JPH06148377A - Driving mechanism for welded part inspection machine for large-sized double vessel - Google Patents
Driving mechanism for welded part inspection machine for large-sized double vesselInfo
- Publication number
- JPH06148377A JPH06148377A JP4299900A JP29990092A JPH06148377A JP H06148377 A JPH06148377 A JP H06148377A JP 4299900 A JP4299900 A JP 4299900A JP 29990092 A JP29990092 A JP 29990092A JP H06148377 A JPH06148377 A JP H06148377A
- Authority
- JP
- Japan
- Prior art keywords
- inspection machine
- driven
- frame
- auxiliary
- drive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、大型二重容器の供用中
検査時に内部容器の溶接線を検査する溶接部検査機の駆
動機構に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive mechanism of a weld inspection machine for inspecting a welding line of an inner container during in-service inspection of a large double container.
【０００２】[0002]
【従来の技術】大型二重容器を図８に示す。内部容器６
０と入口配管６１と出口配管６２とは、外部容器６３及
び保護管６４により取り囲まれて、互いが二重化されて
いるため、大型二重容器の供用中検査時、内部容器６０
の溶接線６５を特殊な溶接部検査機により検査してい
る。この溶接部検査機は、常設の案内管６６を経由して
内部容器６０と外部容器６３との間の空間部へ導入され
る。2. Description of the Related Art A large double container is shown in FIG. Inner container 6
0, the inlet pipe 61, and the outlet pipe 62 are surrounded by an outer container 63 and a protective pipe 64 and are duplicated with each other. Therefore, at the time of in-service inspection of a large double container, the inner container 60
The welding line 65 of No. 1 is inspected by a special welding portion inspection machine. This weld inspection machine is introduced into the space between the inner container 60 and the outer container 63 via a permanent guide pipe 66.
【０００３】従来の溶接部検査機用駆動機構を図９〜図
１１に示す。図９は溶接部検査機用駆動機構を示す斜視
図、図１０（ａ）は駆動輪を示す縦断正面図、図１０
（ｂ）は図１０（ａ）の矢視Ｍ−Ｍ線に沿う平面図、図
１１（ａ）は従動輪の押付機構を示す縦断側面図、図１
１（ｂ）は図１１（ａ）の矢視Ｎ−Ｎ線に沿う平面図で
ある。A conventional drive mechanism for a weld inspection machine is shown in FIGS. 9 is a perspective view showing the drive mechanism for the weld inspection machine, FIG. 10 (a) is a vertical sectional front view showing the drive wheels, and FIG.
10B is a plan view taken along the line MM of FIG. 10A, FIG. 11A is a vertical cross-sectional side view showing the pressing mechanism of the driven wheel, and FIG.
1 (b) is a plan view taken along the line NN of FIG. 11 (a).
【０００４】図９に示すように溶接部検査機用駆動機構
は、上部構造部７０と下部構造部７１とにより構成さ
れ、上部構造部７０には、一対の従動輪７２が設けら
れ、下部構造部７１には、同じく一対の駆動輪７３及び
押付機構７４が設けられ、この押付機構７４により上部
構造部７０が下部構造物７１に支持されている。７５が
上部構造部７０の上部フレームで、同上部フレーム７５
の両端部には、従動輪７２が設けられ、これらの従動輪
７２がモータ７６及び歯車機構７７により別々に方向変
換される。As shown in FIG. 9, the drive mechanism for the weld inspection machine is composed of an upper structure portion 70 and a lower structure portion 71. The upper structure portion 70 is provided with a pair of driven wheels 72, and a lower structure. The portion 71 is also provided with a pair of drive wheels 73 and a pressing mechanism 74, and the pressing mechanism 74 supports the upper structure portion 70 on the lower structure 71. Reference numeral 75 is an upper frame of the upper structure portion 70.
Driven wheels 72 are provided at both ends of the driven wheel 72, and the directions of these driven wheels 72 are separately changed by a motor 76 and a gear mechanism 77.
【０００５】７８が下部構造部７１の下部フレームで、
同下部フレーム７８の両端部には、駆動輪７３が設けら
れ、これらの駆動輪７３がモータ７９及びチエーン機構
８０により両者同時に駆動される。またこれらの駆動輪
７３がモータ８１及び歯車機構８２により別々に方向変
換される。図１０（ａ）（ｂ）に示すようにモータ８１
の回転が歯車８３とウオーム軸８４とウオーム車８５と
を経てフオーク８６に伝えられ、同フオーク８６が回転
して、駆動輪７３の方向変換が行われる。また図９のチ
エーン機構８０により図１０（ａ）のチエーン車８７が
回転し、その回転が軸８８と歯車機構８２とを経て駆動
輪７３に伝えられて、同駆動輪７３が回転する。Reference numeral 78 denotes a lower frame of the lower structure portion 71,
Drive wheels 73 are provided at both ends of the lower frame 78, and these drive wheels 73 are driven simultaneously by a motor 79 and a chain mechanism 80. Further, the directions of these drive wheels 73 are separately changed by the motor 81 and the gear mechanism 82. As shown in FIGS. 10A and 10B, the motor 81
Is transmitted to a fork 86 via a gear 83, a worm shaft 84, and a worm wheel 85, and the fork 86 rotates to change the direction of the drive wheel 73. Further, the chain mechanism 80 of FIG. 9 rotates the chain wheel 87 of FIG. 10A, and the rotation is transmitted to the drive wheel 73 via the shaft 88 and the gear mechanism 82, and the drive wheel 73 rotates.
【０００６】図１１に示すように従動輪の押付機構７４
は、外筒９０と、内筒９１と、ボールねじユニット９２
と、モータ９３と、歯車９４とにより構成され、外筒９
０が下部フレーム７８に固定され、内筒９１と同内筒９
１の上端部に固定した上部フレーム７５が外筒９０内を
ボールねじユニット９２により昇降して、同上部フレー
ム７５の左右両端部に設けられた従動輪７２が図８の内
部容器６０と外部容器６３との何れか一方に押付けられ
る。As shown in FIG. 11, the driven wheel pressing mechanism 74 is shown.
