JPH05293779A - Narrow part inspecting device - Google Patents

Abstract

PURPOSE:To complete a work in a short time at a narrow part without permanently occupying a large space by installing a body in a storage container and moving inspection mechanisms through the working of an arm mechanism part the size of which can be reduced through contraction thereof during non- use. CONSTITUTION:Inspection mechanisms 30 and 36 are arranged in a body installed in a storage container, and the inspection mechanisms 30 and 36 are guided to an inspection position by means of an arm mechanism 15. Since an arm mechanism 39 is contracted during non-use and the size thereof can be reduced, a large space is not permanently occupied. Further, since the body is installed in the storage container, control is facilitated and a necessary work can be completed in a short time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a narrow space inspection device for performing equipment inspection / maintenance work in, for example, a nuclear power plant chemical plant.

[0002]

2. Description of the Related Art Conventionally, it is difficult to enter a person who is in operation and remote automation is desired, so that the inspection of equipments in a lower dry well of an A-BWR of a nuclear power plant or a storage container in a chemical plant is performed during a periodic inspection. Although we are thinking of conducting the inspection only in the area that can be seen by entering, it is not necessarily a sufficient inspection because it is difficult to access the narrow space.

[0003] Therefore, in part, there has been proposed an inspection device for inspecting by moving an inspection / inspection device to a place where it is difficult for a person to enter, by a moving mechanism. There are crawler type, wheel type, or walking leg type.

[0004]

By the way, among the above-mentioned conventional inspection devices, the monorail type inspection device travels on the track, so that the vehicle is unlikely to run away, but the track cross-sectional area occupied by the track and the robot is reduced. It is necessary to secure it, and it is necessary to remove the equipment, and it is difficult to permanently install the track in a narrow and delicate container. Further, since the vehicle can travel only on the track, it is not possible to approach a three-dimensional free place, and in the case of a long-distance inspection route, there is a problem that the track laying cost increases.

Further, the crawler type is excellent in the ability to get over obstacles, but it is not only able to straddle pipes, weirs, etc., but also has a slow moving speed and is a heavy body, so that it can run. At times, the floor surface is easily damaged and a large volume requires an occupied traveling cross-sectional area, so there is a problem that the applicable range is limited in a narrow container. Also, the crawler type uses slippage with the floor during turning, etc., and therefore has poor positional accuracy and is not suitable for inspecting while avoiding interferences.

In the wheel type, since most of the floor in the container is grating, a large-diameter wheel is required to move on the grating so that it does not fit in the gap of the grating. It is difficult to miniaturize,
There is also a problem that the reproduction position accuracy is poor due to slippage or the like.

Further, the traveling leg type is excellent in the function of getting over and crossing over an obstacle, but it has a large occupying cross-sectional area during movement, has a small load capacity, and has a slow movement and traveling speed. Since the movement control is complicated, there is a possibility that the work cannot be completed within the predetermined regular inspection work time.

The present invention has been made in consideration of the above points, and can complete necessary work in a short time without permanently occupying a large space, and can be easily controlled. It is an object of the present invention to provide a narrow space inspection device that is easy to cost.

[0009]

As a means for achieving the above object, the present invention provides a main body installed in a container for containing an object to be inspected; an object to be inspected provided in the main body. Sensor and an inspection mechanism section having a mechanism section for controlling the inspection direction of this sensor; and an arm that moves the inspection mechanism section in the horizontal and vertical directions to the inspection position and reduces the size when not in use. A mechanism section; an illuminating section for illuminating an object to be inspected; and a control section for remotely controlling the respective sections are respectively provided.

[0010]

In the narrow space inspection device according to the present invention, the main body installed in the storage container is provided with the inspection mechanism portion, and the inspection mechanism portion is guided to the inspection position by the arm mechanism portion. Since this arm mechanism can be downsized when not in use, it does not permanently occupy a large space, and since the main body is installed in the storage container,
It is easy to control and the required work can be completed in a short time.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS.
Will be described.

