JPH06222184A - Supporting lattice inspection device - Google Patents

Abstract

PURPOSE:To provide a supporting lattice inspection device which ensures smooth inspection of supporting lattices, achieves automation of inspection and labor saving and is so compact as to occupy less space. CONSTITUTION:A CCD camera 21 and a reflection type laser displacement gauge are moved relative to the sleeve 2 of a supporting lattice 1 secured to a mount 10, and the CCD camera 21 is used to pick up images of both end portions of the sleeve 2 and any abnormality in the sleeve 2 is detected from the images and the reflection type laser displacement gauge is used to detector the position of the supporting lattice 1 at which the sleeve 2 is installed, and a through gage is inserted into the sleeve 2 according to the images and the bore, center and mounting position of the sleeve 2 which are obtained using the reflection type laser displacement gauge, and a load applied to the through gage is monitored using a load sensor.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a support grid in which a sleeve for fixing a control rod guide tube is mounted in a part of the grid space, and a support grid inspection apparatus for inspecting the sleeve and the envelope of the support grid. Regarding

[0002]

2. Description of the Related Art Generally, in a fuel assembly, a plurality of plate-shaped straps are assembled so as to be orthogonal to each other to form a supporting lattice having a large number of lattice spaces, and a part of the lattice space of the supporting lattice is formed. The sleeve is attached to the sleeve, the control rod guide tube is inserted into the sleeve, and the sleeve is fixed to the supporting lattice through the sleeve, while the fuel rod is inserted into the remaining lattice space and the spring provided in the lattice space is used. Elastic support is performed.

[0003]

By the way, in the support grid having the above-mentioned structure, conventionally, the inspector has inspected the sleeve and the envelope of the support grid. However, in the above-mentioned conventional inspection that relies on the manual work of the inspector, the workability is poor and the burden on the inspector is large, so it has been desired to automate the inspection.

The present invention has been made in view of the above circumstances, and it is an object of the present invention to smoothly and surely inspect a support grid, and to automate and inspect the inspection. It is another object of the present invention to provide a supporting grid inspection device that is compact and does not take up space.

[0005]

In order to achieve the above object, according to claim 1 of the present invention, a plurality of plate-shaped straps are assembled so as to be orthogonal to each other, whereby a large number of lattice spaces through which fuel rods are inserted are formed. And a supporting grid inspecting device for inspecting a supporting grid in which a sleeve for fixing a control rod guide tube is mounted in a part of these grid spaces, and a supporting and fixing means for supporting and fixing the supporting grid. Imaging means for respectively picking up images of both end portions of the sleeve and facing both ends of the sleeve of the support grid fixed to the support fixing means, and both end portions of the sleeve imaged by these imaging means Based on the image, the abnormality detecting means for detecting an abnormality such as the fall and deformation of the sleeve, and the distance to the sleeve, which is attached to each of the image pickup means. A leave position detecting means, a moving means for moving the imaging means and the sleeve position detecting means with respect to the supporting and fixing means, and a sleeve passing gauge that is provided to be inclined with respect to the sleeve and is inserted into the sleeve. And provided on this sleeve through gauge,
And a load sensor for detecting a load applied to the sleeve passing gauge.

According to a second aspect of the present invention, the support fixing means is provided with an inclination adjusting means for adjusting the inclination of the support grid.

Further, according to claim 3 of the present invention, the inclination adjusting means is arranged so that the inclination of the supporting grid is determined by the inclination of the sleeve position detecting means and the inclination of the lattice surface of the supporting lattice detected by the sleeve position detecting means. And a flatness correction actuator for adjusting

Further, according to a fourth aspect of the present invention, illumination means for irradiating light to both ends of the sleeve is attached to each of the image pickup means.

According to a fifth aspect of the present invention, there is provided a supporting grid measuring means for measuring the outer size of the supporting grid fixed to the supporting and fixing means and inspecting the envelope.