Is an outer cylinder 90, an inner cylinder 91, and a ball screw unit 92.
The outer cylinder 9 and the motor 93 and the gear 94.
0 is fixed to the lower frame 78, and the inner cylinder 91 and the inner cylinder 9
The upper frame 75 fixed to the upper end of 1 moves up and down in the outer cylinder 90 by the ball screw unit 92, and the driven wheels 72 provided on both left and right ends of the upper frame 75 are the inner container 60 and the outer container of FIG. It is pressed against either one of 63 and 63.
【０００７】上記ボールねじユニット９２と上記内筒９
１との間には、圧縮コイルばね９５を介装して、内部容
器６０及び外部容器６３に過大な力を作用させないよう
にしている。また図１１の９６がモータ軸で、同モータ
軸９６には、荷重制限器９７が設けられている。９３が
モータで、同モータ９３の回転が荷重制限器９７→モー
タ軸９６→同モータ軸９６に取付けた歯車→同歯車に噛
合した歯車９４→ねじ軸９８に伝えられて、同ねじ軸９
８が回転し、ボールねじユニット９２が圧縮コイルばね
９５を圧縮しながら上昇して、内筒９１と上部フレーム
７５とが上昇する。図１１の破線は、上部フレーム７５
の上昇上限位置を示している。The ball screw unit 92 and the inner cylinder 9
A compression coil spring 95 is interposed between the inner container 60 and the outer container 1 to prevent an excessive force from acting on the inner container 60 and the outer container 63. Further, 96 in FIG. 11 is a motor shaft, and the motor shaft 96 is provided with a load limiter 97. Reference numeral 93 is a motor, and the rotation of the motor 93 is transmitted to the load limiter 97 → motor shaft 96 → gear mounted on the motor shaft 96 → gear 94 meshed with the gear → screw shaft 98, and the screw shaft 9
8 rotates, the ball screw unit 92 rises while compressing the compression coil spring 95, and the inner cylinder 91 and the upper frame 75 rise. The broken line in FIG. 11 indicates the upper frame 75.
Shows the upper limit position of rising.
【０００８】[0008]
【発明が解決しようとする課題】前記図９〜図１１に示
す従来の溶接部検査機の駆動機構には、次の問題があっ
た。即ち、 （１）従動輪７２の押付機構にボールねじユニット９２
を使用しているため、同ボールねじユニット９２のスト
ローク不足により、溶接部検査機の全高を充分に低くす
ることができなくて、緊急時における溶接部検査機の脱
出、回収が困難である。 （２）２個の駆動輪７３をチエーン機構８０により連動
しているため、走行が不確実である。 （３）溶接部検査機を案内管６６から内部容器６０側へ
導入する際、案内管挿入口に段差があると、従動輪７２
が浮いて、溶接部検査機を案内管６６から内部容器６０
側へ導入できない。The drive mechanism of the conventional weld inspection machine shown in FIGS. 9 to 11 has the following problems. (1) The ball screw unit 92 is attached to the pressing mechanism of the driven wheel 72.
Since the ball screw unit 92 has a short stroke, the overall height of the weld inspection machine cannot be sufficiently lowered, and it is difficult to escape and collect the weld inspection machine in an emergency. (2) Since the two drive wheels 73 are linked by the chain mechanism 80, traveling is uncertain. (3) When introducing the weld inspection machine from the guide pipe 66 to the inner container 60 side, if there is a step at the guide pipe insertion port, the driven wheel 72
The welded part inspection machine from the guide pipe 66 to the inner container 60.
Cannot be introduced to the side.
【０００９】本発明は前記の問題点に鑑み提案するもの
であり、その目的とする処は、溶接部検査機を確実に走
行させることができる。また従動輪を壁面へ壁面空間の
変化に対応して即座に接触させることができる。また溶
接部検査機を複合ケーブルにより引き上げて、回収する
ことができる。さらに溶接部検査機を内部容器側へ円滑
に走行させることができる大型二重容器の溶接部検査機
用駆動機構を提供しようとする点にある。The present invention is proposed in view of the above problems, and the object of the present invention is to reliably run the weld inspection machine. In addition, the driven wheel can be brought into immediate contact with the wall surface in response to changes in the wall space. In addition, the weld inspection machine can be pulled up by the composite cable and collected. Another object is to provide a drive mechanism for a weld inspection device for a large double container, which enables the weld inspection device to smoothly travel to the inner container side.
【００１０】[0010]
【課題を解決するための手段】上記の目的を達成するた
めに、本発明の大型二重容器の溶接部検査機用駆動機構
は、検査機台車の前後に配設した駆動輪と同駆動輪を動
力伝達機構を介して駆動する駆動モータとを組み込んだ
駆動輪用フオークと同駆動輪用フオークを歯車を介して
方向転換させるフオーク用旋回モータとを有する駆動輪
アセンブリと、検査機台車の左右後部にそれぞれの後端
部を枢支した一対の補助アームと同各補助アームの前後
中間部間に架設した補助フレームと同補助フレーム上に
設けたリニヤガイドにより昇降可能に支持した昇降フレ
ームと同昇降フレームと同補助フレームとの間に介装し
たボールねじ式押付装置と同昇降フレームの左右に設け
た補助輪とを有する補助輪アセンブリと、上記各補助ア
ームの前端部及び検査機台車上に設けたリニヤガイドに
より昇降可能に支持した従動フレームと同従動フレーム
と検査機台車との間に傾倒可能に介装した直列多重ばね
式押付機構と上記従動フレームの左右に設けた従動輪と
同各従動輪を方向転換させる従動輪用旋回モータと検査
機台車後部のストッパに着脱自在に係合した複合ケーブ
ルの先端部を上記ばね式押付機構の下端部に接続するワ
イヤとを有する従動輪アセンブリと、を具えている。In order to achieve the above object, a drive mechanism for a weld inspection machine for a large double container according to the present invention comprises a drive wheel arranged in front of and behind the inspection machine carriage. Drive wheel assembly incorporating a drive motor for driving the drive wheel via a power transmission mechanism, and a drive wheel assembly having a fork swing motor for changing the direction of the drive wheel fork via a gear, and left and right of the inspection machine carriage. A pair of auxiliary arms that pivotally support their rear ends in the rear part, an auxiliary frame that is installed between the front and rear intermediate parts of each auxiliary arm, and an elevating frame that is supported to be vertically movable by a linear guide provided on the auxiliary frame. Auxiliary wheel assembly having a ball screw type pressing device interposed between the lifting frame and the auxiliary frame and auxiliary wheels provided on the left and right of the lifting frame, front end portions of the respective auxiliary arms, and A driven frame supported by a linear guide provided on the inspection machine carriage so as to be able to move up and down, a series multiple spring pressing mechanism that is tiltably interposed between the driven frame and the inspection machine carriage, and slaves provided on the left and right sides of the driven frame. The driven wheel and the driven wheel turning motor that changes the direction of each driven wheel, and a wire that connects the tip of the composite cable detachably engaged with the stopper at the rear of the inspection machine carriage to the lower end of the spring type pressing mechanism. And a driven wheel assembly.