FIG. 1 shows an example of a narrow space inspection device according to the present invention. This narrow space inspection device includes a robot body 1 installed in a lower dry well 3 of an A-BWR, and this robot body 1. And a control panel 2 for remotely controlling the.

The control panel 2 includes an operation section for operating the robot body 1, a control section for controlling the robot body 1,
A display unit for displaying the control status of the robot body 1, inspection information, various plant information, and the like, and the robot body 1
And a signal transmission unit for transmitting and receiving signals. The control panel 2 is electrically connected to the robot body 1 via an electric penetration 5 in the raise tunnel 4.

The control panel 2 is also adapted to receive electric power from the power source panel 6, and the supplied electric power is transmitted via the electric penetration 5 to the robot body 1.
It is designed to be supplied to the on-site board 7 of. Electric power from the on-site panel 7 is supplied to the electronic circuit section 9, the drive unit 10, and the illumination lamp 11 via the cable 8.

On the other hand, the robot body 1 is shown in FIGS.
As shown in FIG. 3, an arm mechanism portion 15 having a deployment mechanism 12, a telescopic mechanism 13, and an elevating mechanism 14 is provided. The arm mechanism portion 15 is fixed to a wall surface of the lower dry well 3 via a mounting member 16. ing.

On the wall surface of the lower dry well 3,
As shown in FIG. 2, a bag-shaped shield 17 is fixedly provided, and the tip end portion of the arm mechanism portion 15 is housed in the shield 17 when not in use to protect the ITV camera and the like from radiation. It is like this. The electronic circuit section 9 is also protected from radiation by the shield 17.

The expansion / contraction mechanism 13 is a multi-stage expansion / contraction mechanism, and its base end is pivotally attached to a mounting member 16 via a vertical shaft 18 so as to be swingable in the horizontal direction. An elevating mechanism 14 is provided at the tip of 13.

As shown in FIG. 2, the expansion mechanism 12 is composed of a fluid pressure cylinder pivotally attached to a position near the base end of the expansion / contraction mechanism 13, and the tip of the rod is attached to the attachment member 16 by a mounting seat. It is pivotally connected via 19. Then, the expansion / contraction mechanism 13 is configured to swing in the horizontal direction by expanding / contracting the expansion mechanism 12.

The lifting mechanism 14 is shown in FIG. 2 and FIG.
As shown in FIG. 3, a cap-shaped shield 23 having a side-view window 21 and an upper-view window 22 is provided at the upper end of a multiple-cylinder-shaped multiple cylinder 20 having a structure that can be expanded and contracted by air pressure. A side endoscope 25 that swings from a position at an angle of 45 degrees to a vertical position is attached to the inside thereof via a hinge 24 at the lower end. Then, the upper end portion of the side endoscope 25 is connected to a side endoscope driving unit 30 via a cable 29 guided by a pulley 26 and a guide 27, and by driving the side endoscope driving unit 30, a diagonal angle of 45 degrees. It swings between the vertical position and the vertical position.

As shown in FIGS. 3 and 4, a downward viewing window 31 is provided on the bottom surface of the lower end of the lifting mechanism 14, and a position directly above the downward viewing window 31 inside the lifting mechanism 14 is shown in FIG. The endoscope 32 that swings in the range of 90 degrees from the position of 45 degrees diagonally to the right to the position of 45 degrees diagonally to the left is incorporated, and the endoscope 32 includes a link 34 and a rack urged by a spring 33. It is connected to the endoscope drive unit 36 via 35. Then, the endoscope 32 is configured to swing within the range of 90 degrees by the driving of the endoscope drive section 36.

The endoscope driving unit 36 and the side endoscope driving unit 30 are housed in a storage container 37 having a radiation protection function, and in the storage container 37, the elevating mechanism 14 is rotated around a vertical axis. A turning drive unit 38 that turns is provided.

An ITV camera 39 and a lens mechanism 40 are also incorporated in the container 37, and each window 2
The images from 1, 22, 31 can be captured by the ITV camera 39 which starts the side view window 25 or the endoscope 32.

