JPH05346487A - Running track for runner - Google Patents

Abstract

PURPOSE:To shorten work time and reduce radiation exposure by extending a guide track to wide work space and low radiation dose region and moving a scanning device to an inspection track with the use of it. CONSTITUTION:A guide track 9 is extended to the place with relatively wide work space and small radiation dose. By placing a runner device 11 on the end of the guide track 9 and rotating the pinion installed in the running device gearing with the rack on the guide track 9 to run by way of the electric command from a remotely placed running control device through a cable 18, the device can transfer to a length track 4 which is positioned to continue to the guide track 9 at the other end. Length tracks 4 and circumferential track 5 are arranged in grid shape along with the length and circumferential welding points of the pressure vessel as an inspection object. A scanning device 11 loading an ultrasonic probe 30 transfers to each track on the length and circumferential tracks via the rotation track 6 existing on the crosses of the length track 4 and circumferential track 5 so that it can run on any tracks.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guide track for moving a traveling body to a traveling orbit installed near an object to be inspected such as a reactor pressure vessel.

[0002]

2. Description of the Related Art A conventional apparatus is provided in the vicinity of a circumferential welding portion 5 and a longitudinal welding portion 6 of a body portion of a reactor pressure vessel 1 as disclosed in Japanese Patent No. 1,475,411 (Japanese Patent Publication No. 62-24854). Longitudinal orbits 22 and peripheral orbits 24 are installed along the direction in a grid pattern, and a switching device 26 (rotational orbit) is installed at each intersection, and a moving carriage 34 is provided via the switching device 26.
The (ultrasonic flaw detector 20) can be moved between the longitudinal track 22 and the circumferential track 24 so that all longitudinal welded portions 5, circumferential welded portions 6 and their vicinity can be inspected.

[0003]

The above-mentioned problems of the prior art are not taken into consideration with regard to a method of efficiently attaching and detaching the movable carriage 34 to the track, and an operator carries the movable carriage 34 to the attachment / detachment position and moves vertically. Since it is attached and detached to the track, it is necessary to carry out the attachment and detachment work while holding the device, and it becomes a tough work due to the influence of the device weight. It took time to work. Moreover, since this area is a radiation region, it is necessary to shorten the attaching / detaching work time in order to reduce the radiation exposure.

An object of the present invention is to reduce the time for attaching / detaching work and reduce radiation exposure.

[0005]

The present invention provides a large work space,
By extending the guide track to the location of the low radiation dose region and using this guide track to move the scanning device equipped with the ultrasonic probe to the inspection track installed near the pressure vessel, the scanning device The work of attaching and detaching is to be performed at a position away from the object to be inspected. Alternatively, by providing a guide track near the position where the scanning device is attached / detached, and having a track structure that allows the attachment / detachment work to be performed without being affected by the weight of the scanning device, the attachment / detachment work can be performed in a short time in a limited working space. To be able to do it.

[0006]

Since the scanning device can be attached and detached at a position where the work space is wide apart from the pressure vessel and the radiation dose region is low, the work time can be shortened and the radiation exposure can be reduced. Further, by setting the inclination angle of the guide track for attaching / detaching the scanning device to an angle and a mechanism that facilitate the attachment / detachment of the scanning device, the work of attaching / detaching the scanning device is facilitated, so that the working time can be shortened and the radiation exposure can be reduced.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. FIG. 1 shows a longitudinal track 4, which is installed inside the radiation shield wall 3 and the heat shield wall 2 along the outer periphery of the reactor pressure vessel 1.
Circular orbit 5, rotation orbit 6 at its intersection, and ultrasonic probe 30
It is composed of a guide track 9 for guiding the scanning device 11 equipped with the.

Longitudinal orbits 4 and circumferential orbits 5 are installed in a grid pattern along the longitudinal and circumferential welds of the pressure vessel 1 to be inspected. Since the shielding wall 3 is installed, it is very narrow. Therefore, the inspector approaches only the upper and lower openings of the pressure vessel 1, and only the upper and lower longitudinal tracks 4 are places where the scanning device 11 can be attached and detached. Since the scanning device 11 attached to the longitudinal track 4 can transfer to each of the circumferential and longitudinal tracks via the rotary track 6, it can travel along all the tracks. However, since the work space is narrow and the radiation area is also a detachable place of the scanning device 11, a guide track 9 is provided which can guide the scanning device 11 to the longitudinal track 4 and which can be installed and removed at a remote place. The guide track 9 is extended to a place having a relatively small work space and a small radiation dose. The scanning device 11 is attached to the end of the guide track 9 and is incorporated in the scanning device 11 that meshes with the rack 10 of the guide track 9 by an electric command from a remotely installed travel control device (not shown) via the cable 18. By rotating and running the pinion described above, since the other end of the guide track 9 is aligned with the end of the longitudinal track 4, it is possible to transfer to the longitudinal track 4. The guide track 9 in this case is installed by the pedestal 8 on the floor 7, and is installed in advance so that the end of the guide track 9 and the end of the longitudinal track 4 are aligned with each other.