【００１１】[0011]
【作用】本発明の大型二重容器の溶接部検査機用駆動機
構は前記のように構成されており、（１）駆動輪４１が
チエーン駆動からモータ駆動に変更になったので、溶接
部検査機３３が確実に走行する。（２）直列多重ばね式
押付機構７とリニアガイド１０とにより、従動フレーム
８が壁面方向に押されるので、従動輪９が壁面へ壁面空
間の変化に対応して即座に接触する。また溶接部検査機
３３が走行不能等の非常事態に至ったときには、複合ケ
ーブル６を強く引き、複合ケーブル６の先端部をストッ
パ３７から外し、ワイヤ３５を複合ケーブル６により右
方へ引いて、ローラ３４から反転したワイヤ３５の下側
を介して直列多重ばね式押付機構７の底部を左方へ引
き、直列多重ばね式押付機構７を引き倒して、各ばねを
自由長に戻す。このとき、従動フレーム８をばねの作用
から解放し、同従動フレーム８を自重により最低位置に
して（検査機の全高を低くして）、溶接部検査機３３を
複合ケーブル６により引き上げて、回収する。（３）従
動輪９が案内管挿入口の段差部で空転した場合、ボール
ねじ式押付装置２４により、補助輪２１が壁面に押付け
られるので、溶接部検査機３３が内部容器側へ円滑に走
行する。The driving mechanism for the weld inspection machine for the large double container according to the present invention is constructed as described above. (1) Since the drive wheel 41 is changed from the chain drive to the motor drive, the weld inspection is performed. The machine 33 travels reliably. (2) Since the driven frame 8 is pushed in the wall surface direction by the series multiple spring type pressing mechanism 7 and the linear guide 10, the driven wheel 9 immediately contacts the wall surface in response to a change in the wall surface space. When the weld inspection machine 33 reaches an emergency such as inability to run, the composite cable 6 is strongly pulled, the tip of the composite cable 6 is removed from the stopper 37, and the wire 35 is pulled to the right by the composite cable 6. The bottom of the series multiple spring type pressing mechanism 7 is pulled to the left through the lower side of the wire 35 reversed from the roller 34, and the series multiple spring type pressing mechanism 7 is pulled down to return each spring to a free length. At this time, the driven frame 8 is released from the action of the spring, the driven frame 8 is set to the lowest position by its own weight (the total height of the inspection machine is lowered), and the welded portion inspection machine 33 is pulled up by the composite cable 6 and recovered. To do. (3) When the driven wheel 9 idles at the stepped portion of the guide tube insertion port, the auxiliary wheel 21 is pressed against the wall surface by the ball screw pressing device 24, so that the welded portion inspection machine 33 travels smoothly to the inner container side. To do.
【００１２】[0012]
【実施例】次に本発明の大型二重容器の溶接部検査機用
駆動機構を図１〜図７に示す一実施例により説明する
と、図１は大型二重容器の溶接部検査機用駆動機構の斜
視図、図２（ａ）は直列多重ばね式押付機構の正面図、
図２（ｂ）は同ばね式押付機構の側面図、図２（ｃ）は
同ばね式押付機構の縮小時の側面図、図３（ａ）は補助
輪アセンブリの縦断正面図、図３（ｂ）は図３（ａ）の
矢視Ｐ−Ｐ線に沿う平面図、図４は補助輪の作用説明
図、図５（ａ）〜（ｃ）は直列多重ばね式押付機構の転
倒状態を示す説明図、図６は駆動輪アセンブリの縦断正
面図、図７は従動輪アセンブリの側面図である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A drive mechanism for a weld inspection machine for a large double container according to the present invention will be described below with reference to an embodiment shown in FIGS. 1 to 7. FIG. 2A is a perspective view of the mechanism, FIG. 2A is a front view of the series multiple spring type pressing mechanism,
2 (b) is a side view of the spring-type pressing mechanism, FIG. 2 (c) is a side view of the spring-type pressing mechanism when reduced, and FIG. 3 (a) is a vertical sectional front view of the auxiliary wheel assembly. 3B is a plan view taken along the line P-P of FIG. 3A, FIG. 4 is an explanatory view of the action of the auxiliary wheel, and FIGS. 5A to 5C are the overturned states of the series multiple spring pressing mechanism. 6 is a vertical sectional front view of the drive wheel assembly, and FIG. 7 is a side view of the driven wheel assembly.