That is, as shown in FIG. 5 (a), the image from the side-view window 21 is changed to I by setting the side endoscope 25 at an angle of 45 degrees and the endoscope 32 at an angle of 45 degrees to the right.
It can be captured by the TV camera 39. Further, as shown in FIG. 5C, by setting the endoscope 32 at an angle of 45 degrees to the left, an image from the endoscope window 31 is displayed on the ITV camera 3.
It is supposed to be caught in 9.

As shown in FIGS. 2 and 3, an upper contact sensor 41 is provided at the upper end of the elevating mechanism 14, and an outer surface of the lower end of the elevating mechanism 14 is shown in FIGS. Thus, the lateral contact sensor 42 is provided. Then, as shown in FIG. 1, the signals from the contact sensors 41 and 42 are input to the electronic circuit unit 9 together with the signal from the position sensor 43 that detects the operation amount of each unit of the robot body 1. ing.

FIG. 6 shows a state in which the narrow space inspection device according to the present embodiment is installed in the lower dry well 3. This narrow space inspection device shows the concrete wall 44 of the lower dry well 3. The internal pump 46, the heat exchanger 47, the FMCRD 48, and the instrumentation system 49, which are installed above the platform 45 and are the objects to be inspected, are sufficiently provided by the existing or additional lighting 11 for inspection. It has become possible to obtain a clear brightness.

In FIG. 6, reference numeral 50 is a shield,
Reference numeral 51 is cables, reference numeral 52 is RPV, and reference numeral 53 is equipment loading / unloading penetration.

Next, the operation of this embodiment will be described.

When inspecting the object to be inspected, first, the illumination lamp 11 illuminates them and controls the robot body 1 to move the tip of the robot body 1 to the inspection position.

Control of the robot body 1 can be selected from automatic and manual, and an interference check is performed from the control section in the operation panel 2 based on the data of the devices and structures in the lower dry well 3. While performing, the robot body 1 is operated.
Further, based on the contact from the upper contact sensor 41 and the side contact sensor 42 and the near miss detection signal, the avoidance operation to the side opposite to the interference is performed, and the interference position information is added as the environmental information data, so that the interference is generated from the next time. To avoid.

Manual operation is performed while looking at the monitor screen (only interference check is automatic), and automatic only monitors the monitor for abnormalities. After selecting the inspection target, movement, inspection monitoring, recording and storage are performed. Is all done automatically.

By the way, the inspection is performed by switching the side endoscope 25 or the endoscope 32 according to the inspection position as shown in FIGS. 5 (a) to 5 (c). Visual inspection includes, for example, the internal pump 46, the heat exchanger 47,
It is used when inspecting the FMCRD 48 or the instrumentation system 49, etc. from the side. Further, the upper inspection shown in FIG. 5B is performed by the iterative pump 46, the heat exchanger 47, the FMCRD.
It is used when looking up the equipment 48 or the instrumentation system 49, etc. from directly below. Furthermore, the downward inspection shown in FIG. 5C is used when inspecting the platform 45, the floor surface, and the like.

At the time of regular inspection and when the inspection / monitoring by the robot body 1 is not performed, as shown in FIG. 2, the arm mechanism portion 15 is reduced in size and miniaturized, and its tip is housed in the shield 17. .. As a result, the internal pump 4
6. It does not hinder the exchange and maintenance work of the heat exchanger 47, the FMCRD 48, the instrumentation system 49, and the like.

FIG. 7 shows a second embodiment of the present invention, which is different from the first embodiment, in which the mounting member 16 is not fixed to the wall surface of the lower dry well 3, but is lifted and lowered along the wall surface. It is designed to be attached to 61. That is, on the wall surface of the lower dry well 3, as shown in FIG. 7, a guide rail 62 for guiding the lifting and lowering of the lift truck 61.
Further, a rack 64 having a stopper 63 at the lower end is fixedly provided, and the lifting carriage 61 is provided with a pinion gear 65 that meshes with the rack 64 to drive lifting and lowering, and a cable processing mechanism 66 is provided. There is.

In other respects, the structure is the same as that of the first embodiment and the operation is the same.