The scanning device 11 that has moved to the longitudinal orbit 4 is
As shown in FIG. 2, if the direction is changed by moving to the rotary orbit 6 at the intersection of the longitudinal orbit 4 and the peripheral orbit 5 and rotating the rotary orbit 6 together with the scanning device 11, the left and right peripheral orbits 5 are transferred. You can In addition, the scanning device 11 has a rotation track 6
By setting the direction of the longitudinal orbit 4, it is possible to transfer to the next longitudinal orbit 4. For details of this transfer method, after moving the scanning device to the rotation track 6 and temporarily stopping it,
The rotary track 6 is rotated together with the scanning device 11 by a remote operation to align with the intended direction of each circumferential track 5. After that, if the scanning device 11 is made to travel, it is possible to move to the peripheral orbit 5 (for example, the position of the scanning device 11B). Further, the scanning device 11 can be transferred from the circumferential orbit 5 to the longitudinal orbit 4 via the rotary orbit 6 by a similar reverse operation. As shown in FIG. 3, the scanning device 11 is driven by four wheels 32 gripping both sides of the track and a built-in pinion (not shown) on the racks 12, 13 of the tracks 4, 5, 6 of FIG. , 14 and the pinion is rotated by a motor (not shown).

The ultrasonic inspection method from FIG.
1 is moved along each track 4, 5, 6 and scanning is performed while pressing the ultrasonic probe 30 against the inspection surface (in this case, the outer surface of the pressure vessel) along the scanning arm 31 mounted on the scanning device 11. Then, ultrasonic waves are transmitted and received in the pressure vessel 1. These signals are sent and received by an ultrasonic flaw detector (not shown) installed at a remote position via the cable 18, and these signals are processed in a form that can be easily seen by an inspector.

The guide track 9, the longitudinal track 4 and the rotary track 6 of FIG. 1 are shown in more detail in FIG. The scanning device 11 is installed so that its direction is changed at the curvature portion 9A as it travels on the guide track 9 fixed to the pedestal 8 on the floor 7, and the longitudinal track 4 and the end of the guide track 9 are aligned with each other. Therefore, like the scanning device 11A, it is possible to transfer to the longitudinal track 4 and travel while pressing the ultrasonic probe 30A against the outer surface of the pressure vessel 1. The tracks 4 and 6 are supported by the reinforcing plate 33, and further fixed to the radiation shield wall 3 by the support tool 16 penetrating the heat shield wall 2. When the scanning device 11A that has moved to the rotation track 6 is moved to the next longitudinal track 4, the scanning device 11A travels as it is. When the scanning device 11A is moved to the circular orbit 5, the chain 17 corresponding to the rotational orbit 6 is selected from the chains provided for each of the rotational orbits 6, and the sprocket 34 is operated by operating it remotely. The scanning device 11 is rotated, and the direction of the scanning device 11 is changed to the same direction as the circumferential orbit, and the scanning device 11 is run. The same applies to the case where the scanning device 11A is returned. When the scanning device 11A is located on the longitudinal orbit 4, the rotary orbit 6 is aligned with the direction of the longitudinal orbit 4, and if the scanning device 11A is moved in the reverse direction, the rotational orbit 6 is passed. Longitudinal orbit 4
If the vehicle is moved to the reverse direction and then reversely driven, the vehicle is transferred from the longitudinal track 4 to the guide track 9 and returned to the mounted position. Orbit 5
If there is a scanning device 11A in the vehicle, it is confirmed that the direction of the rotary orbit 6 on the stage of the circumferential orbit and the direction of the circumferential orbit are the same, and the scanning device 11A is run in reverse to move onto the rotary orbit 6. Put it on and stop it. After that, the chain 17 is operated again to rotate the rotary orbit 6 together with the scanning device 11A so as to match the direction of the longitudinal orbit 4, and then the scanning device 11A is run backward to return to the mounting position on the guide track 9.