【００１３】図１に示すように本溶接部検査機用駆動機
構は、検査機台車１の前後に配設した駆動輪アセンブリ
２と、検査機台車１の中央部に配設した従動輪アセンブ
リ３と、検査機台車１の後部に配設した補助輪アセンブ
リ４とにより構成されている。そして補助輪アセンブリ
４には、左右一対の補助アーム５があり、同各補助アー
ム５の後端部が枢支ピン５ａにより検査機台車１の後部
左右に枢支され、同各補助アーム５の前端部に長孔５ｂ
が設けられ、同長孔５ｂに従動フレーム８に取付けた枢
支ピン８ａが摺動自在に嵌挿されている。As shown in FIG. 1, the drive mechanism for the present welded portion inspection machine comprises a drive wheel assembly 2 arranged in front of and behind the inspection machine carriage 1 and a driven wheel assembly 3 arranged in the center of the inspection machine carriage 1. And an auxiliary wheel assembly 4 arranged at the rear of the inspection machine carriage 1. The auxiliary wheel assembly 4 has a pair of left and right auxiliary arms 5, and the rear ends of the auxiliary arms 5 are pivotally supported to the rear left and right of the inspection machine carriage 1 by pivot pins 5a. Long hole 5b at the front end
Is provided, and a pivot pin 8a attached to the driven frame 8 is slidably fitted therein.
【００１４】６がモータ用電源、制御、計測などに使用
する複合ケーブルで、同複合ケーブル６の前端部が後記
ストッパ３７を介して検査機台車１の後端部に着脱自在
に取付けられている。上記従動輪アセンブリ３は、直列
多重ばね式押付機構７と、同直列多重ばね式押付機構７
により検査機台車１に支持されている従動フレーム８
と、同従動フレーム８上に設けられた一対の従動輪９
と、検査機台車１に立設された従動フレーム用リニアガ
イド１０とにより構成されている。Reference numeral 6 denotes a composite cable used for power supply, control, measurement, etc. for the motor, and the front end portion of the composite cable 6 is detachably attached to the rear end portion of the inspection machine carriage 1 via a stopper 37 described later. . The driven wheel assembly 3 includes a series multiple spring type pressing mechanism 7 and a series multiple spring type pressing mechanism 7.
Driven frame 8 supported by the inspection machine trolley 1 by
And a pair of driven wheels 9 provided on the driven frame 8.
And a linear guide 10 for the driven frame which is erected on the inspection machine carriage 1.
【００１５】図２（ａ）〜（ｃ）に示すように直列多重
ばね式押付機構７は、２組の外ばね１１と、中ばね１２
と、内ばね１３と、上部ばね受１４と、下部ばね受１５
と、伸縮式昇降ガイド１６とを有している。また１７、
１８がばねガイドで、同ばねガイド１７は、外ばね１１
と中ばね１２とを保持し、ばねガイド１８は、中ばね１
２と内ばね１３とを保持して、直列作動の多重式ばね構
造になっている。As shown in FIGS. 2A to 2C, the series multiple spring type pressing mechanism 7 includes two sets of outer springs 11 and middle springs 12.
, Inner spring 13, upper spring bearing 14, lower spring bearing 15
And a telescopic lifting guide 16. Also 17,
18 is a spring guide, and the spring guide 17 is a spring guide.
And the middle spring 12 are held, and the spring guide 18 holds the middle spring 1
Holding 2 and the inner spring 13, it has a multiple spring structure of series operation.
【００１６】上記上部ばね受１４には、非常時の傾倒を
円滑にするローラ１９が設けられ、上記下部ばね受１５
の下面には、位置決め用突起２０が設けられて、正常時
には、同突起２０が検査機台車１上に設けられた凹部に
着脱自在に係合するようになっている。図２（ａ）
（ｂ）は、同直列多重ばね式押付機構７のばね最大伸長
時の状態を示し、図２（ｃ）は、同直列多重ばね式押付
機構７のばね最短圧縮時の状態を示しており、同直列多
重ばね式押付機構７により従動輪９及び駆動輪４１が内
部容器６０と外部容器６３とに押付けられて、検査機台
車１が走行する。The upper spring bearing 14 is provided with a roller 19 for smoothing tilting in an emergency, and the lower spring bearing 15 is provided.
A positioning protrusion 20 is provided on the lower surface of the device, and the protrusion 20 is detachably engaged with a recess provided on the inspection machine carriage 1 under normal conditions. Figure 2 (a)
(B) shows the state of the same series multiple spring type pressing mechanism 7 when the spring is maximally expanded, and FIG. 2 (c) shows the state of the same series multiple spring type pressing mechanism 7 when the spring is shortest compressed. The in-line multi-spring pressing mechanism 7 presses the driven wheels 9 and the driving wheels 41 against the inner container 60 and the outer container 63, and the inspection machine cart 1 travels.
【００１７】図３（ａ）（ｂ）に示すように補助輪アセ
ンブリ４は、左右一対の補助輪２１と、昇降フレーム２
２と、補助フレーム２３と、ボールねじ式押付装置２４
とにより構成され、各補助輪２１は、軸受２５を介して
昇降フレーム２２に回転可能に支持されている。上記ボ
ールねじ式押付装置２４は、モータ２６と、歯車２７
と、ケース２８と、ねじ軸２９と、ボールねじユニット
３０とにより構成され、モータ２６及びケース２８が補
助フレーム２３に固定されている。そしてモータ２６の
回転が歯車２７を介してボールねじユニット３０に伝え
られる。このとき、ねじ軸２９と同ねじ軸２９に一体の
昇降フレーム２２とが補助フレーム２３に設けられたリ
ニヤガイド３１に沿って破線位置との間に昇降する。一
方、ボールねじユニット３０の回転がシンクロ発電機３
２に伝えられて、昇降量が計測される。As shown in FIGS. 3A and 3B, the auxiliary wheel assembly 4 includes a pair of left and right auxiliary wheels 21 and a lifting frame 2.
2, an auxiliary frame 23, and a ball screw type pressing device 24
The auxiliary wheels 21 are rotatably supported by the elevating frame 22 via bearings 25. The ball screw type pressing device 24 includes a motor 26 and a gear 27.
The case 26, the screw shaft 29, and the ball screw unit 30 are provided, and the motor 26 and the case 28 are fixed to the auxiliary frame 23. Then, the rotation of the motor 26 is transmitted to the ball screw unit 30 via the gear 27. At this time, the screw shaft 29 and the elevating frame 22 integrated with the screw shaft 29 ascend and descend along the linear guide 31 provided on the auxiliary frame 23 between the position and the broken line. On the other hand, the rotation of the ball screw unit 30 depends on the rotation of the synchro generator 3.
