includes an overhead crane. 4. In the inspection periscope reflector device according to any one of claims 1 to 3, the periscope includes a reflector that is built in a distal end portion and faces the reflector device in front, rear, right and left directions. A periscope reflector device for inspection, characterized in that it is equipped with a means for driving in an upward and downward direction. 5. In the inspection periscope reflector device according to claim 2, the reflector device drives and controls a wire for raising and lowering the reflector device and an observation mirror within the reflector device. an electric cable handling section for the purpose of the present invention, the elevating mechanism is hollow around the output optical path from the observation mirror to the periscope, and the wires include a plurality of wires disposed outside the hollow portion; A periscope reflector device for inspection, wherein the electric cable processing section is coiled around the output optical path. 6. The inspection periscope reflector device according to claim 5, wherein the reflector device includes an illumination means, and an optical axis of the observation mirror and the illumination means to the reflector at the tip of the periscope. A periscope reflector device for inspection, characterized in that it is equipped with means for rotating and raising and lowering the mirror.