Although the guide track 9 has been described as being provided on the floor 7 in a plane, the present invention is not limited to this, and the posture of the scanning device 11 is set so that the allowable space can be effectively used. It can be arranged in a three-dimensional manner by giving a twist to the orbit so that can be changed. The guide track 9 may be permanently installed or may be temporarily installed at the time of inspection. The point is selected according to the work purpose, allowable space, allowable time and the like.

The above embodiment has the following effects.

1) By extending the guide track 9 to a place such as a large work space or a low radiation area where attachment / detachment work is easy, the attachment / detachment work of the scanning device 11 at this place can be facilitated. Time can be shortened and radiation exposure can be reduced. 2) The scanning device 1 from the end of the longitudinal track 4 via the guide track 9.
1 can be transferred, so that all longitudinal orbits 4 and circumferential orbits 5 branching the scanning device 11 via the rotational orbits 6.
It is possible to move to and perform automatic ultrasonic inspection of each weld.

3) The scanning device 11 without approaching the ends of the longitudinal orbits 4 at the upper opening and the lower opening of the pressure vessel 1.
Can be attached and detached.

4) The rotary track 6 can be rotated from the remote end of the guide track 9.

5) Since the rotary track 6 can be rotated from the mounting / detaching position of the scanning device 11 on the guide track 9, the work time and the radiation exposure can be reduced also in this respect.

Another application is to cope with the case where the long guide track 9 cannot be installed due to space limitation or the like.
It is effective just to shorten and install. That is, by performing the attachment / detachment work using the upper and lower openings of the pressure vessel 1, the work space can be made wider than that of the attachment / detachment directly on the longitudinal track 4. Alternatively, since the work can be performed with the scanning device 11 placed on the guide track 9, the attachment / detachment work can be performed without being affected by the weight of the device. For example, as shown in FIG.
Is supported on the end of the radiation protection wall 3 via a support 26, and is positioned and installed so that the end of the guide track 9 is aligned with the end of the longitudinal track 4. After the scanning device 11 is transported to this position, the pinion 35 is engaged with the rack (not shown) of the guide track 9 while being placed on the guide track 9 of the horizontal portion, and the wheel 32 which has been previously opened is guided. Close the legs so that both sides of 9 are held and attach to the guide track 9. After that, the scanning device 11 is caused to travel along the guide track 9 and is transferred to the longitudinal track 4 like the scanning device 11A.

Besides this, the guide track 9 is not limited to be aligned with the end of the longitudinal track 4, but the rotary track 6 is aligned with the longitudinal track 4 and then the rotary track 6 is aligned.
If the guide track 9 is aligned in the direction of, the scanning device 11 can be transferred to the rotary track 6 just as in the case of the longitudinal track 4.

Further, in the embodiment, the guide orbit 9 for guiding the scanning device 11 to the orbits 4, 5 and 6 arranged in a lattice pattern on the outer periphery of the pressure vessel 1 has been described, but the present invention is not limited to this. Instead, the same can be applied to an orbit having a branch point installed at a place where the traveling orbit is located away from the surroundings of the pressure vessel 1, for example, in a space inside the reactor containment vessel. The present invention can also be applied to a case where a rotary track for branching a running body is provided on a track branched in a Y shape, other than the orthogonal grid tracks, and the rotary track is remotely rotated into a fan shape to branch the running track. ..

As a modification, when the scanning device 11 having the ultrasonic probe 30 mounted on the pressure vessel 1 is attached or detached as shown in FIG. 5, the scanning device 11 is placed on the guide track 20 and the pinion 35 is attached. Is engaged with the rack of the guide track 20 and the wheels 32 are closed so as to hold both sides of the guide track 20, and the scanning device 11 is mounted on the guide track 20. The guide track 20 is rotatably attached by a longitudinal track 4 and a hinge 22, and is substantially horizontal by a stopper 21. From this state, the guide track 20 is pushed up to align with the longitudinal track 4, and then the guide track 20A and the scanning device 11A are locked in the state shown by the chain double-dashed line. In this locking method, as shown in FIG. 6, the guide track on the stopper 21 is rotated about the hinge 22 so that the longitudinal track 4 and the guide track 20A are aligned with each other, and then the lever 25 is grasped to hold the shaft 24. Slide along the hole of the guide 23,
This is done by inserting it into the hole of another guide 29 attached to the longitudinal track 4. After that, if the scanning device 11A shown in FIG. A similar method can be used to remove the scanning device.
That is, the scanning device 11A is adjusted so that the state shown in FIG.
6 is reversed to return onto the guide track 20A, and then the shaft 24 of FIG. 6 is slid to pull out from the hole of the guide 29, and the guide track 20A is rotatably set, as shown in FIG.
The scanning device 11 can be removed from the guide track 20 by placing it on the vehicle 1 and then opening the wheels 32.