It is transmitted to 2 and the amount of elevation is measured.
【００１８】図４の二点鎖線は、内部容器６０と案内管
６６の導入部との関係を示し、破線は、内部容器６０と
外部容器６３との関係を示している。またそれぞれに対
応する従動輪９と補助輪２１との位置も二点鎖線及び破
線により示している。検査機台車１が案内管６６から内
部容器６０に移るとき、段差ｈがあるが、このとき、図
３に示すボールねじ式押付装置２４を操作し、補助輪２
１を案内管６６に接触させて、検査機台車１を内部容器
６０側へ円滑に導入する。The chain double-dashed line in FIG. 4 shows the relationship between the inner container 60 and the introduction portion of the guide tube 66, and the broken line shows the relationship between the inner container 60 and the outer container 63. The positions of the driven wheel 9 and the auxiliary wheel 21 corresponding to each are also shown by a two-dot chain line and a broken line. When the inspection machine cart 1 moves from the guide tube 66 to the inner container 60, there is a step h. At this time, the ball screw type pressing device 24 shown in FIG.
1 is brought into contact with the guide pipe 66, and the inspection machine cart 1 is smoothly introduced into the inner container 60 side.
【００１９】図５（ａ）〜（ｃ）に示すように検査機台
車１の後部には、２個のローラ３４があり、同各ローラ
３４に掛け回した２本のワイヤ３５の一端部が直列多重
ばね式押付機構７の下部ばね受１５に取付けられ、同各
ワイヤ３４の他端部が複合ケーブル６の前端部に取付け
られている。また３７が検査機台車１の後部に設けたス
トッパで、正常時には、同ストッパ３７が複合ケーブル
６の先端部に着脱自在に係合している。As shown in FIGS. 5 (a) to 5 (c), there are two rollers 34 at the rear part of the inspection machine carriage 1, and one end of each of the two wires 35 wound around each roller 34 is provided. It is attached to the lower spring bearing 15 of the series multiple spring type pressing mechanism 7, and the other end of each wire 34 is attached to the front end of the composite cable 6. Further, 37 is a stopper provided at the rear part of the inspection machine carriage 1, and in a normal state, the stopper 37 is detachably engaged with the tip part of the composite cable 6.
【００２０】そして溶接部検査機３３が走行不能等の非
常事態に至ったときには、複合ケーブル６を強く引く。
そうすると、複合ケーブル６の先端部がストッパ３７か
ら外れ、図５（ｃ）に示すようにワイヤ３５が複合ケー
ブル６により右方へ引かれて、ローラ３４から反転した
ワイヤ３５の下側を介して直列多重ばね式押付機構７の
底部が左方へ引かれ、直列多重ばね式押付機構７が引き
倒されて、各ばねが自由長に戻る。このとき、従動フレ
ーム８がばねの作用から解放され、同従動フレーム８が
自重により最低位置になり（溶接部検査機３３の全高が
低くなり）、溶接部検査機３３が複合ケーブル６により
引き上げられて、回収される。When the welded portion inspection machine 33 reaches an emergency such as inability to run, the composite cable 6 is strongly pulled.
Then, the tip of the composite cable 6 is disengaged from the stopper 37, and the wire 35 is pulled to the right by the composite cable 6 as shown in FIG. The bottom of the series multiple spring type pressing mechanism 7 is pulled to the left, the series multiple spring type pressing mechanism 7 is pulled down, and each spring returns to the free length. At this time, the driven frame 8 is released from the action of the spring, the driven frame 8 is at its lowest position due to its own weight (the overall height of the weld inspection machine 33 is lowered), and the weld inspection machine 33 is pulled up by the composite cable 6. Be collected.
【００２１】図６は、駆動輪アセンブリ２の詳細を示し
ている。同駆動輪アセンブリ２では、フオーク３８に、
駆動モータ３９と歯車系４０と駆動輪４１とが納めら
れ、フオーク３８に設けた歯車４２がフオーク用旋回モ
ータ４３により旋回して、駆動輪４１の方向が変換され
る。上記フオーク３８が軸受４４を介して検査機台車１
に旋回可能に支持され、旋回モータ４３が検査機台車１
に固定されている。また上記歯車系４０が平歯車４５
と、傘歯車４６と、内歯歯車４７とにより構成され、同
内歯歯車４７が駆動輪４１に取付けられ、同駆動輪４１
が軸受４８を介して車軸４９に支持されている。FIG. 6 shows details of the drive wheel assembly 2. In the drive wheel assembly 2, the forks 38 are
The drive motor 39, the gear system 40, and the drive wheel 41 are housed, and the gear 42 provided on the fork 38 is turned by the fork turning motor 43 to change the direction of the drive wheel 41. The fork 38 is mounted on the inspection machine truck 1 via the bearing 44.
The slewing motor 43 is rotatably supported by the inspection machine carriage 1
It is fixed to. Further, the gear system 40 is a spur gear 45.
A bevel gear 46 and an internal gear 47. The internal gear 47 is attached to the drive wheel 41.
Are supported by an axle 49 via bearings 48.
【００２２】図７は、従動輪アセンブリ３を示してい
る。従動輪９のホルダ５１が軸受５０を介して従動フレ
ーム８に回転可能に支持され、上記ホルダ５１が従動輪
用旋回モータ５２により旋回して、従動輪９の方向が変
換される。上記のように駆動輪４１が旋回モータ４３に
より方向変換され、従動輪９が旋回モータ５２により方
向変換されるので、検査機台車１の走行方向が確実に変
更される。FIG. 7 shows the driven wheel assembly 3. The holder 51 of the driven wheel 9 is rotatably supported by the driven frame 8 via the bearing 50, and the holder 51 is turned by the driven wheel turning motor 52 to change the direction of the driven wheel 9. As described above, since the drive wheels 41 are changed in direction by the turning motor 43 and the driven wheels 9 are changed in direction by the turning motor 52, the traveling direction of the inspection machine carriage 1 is surely changed.