[0010]

According to the first aspect of the supporting grid inspection apparatus of the present invention, the image pickup means and the sleeve position detecting means are appropriately positioned by the moving means with respect to both ends of the sleeve of the supporting grid fixed to the supporting and fixing means. The sleeve is moved and the images of both ends of the sleeve are captured by the image capturing means, and the abnormality detecting means detects abnormality such as tilting or deformation of the sleeve from the images, and the sleeve position detecting means supports the sleeve. While calculating the mounting position in the lattice, based on the information of the inner diameter of the sleeve, the center and the mounting position in the support lattice calculated by the abnormality detecting means and the sleeve position detecting means, insert the sleeve through gauge into the sleeve, and A load sensor monitors the load on the sleeve threading gauge.

According to the second aspect of the present invention, the inclination of the support grid fixed to the support fixing means is adjusted by the inclination adjusting means.

Further, according to a third aspect of the present invention, the sleeve position detecting means for detecting the distance to the sleeve detects the inclination of the lattice plane of the support lattice and corrects the flatness according to the detection result. An actuator adjusts the tilt of the support grid.

Further, according to the fourth aspect of the present invention, while illuminating both ends of the sleeve by the illumination means, the image of the both ends of the sleeve is taken by the imaging means.

Further, according to a fifth aspect of the present invention, the outer size of the support grid fixed to the support fixing means and the envelope inspection are performed by the support grid measuring means.

[0015]

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

In these drawings, reference numeral 10 is a support grid 1.
Is a mounting table for mounting and fixing the above, and a central portion of the mounting table 10 is formed so as to open downward in order to image the many sleeves 2 fixed to the support grid 1 from below. An L-shaped reference plate 11 for positioning the support grid 1 by contacting two adjacent outer surfaces of the support grid 1 is provided on the outer edge portion of the mounting table 10 described above. A pair of support grid sensors 12 for detecting whether or not the support grid 1 is set is fixed to 11.

Further, an air cylinder 13 which opposes the L-shaped reference plate 11 and presses the support grid 1 against the L-shaped reference plate 11.
However, one pair is provided at each of the upper and lower sides (eight in total). Furthermore, the support grid 1 is provided on the outer edge of the mounting table 10.
A flatness correction actuator 14 that supports the lower surface of the support grid 1 and adjusts the inclination of the support grid 1 is provided.

A CCD camera 21 with a microlens 20 is arranged above and below the mounting table 10, and these CCD cameras 21 are mounted on the lifting stage 2.
It is attached to 2. Then, four high-intensity light emitting diodes 24 are provided around the microlens 20.
Is provided.

A reflective laser displacement meter 23 is provided beside the CCD camera 21 on the elevating stage 22. The elevating stage 22 is provided on a U-shaped support member 25 so as to be able to elevate and lower, and is connected to a Z-axis drive motor 27 via a ball screw shaft 26.

Further, the support member 25 is attached to an XY table 30, and the XY table 30 is
X-axis magnet scale 31 for detecting the position in the X- and Y-axis directions
Based on a detection signal from the Y-axis magnescale 32, the X-axis drive motor 28 and the Y-axis drive motor 29 can be moved in the horizontal direction.

The supporting member 25 includes the upper CCD.
A through gauge mechanism 40 is provided adjacent to the camera 21. The through-gauge mechanism 40 includes a body 41 that can be raised and lowered.
A through hole 42 is formed in the through hole 42, an upper portion of the through hole 42 is formed in a spherical shape, a floating type through gauge 43 is loosely fitted in the through hole 42, and the through gauge 43 is formed in a hemispherical shape. The upper end of the load gauge 44 is tiltably supported on the upper portion of the spherical through hole 42, and the load sensor 44 is provided near the upper end of the through gauge 43.

When the body 41 is lowered and the through gauge 43 is inserted into the sleeve 2 of the support grid 1,
When the through gauge 43 is not smoothly inserted and an unreasonable force is applied, the through gauge 43 retreats upward and contacts the load sensor 44, and the load sensor 44 detects this and stops the lowering of the main body 41. It is supposed to do.