Next, a case where the scanning device 11 is attached to and detached from the guide track 20 at the lower opening of the pressure vessel 1 as shown in FIG. 7 will be described. The guide track 20 is rotatably attached by a support 19 via a hinge 22 to support the support 16
It is in a substantially horizontal state by the stopper 21 provided on the. The scanning device 11 is mounted on the guide track 20 as in the case of the upper opening of the pressure vessel 1 of FIG. After this,
The guide track 20 is rotated so that the direction of the scanning device 11A is aligned with the direction of the longitudinal track 4 as shown by the chain double-dashed line, and the lock mechanism (guide 23, shaft 24, lever 2) shown in FIG.
5, the guide 29) locks in this state. Longitudinal orbit 4
Is supported by a support member 16 which is fixed to the radiation shield wall 3 by penetrating the heat shield wall 2 similarly to the upper opening. After that, the scanning device 11A is run to transfer the longitudinal track 4. When removing the scanning device 11A, it is removed in the same manner as in the case of the upper opening. Further, the lock mechanism is not limited to the system based on the linear movement of the shaft 24. For example, a rotating body having a tapered surface is rotated around a rotation axis to be put in and taken out from a corresponding hook to lock and unlock it. There are various lock mechanisms, such as a mechanism to operate, which are determined according to the operability from the surrounding conditions,
The lock method is not limited.

According to the above modification, the following effects can be obtained.

1) Since the attachment / detachment work is performed after the guide rail 20 is placed on the guide track 20, it is not affected by the weight of the apparatus, and the work time can be shortened. Along with this, the radiation exposure of workers can be reduced.

2) Guide track 20 on which the scanning device 11 is placed
By rotating, it is possible to surely align in the direction of the longitudinal track 4 and to maintain that state.

3) The guide track 20 can be applied to both the upper opening and the lower opening of the pressure vessel 1.

[0027]

According to the present invention, the attaching / detaching position of the scanning device can be set to a wide working space and a low radiation area and the attaching / detaching work can be facilitated, whereby the working time can be shortened and the radiation exposure can be reduced.

[Brief description of drawings]

FIG. 1 is a perspective view showing a traveling track for a scanning device of the present invention installed near a pressure vessel.

FIG. 2 is a plan view of the scanning device, the longitudinal orbit, the circumferential orbit, and the rotational orbit from the pressure vessel side.

FIG. 3 is a side view showing the vicinity of the pressure vessel of FIG. 1 in a partial cross section.

FIG. 4 is a side view showing a partial cross section of an application example of the present invention.

FIG. 5 is a side view showing a modification in a partial cross section.

6 is a side view of a rotation mechanism and a fixing mechanism of the guide track of FIG.

FIG. 7 is a side view showing a modification of FIG. 5 in a partial cross section.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Pressure vessel, 4 ... Longitudinal orbit, 5 ... Circular orbit, 6 ... Rotational orbit, 8 ... Stand, 9 ... Guide orbit, 11 ... Scanning device, 30 ...
Ultrasonic probe.

Claims (4)

[Claims] 1. A plurality of running tracks having at least one branch point of the running body in a running track installed inside the container or near the outside of the container, and provided for each branch point branching the running body. For traveling a traveling body, comprising: a rotating trajectory, a drive mechanism for independently rotating each of the rotating trajectories, and a guide trajectory for guiding the traveling body to the traveling trajectory or the rotating trajectory. Orbit. 2. A running track installed along the outer periphery of the pressure vessel, a plurality of longitudinal tracks installed in the vertical direction of the pressure vessel, and a plurality of circumferential tracks installed in the circumferential direction of the pressure vessel. And a rotation track installed at each intersection of the grid-shaped tracks consisting of the longitudinal track and the circumferential track so that a traveling body can transfer between the two tracks, a drive mechanism for rotating the rotation track, and the grid A running track for a running body, comprising a guide track movably installed on any one of the curved tracks. 3. The traveling system according to claim 2, wherein the guide track has a curvature, and an end of the guide track is aligned with an extension line of an end of the lattice-like track installed near the pressure vessel. A running track for a running body, which allows the body to move between the guide track and the lattice track. 4. A guide track for mounting and dismounting the running body, a support body for supporting the guide track in a detachable state for the running body, and a support body for rotatably supporting the guide track. A traveling track for a traveling body, comprising: a lock mechanism that maintains or releases a state in which the traveling body can move from the guide trajectory to the lattice-shaped trajectory.