【００２３】次に前記図１〜図７に示す大型二重容器の
溶接部検査機用駆動機構の作用を具体的に説明する。 （１）駆動輪アセンブリ２を、検査機台車１の前後に配
設した駆動輪４１と、同駆動輪４１と同駆動輪４１を動
力伝達機構を介して駆動する駆動モータ３９とを組み込
んだ駆動輪用フオーク３８と、同駆動輪用フオーク３８
を歯車４２を介して方向転換させるフオーク用旋回モー
タ４３とにより構成しており、駆動輪４１がチエーン駆
動からモータ駆動に変更になったので、溶接部検査機３
３が確実に走行する。 （２）従動輪アセンブリ３を、各補助アーム５の前端部
及び検査機台車１上に設けたリニヤガイド１０により昇
降可能に支持した従動フレーム８と、同従動フレーム８
と検査機台車１との間に傾倒可能に介装した直列多重ば
ね式押付機構７と、従動フレーム８の左右に設けた従動
輪９と、同各従動輪９を方向転換させる従動輪用旋回モ
ータ５２と、検査機台車後部のストッパ３７に着脱自在
に係合した複合ケーブル６の先端部を直列多重ばね式押
付機構７の下端部に接続するワイヤ３５とにより構成し
ており、上記直列多重ばね式押付機構７と上記リニアガ
イド１０とにより、従動フレーム８が壁面方向に押され
るので、従動輪９が壁面へ壁面空間の変化に対応して即
座に接触する。Next, the operation of the drive mechanism for the welded portion inspection machine of the large double container shown in FIGS. 1 to 7 will be specifically described. (1) Drive in which the drive wheel assembly 2 includes a drive wheel 41 arranged in front of and behind the inspection machine carriage 1 and a drive motor 39 for driving the drive wheel 41 and the drive wheel 41 via a power transmission mechanism. Wheel fork 38 and drive wheel fork 38
Is driven by a fork turning motor 43 that changes the direction of the welding gear 42 via a gear 42. Since the drive wheel 41 is changed from chain drive to motor drive, the welded portion inspection machine 3
3 runs reliably. (2) A driven frame 8 that supports the driven wheel assembly 3 so as to be able to move up and down by the front end of each auxiliary arm 5 and a linear guide 10 provided on the inspection machine carriage 1, and the driven frame 8
Series multiple spring type pressing mechanism 7 tiltably interposed between the driven machine 9 and the inspection machine carriage 1, driven wheels 9 provided on the left and right sides of the driven frame 8, and swivel for driven wheels for changing the direction of each driven wheel 9. The motor 52 and the wire 35 that connects the tip of the composite cable 6 that is detachably engaged with the stopper 37 at the rear of the inspection machine trolley to the lower end of the series multiple spring type pressing mechanism 7 are used for the series multiplex. Since the driven frame 8 is pushed in the wall surface direction by the spring type pressing mechanism 7 and the linear guide 10, the driven wheel 9 immediately contacts the wall surface in response to the change in the wall surface space.
【００２４】また溶接部検査機３３が走行不能等の非常
事態に至ったときには、複合ケーブル６を強く引き、複
合ケーブル６の先端部をストッパ３７から外し、ワイヤ
３５を複合ケーブル６により右方へ引いて、ローラ３４
から反転したワイヤ３５の下側を介して直列多重ばね式
押付機構７の底部を左方へ引き、直列多重ばね式押付機
構７を引き倒して、各ばねを自由長に戻す。このとき、
従動フレーム８をばねの作用から解放し、同従動フレー
ム８を自重により最低位置にして（検査機の全高を低く
して）、溶接部検査機３３を複合ケーブル６により引き
上げて、回収する。 （３）補助輪アセンブリ４を、検査機台車１の左右後部
にそれぞれの後端部を枢支した一対の補助アーム５と、
同各補助アーム５の前後中間部間に架設した補助フレー
ム２３と、同補助フレーム２３上に設けたリニヤガイド
３１により昇降可能に支持した昇降フレーム２２と、同
昇降フレーム２２と上記補助フレーム２３との間に介装
したボールねじ式押付装置２４と、上記昇降フレーム２
２の左右に設けた補助輪２１とにより構成しており、従
動輪９が案内管挿入口の段差部で空転した場合、ボール
ねじ式押付装置２４により、補助輪２１が壁面に押付け
られるので、溶接部検査機３３が内部容器側へ円滑に走
行する。When the weld inspection machine 33 reaches an emergency such as inability to run, the composite cable 6 is pulled strongly, the tip of the composite cable 6 is removed from the stopper 37, and the wire 35 is moved to the right by the composite cable 6. Pull the roller 34
The bottom of the series multiple spring type pressing mechanism 7 is pulled to the left through the lower side of the wire 35 inverted from the above, and the series multiple spring type pressing mechanism 7 is pulled down to return each spring to the free length. At this time,
The driven frame 8 is released from the action of the spring, the driven frame 8 is set to the lowest position by its own weight (the overall height of the inspection machine is lowered), and the welded portion inspection machine 33 is pulled up by the composite cable 6 and recovered. (3) A pair of auxiliary arms 5 in which the rear wheel assembly 4 is pivotally supported at the left and right rear portions of the inspection machine carriage 1 and the rear end portions thereof,
An auxiliary frame 23 installed between the front and rear intermediate portions of each auxiliary arm 5, an elevating frame 22 supported so as to be able to ascend and descend by a linear guide 31 provided on the auxiliary frame 23, the elevating frame 22 and the auxiliary frame 23. A ball screw type pressing device 24 interposed between the lifting frame 2 and the lifting frame 2
2 and the auxiliary wheels 21 provided on the left and right sides, and when the driven wheel 9 idles at the step portion of the guide tube insertion port, the auxiliary wheel 21 is pressed against the wall surface by the ball screw pressing device 24. The weld inspection machine 33 runs smoothly toward the inner container.