In this way, the mounting member 16 is mounted on the lift truck 61.
Since the lifting cart 61 can be moved to a height at which it can be horizontally deployed and then horizontally deployed to access the inspection position, the applicable range can be further expanded.

FIG. 8 shows a third embodiment of the present invention, in which the robot body 1 is mounted on a carriage 71.

That is, a storage container 73 having a storage lid 72 is mounted on the carriage 71, and an elevating cylinder 74 for moving the robot body 1 in and out is provided in the storage container 73. ..

Further, the robot body 1 is provided with a horizontal link type arm mechanism 75 and an elevating mechanism 76 provided at its tip, and the upper end of the elevating mechanism 76 has a UT device, a VT device or an ET device. Various devices 77 such as are detachably attached. Further, the lifting cylinder 74 is attached to the base end of the horizontal link type arm mechanism 75.
When the robot main body 1 is stored in the storage container 73 by reducing the size of the robot main body 1, an interlocking arm 78 for interlocking with the robot main body 1 to close the storage lid 72 is attached. The other points are the same as those of the first embodiment,
The action is the same.

According to this embodiment, however, the robot main body 1 can be stored in the storage container 73 except during inspection, so that the electronic circuit section of the device can be protected from radiation. Further, since the robot body 1 is mounted on the carriage 71, it can be carried out to the outside via the device carry-in / carry-out penetration 53 shown in FIG. 6, for example. Therefore, at the time of replacement maintenance work of the internal pump 46 and the like,
A large work space can be secured, and
Maintenance and inspection of the robot body 1 is also easy.

The present invention is not limited to the above-described embodiment, and for example, the arm mechanism section may be configured by using a vertical multi-joint type manipulator, a chain-like continuous arm, or the like. Further, as the drive unit, an electric motor or the like may be used instead of the fluid pressure cylinder.

The visual inspection unit may have a structure in which a small camera or an image fiber is attached to the tip of the robot body 1, and the contact sensor may be widely attached to the surface of the arm to detect interference.

[0042]

As described above, according to the present invention, the main body is installed in the storage container, and the inspection mechanism is moved by the arm mechanism which can be reduced in size when not in use. The work in the narrow space can be completed in a short time without occupying a large space permanently, the control is easy, and the introduction cost can be kept low.

[Brief description of drawings]

FIG. 1 is a system configuration diagram showing a narrow space inspection device according to a first embodiment of the present invention.

FIG. 2 is a perspective view showing an external configuration of a robot body.

FIG. 3 is a partial cross-sectional view showing details of a lifting mechanism portion.

FIG. 4 is a bottom view of FIG.

FIG. 5A is an explanatory diagram showing the states of the side endoscope and the endoscope at the side inspection, and FIG. 5B is an explanatory diagram showing the states of the side endoscope and the endoscope at the upper inspection. (C) is explanatory drawing which shows the state of a side endoscope and a lower scope at the time of a lower vision inspection.

FIG. 6 is an explanatory view showing a case where the narrow space inspection device is applied to a lower dry well.

FIG. 7 is a view corresponding to FIG. 2 showing a narrow space inspection device according to a second embodiment of the present invention.

FIG. 8 is an explanatory diagram showing a narrow space inspection device according to a third embodiment of the present invention.

[Explanation of symbols]

 1 Robot Main Body 2 Control Panel 3 Lower Drywell 11 Illumination Lamp 12 Expansion Mechanism 13 Telescopic Mechanism 14,76 Lifting Mechanism 15 Arm Mechanism Part 16 Mounting Member 25 Side Scope 32 Endoscope 39 ITV Camera 61 Lifting Truck 71 Truck 75 Horizontal Link Type arm mechanism 77 device

Claims (1)

[Claims] 1. A main body installed in a container for accommodating an object to be inspected; an inspection having a sensor provided on the main body for inspecting the object to be inspected, and a mechanism section for controlling an inspection direction of the sensor. A mechanism unit; an arm mechanism unit that moves the inspection mechanism unit in the horizontal and vertical directions to the inspection position, and can reduce the size when not in use; an illumination unit that illuminates an object to be inspected; And a control unit for remotely controlling the device.