Two sets of envelope measuring sensors 50 are arranged around the support grid 1 placed on the mounting table 10 and these envelope measuring sensors 50 are made up of a light emitting portion 51 and a light receiving portion 52. Type laser displacement meter. Further, each of the envelope measuring sensors 50 is attached to the elevating member 53, and the elevating member 53 is connected to the drive motor of the envelope measuring sensor driving mechanism 54.

Then, each of the envelope measuring sensors 5 described above.
0 is moved up and down, and the laser light emitted from the light emitting portion 51 of each of the envelope measuring sensors 50 is passed along the side surface of the supporting grid 1 which is not in contact with the L-shaped reference plate 11. By analyzing the data of each envelope measuring sensor 50 in the meantime, the outer dimension of the support grid 1 and the envelope inspection are performed.

The supporting grid sensor 12, the reflection type laser displacement meter 23, the X-axis magnescale 31, the Y-axis magnescale 32, the CCD camera 21, the envelope measuring sensor 5
The output signals of 0 and the load sensor 44 are respectively input to the measurement control device 60, as shown in FIG.

As will be described later, the measurement control device 60 includes a high-intensity light emitting diode 24, a flatness correction actuator 14, an X-axis drive motor 28, a Y-axis drive motor 29, a Z-axis drive motor 27, and an envelope measurement sensor. The drive mechanism 54, the through gauge mechanism 40, and the fixing air cylinder 13 are appropriately controlled.

Next, a case of inspecting the support grid 1 in the support grid inspection apparatus configured as described above will be described with reference to FIG.

First, as shown in step SP1 of FIG. 7, when the support grid 1 to be inspected is set on the mounting table 10, it is detected by the support grid sensor 12 fixed to the L-shaped reference plate 11. Then, based on this detection signal, the measurement control device 60 gives a command to the fixing air cylinder 13, and the air cylinder 13 presses the support grid 1 against two adjacent reference surfaces of the L-shaped reference plate 11. It is fixed (see step SP2 in FIG. 7).

Next, the measurement control device 60 controls the X-axis drive motor 28 and the Y-axis drive motor 29 based on the measurement values of the X-axis magnet scale 31 and the Y-axis magnet scale 32 to horizontally move the XY table 30. While moving, the grating surface of the support grid 1 is scanned by the reflection type laser displacement meter 23 to determine the flatness of the support grid 1.

If the flatness needs to be corrected based on this result, the fixing air cylinder 13 is once
The flatness correction actuator 14 is driven in a state in which the support grid 1 is released from being fixed by (1) to secure the flatness of the support grid 1 (see step SP3 in FIG. 7).

Subsequently, as shown in step SP4 of FIG. 7, the envelope inspection of the support grid 1 is started, and the measurement control device 60 controls the envelope measurement sensor drive mechanism 54 to move the envelope measurement sensors together with the elevating member 53. 50 is moved up and down, and the laser light emitted from the light emitting portions 51 of both envelope measurement sensors 50 is passed along the side surface of the support grid 1 on the side not contacting the L-shaped reference plate 11, and light is received during this time. By analyzing the data of the envelope measuring sensor 50 input from the section 52, the outer dimensions of the support grid 1 are measured and the envelope is inspected.

Further, as shown in step SP5 of FIG. 7, the non-contact inspection of the sleeve 2 is started. That is, first,
The measurement control device 60 drives the XY table 30 to position a pair of upper and lower reflective laser displacement meters 23 above and below the sleeve 2, and the reflective laser displacement meter 23 causes the reflective laser displacement meter 23 to move to the sleeve 2. By measuring the distance, the mounting position (height) of the sleeve 2 on the support grid 1
Figure out.

Next, the Z-axis drive motors 27 are driven according to the distance from the sleeve 2 detected by the reflection type laser displacement meter 23, and the CCD camera 21 is constantly moved to a position (high position) where an optimum image can be obtained. And the sleeve 2 of the support grid 1 is held by the pair of CCD cameras 21.
The images of both ends of the are captured.