【００２５】[0025]
【発明の効果】本発明の大型二重容器の溶接部検査機用
駆動機構は前記のように駆動輪４１をチエーン駆動から
モータ駆動に変更したので、溶接部検査機３３を確実に
走行させることができる。また直列多重ばね式押付機構
７とリニアガイド１０とにより、従動フレーム８を壁面
方向に押すので、従動輪９を壁面へ壁面空間の変化に対
応して即座に接触させることができる。また溶接部検査
機３３が走行不能等の非常事態に至ったときには、複合
ケーブル６を強く引き、複合ケーブル６の先端部をスト
ッパ３７から外し、ワイヤ３５を複合ケーブル６により
右方へ引いて、ローラ３４から反転したワイヤ３５の下
側を介して直列多重ばね式押付機構７の底部を左方へ引
き、直列多重ばね式押付機構７を引き倒して、各ばねを
自由長に戻す。このとき、従動フレーム８をばねの作用
から解放して、同従動フレーム８を自重により最低位置
にする（検査機の全高を低くする）ので、溶接部検査機
３３を複合ケーブル６により引き上げて、回収すること
ができる。As described above, since the drive mechanism for the weld inspection machine for the large double container of the present invention changes the drive wheel 41 from the chain drive to the motor drive as described above, the weld inspection machine 33 can be reliably driven. You can Further, since the driven frame 8 is pushed toward the wall surface by the series multiple spring pressing mechanism 7 and the linear guide 10, the driven wheel 9 can be brought into immediate contact with the wall surface in response to the change of the wall space. When the weld inspection machine 33 reaches an emergency such as inability to run, the composite cable 6 is strongly pulled, the tip of the composite cable 6 is removed from the stopper 37, and the wire 35 is pulled to the right by the composite cable 6. The bottom of the series multiple spring type pressing mechanism 7 is pulled to the left through the lower side of the wire 35 reversed from the roller 34, and the series multiple spring type pressing mechanism 7 is pulled down to return each spring to a free length. At this time, the driven frame 8 is released from the action of the spring, and the driven frame 8 is set to the lowest position by its own weight (the total height of the inspection machine is lowered). Therefore, the welded portion inspection machine 33 is pulled up by the composite cable 6, Can be collected.
【００２６】また従動輪９が案内管挿入口の段差部で空
転した場合、ボールねじ式押付装置２４により、補助輪
２１を壁面に押付けるので、溶接部検査機３３を内部容
器側へ円滑に走行させることができる。When the driven wheel 9 idles at the stepped portion of the guide tube insertion port, the auxiliary wheel 21 is pressed against the wall surface by the ball screw type pressing device 24, so that the weld inspection machine 33 can be smoothly moved to the inner container side. Can be run.
【図１】本発明の大型二重容器の溶接部検査機用駆動機
構の一実施例を示す斜視図である。FIG. 1 is a perspective view showing an embodiment of a drive mechanism for a weld inspection machine for a large double container according to the present invention.
【図２】（ａ）は直列多重ばね式押付機構の正面図、
（ｂ）は同ばね式押付機構の側面図、（ｃ）は同ばね式
押付機構の縮小時の側面図である。FIG. 2A is a front view of a series multiple spring type pressing mechanism,
(B) is a side view of the spring type pressing mechanism, and (c) is a side view of the spring type pressing mechanism at the time of reduction.
【図３】（ａ）は補助輪アセンブリの縦断正面図、
（ｂ）は（ａ）の矢視Ｐ−Ｐ線に沿う平面図である。FIG. 3A is a vertical sectional front view of an auxiliary wheel assembly,
(B) is a plan view taken along the line PP of FIG.
【図４】補助輪の作用説明図である。FIG. 4 is an explanatory view of the operation of auxiliary wheels.
【図５】（ａ）〜（ｃ）は直列多重ばね式押付機構の転
倒状態を示す説明図である。5 (a) to 5 (c) are explanatory views showing the inversion state of the series multiple spring type pressing mechanism.
【図６】駆動輪アセンブリの縦断正面図である。FIG. 6 is a vertical sectional front view of a drive wheel assembly.
【図７】従動輪アセンブリの側面図である。FIG. 7 is a side view of the driven wheel assembly.
【図８】大型二重容器を示す縦断側面図である。FIG. 8 is a vertical sectional side view showing a large double container.
【図９】従来の溶接部検査機用駆動機構を示す斜視図で
ある。FIG. 9 is a perspective view showing a conventional drive mechanism for a weld inspection machine.
【図１０】（ａ）は同溶接部検査機用駆動機構の駆動輪
を示す縦断正面図、（ｂ）はその横断平面図である。FIG. 10 (a) is a vertical sectional front view showing a drive wheel of the drive mechanism for the weld inspection machine, and FIG. 10 (b) is a cross-sectional plan view thereof.
【図１１】（ａ）は同溶接部検査機用駆動機構の従動輪
用押付機構を示す縦断側面図、（ｂ）は（ａ）の矢視Ｎ
−Ｎ線に沿う横断平面図である。FIG. 11A is a vertical sectional side view showing a driven wheel pressing mechanism of the drive mechanism for the welded portion inspection machine, and FIG. 11B is a view N of FIG. 11A.
FIG. 6 is a cross-sectional plan view taken along the line N.
１ 検査機台車 ２ 駆動輪アセンブリ ３ 従動輪アセンブリ ４ 補助輪アセンブリ ５ 補助アーム ６ 複合ケーブル ７ 直列多重ばね式押付機構 ８ 従動フレーム ９ 従動輪 １０ リニヤガイド ２１ 補助輪 ２２ 昇降フレーム ２３ 補助フレーム ２４ ボールねじ式押付装置 ３１ リニヤガイド ３３ 溶接部検査機 ３４ ローラ ３５ ワイヤ ３７ ストッパ ３８ 駆動輪用フオーク ３９ 駆動モータ ４１ 駆動輪 ４２ 歯車 ４３ フオーク用旋回モータ ５２ 従動輪用旋回モータ 1 Inspection Machine Cart 2 Drive Wheel Assembly 3 Driven Wheel Assembly 4 Auxiliary Wheel Assembly 5 Auxiliary Arm 6 Composite Cable 7 Series Multiple Spring Type Pressing Mechanism 8 Driven Frame 9 Driven Wheel 10 Linear Guide 21 Auxiliary Wheel 22 Elevating Frame 23 Auxiliary Frame 24 Ball Screw Pressing device 31 Linear guide 33 Weld inspection machine 34 Roller 35 Wire 37 Stopper 38 Drive wheel fork 39 Drive motor 41 Drive wheel 42 Gear 43 Fork swing motor 52 Driven wheel swing motor
───────────────────────────────────────────────────── フロントページの続き (72)発明者 金内 信 兵庫県神戸市兵庫区和田崎町一丁目１番１ 号 三菱重工業株式会社神戸造船所内 (72)発明者 白須 勲 兵庫県神戸市兵庫区和田崎町一丁目１番１ 号 三菱重工業株式会社神戸造船所内 (72)発明者 留岡 勝 兵庫県神戸市兵庫区和田宮通７丁目１番14 号 西菱エンジニアリング株式会社内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shin Kanai 1-1 1-1 Wadazakicho, Hyogo-ku, Kobe-shi, Hyogo Mitsubishi Heavy Industries, Ltd. Kobe Shipyard (72) Inventor Isao Shirasu Hyogo-ku, Kobe-shi, Hyogo 1-1-1 Wadazakicho Mitsubishi Heavy Industries, Ltd. Kobe Shipyard (72) Inventor Satoshi Tomeoka 7-1-14 Wadamiyadori, Hyogo-ku, Kobe, Hyogo Prefecture Nishiryo Engineering Co., Ltd.
Claims (1)
駆動輪を動力伝達機構を介して駆動する駆動モータとを
組み込んだ駆動輪用フオークと同駆動輪用フオークを歯
車を介して方向転換させるフオーク用旋回モータとを有
する駆動輪アセンブリと、 検査機台車の左右後部にそれぞれの後端部を枢支した一
対の補助アームと同各補助アームの前後中間部間に架設
した補助フレームと同補助フレーム上に設けたリニヤガ
イドにより昇降可能に支持した昇降フレームと同昇降フ
レームと同補助フレームとの間に介装したボールねじ式
押付装置と同昇降フレームの左右に設けた補助輪とを有
する補助輪アセンブリと、 上記各補助アームの前端部及び検査機台車上に設けたリ
ニヤガイドにより昇降可能に支持した従動フレームと同
従動フレームと検査機台車との間に傾倒可能に介装した
直列多重ばね式押付機構と上記従動フレームの左右に設
けた従動輪と同各従動輪を方向転換させる従動輪用旋回
モータと検査機台車後部のストッパに着脱自在に係合し
た複合ケーブルの先端部を上記ばね式押付機構の下端部
に接続するワイヤとを有する従動輪アセンブリと、 を具えていることを特徴とした大型二重容器の溶接部検
査機用駆動機構。1. A drive wheel fork having drive wheels arranged in front of and behind the inspection machine carriage and a drive motor for driving the drive wheel via a power transmission mechanism, and the drive wheel fork via gears. A drive wheel assembly having a turning motor for turning the fork, a pair of auxiliary arms pivotally supporting the rear ends of the left and right rear portions of the inspection machine carriage, and an auxiliary frame installed between the front and rear intermediate portions of the respective auxiliary arms. And a lifting frame supported by a linear guide provided on the auxiliary frame so as to be able to move up and down, a ball screw type pressing device interposed between the lifting frame and the auxiliary frame, and auxiliary wheels provided on the left and right sides of the lifting frame. An auxiliary wheel assembly, a driven frame supported by the front end of each auxiliary arm and a linear guide provided on the inspection machine carriage, and a driven frame and the inspection. A series multiple spring type pressing mechanism that is tiltably interposed between the bogie and the driven wheels provided on the left and right of the driven frame and a turning motor for the driven wheels that changes the direction of the driven wheels and a stopper at the rear of the inspection machine bogie. A welded portion inspection machine for a large-sized double container, characterized in that it comprises: a driven wheel assembly having a wire for connecting the tip of the detachably engaged composite cable to the lower end of the spring type pressing mechanism. Drive mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04299900A JP3137466B2 (en) | 1992-11-10 | 1992-11-10 | Drive mechanism for welder inspection machine of large double container |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04299900A JP3137466B2 (en) | 1992-11-10 | 1992-11-10 | Drive mechanism for welder inspection machine of large double container |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06148377A true JPH06148377A (en) | 1994-05-27 |
| JP3137466B2 JP3137466B2 (en) | 2001-02-19 |
Family
ID=17878294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP04299900A Expired - Lifetime JP3137466B2 (en) | 1992-11-10 | 1992-11-10 | Drive mechanism for welder inspection machine of large double container |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3137466B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013113597A (en) * | 2011-11-25 | 2013-06-10 | Hitachi-Ge Nuclear Energy Ltd | Inspection vehicle, apparatus for inspecting inside of container, and image processing method |
| JP2014238403A (en) * | 2014-07-07 | 2014-12-18 | 日立Ｇｅニュークリア・エナジー株式会社 | Survey vehicle, survey device in container, and image processing method |
| US11452816B2 (en) | 2012-03-16 | 2022-09-27 | Becton, Dickinson And Company | Drug delivery device for drug suspensions |
-
1992
- 1992-11-10 JP JP04299900A patent/JP3137466B2/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013113597A (en) * | 2011-11-25 | 2013-06-10 | Hitachi-Ge Nuclear Energy Ltd | Inspection vehicle, apparatus for inspecting inside of container, and image processing method |
| US11452816B2 (en) | 2012-03-16 | 2022-09-27 | Becton, Dickinson And Company | Drug delivery device for drug suspensions |
| JP2014238403A (en) * | 2014-07-07 | 2014-12-18 | 日立Ｇｅニュークリア・エナジー株式会社 | Survey vehicle, survey device in container, and image processing method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3137466B2 (en) | 2001-02-19 |
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