At this time, the measurement control device 60 controls the high-intensity light-emitting diode 2 facing the CCD camera 21 on the imaging side.
4 and the high-intensity light-emitting diode 24 attached to the CCD camera 21 controls the illuminance at both ends to be optimum, so that clear images at both ends can be obtained.

Then, the measurement control device 60 uses the C
The support grid 1 from the image captured by the CD camera 21.
Recognize both ends of the sleeve 2 and index its center,
By calibrating based on the calibration value based on the standard, an abnormality such as tilting or deformation of the sleeve 2 is detected.

Subsequently, when the non-contact inspection is completed for all the sleeves 2, the sleeve passing inspection shown in step SP6 of FIG. 7 is carried out, and the inner diameter of the sleeve 2 obtained by the measurement up to the present and its center and the supporting grid 1 While monitoring the detection signal of the load sensor 44 on the basis of the mounting height information in the above, the through gauge mechanism 40 is driven to insert the through gauge 43 into the sleeve 2 of the support grid 1 to ensure the soundness of the sleeve 2. Inspect sex.

In this case, when the load sensor 44 detects an overload, the insertion of the through gauge 43 is stopped, so that the sleeve 2 is not damaged. In this way, when the sleeve threading inspection is completed,
The support grid 1 fixed to the mounting table 10 is taken out (see step SP7 in FIG. 7) and replaced with the next support grid 1.

[0038]

As described above, according to the first aspect of the present invention.
Is assembled by making a plurality of plate-shaped straps orthogonal to each other to form a large number of lattice spaces into which fuel rods are inserted, and a sleeve for fixing the control rod guide tube is attached to a part of these lattice spaces. In the supporting grid inspection device for inspecting the supporting grid, the supporting and fixing means for supporting and fixing the supporting grid, and the supporting grid sleeve fixed to the supporting and fixing means are respectively provided opposite to both ends of the sleeve. And an image pickup means for picking up images of both end portions of the sleeve, and an abnormality detecting means for detecting an abnormality such as tilting or deformation of the sleeve based on the images of both end portions of the sleeve picked up by these image pickup means, Sleeve position detecting means attached to each of the image pickup means and detecting a distance to the sleeve, and the image pickup means and the three with respect to the supporting and fixing means. A moving means for moving the position detecting means, a sleeve through gauge which is provided so as to be inclined with respect to the sleeve and is inserted into the sleeve, and a load which is provided on the sleeve through gauge and is applied to the sleeve through gauge. Since it is provided with a load sensor for detecting, the image pickup means and the sleeve position detection means are moved to appropriate positions by the moving means with respect to both ends of the sleeve of the support grid fixed to the support fixing means, and the image pickup is performed. Image of both ends of the sleeve by means of,
From these images, the abnormality detecting means detects abnormality such as tilting and deformation of the sleeve, and the sleeve position detecting means calculates the mounting position of the sleeve on the support grid, while the abnormality detecting means and the sleeve position detecting means. Based on the calculated information of the inner diameter of the sleeve, the center, and the mounting position on the support grid, the sleeve through gauge is inserted into the sleeve, and the load sensor monitors the load applied to the sleeve through gauge, resulting in a compact and compact location. Moreover, the sleeve of the support grid can be smoothly and reliably inspected without damaging the sleeve, and the inspection can be automated and labor-saving.

According to a second aspect of the present invention, the supporting and fixing means is provided with a tilt adjusting means for adjusting the tilt of the support grid. Therefore, the tilt adjusting means fixes the tilt to the supporting and fixing means. By adjusting the inclination of the support grid, the reference plane can be secured, and the squareness inspection of the sleeve of the support grid can be carried out smoothly without contact and with high accuracy.

Further, according to a third aspect of the present invention, the inclination adjusting means adjusts the inclination of the supporting grid according to the inclination of the sleeve position detecting means and the lattice surface of the supporting lattice detected by the sleeve position detecting means. And a flatness correction actuator for adjusting the flatness correction actuator, the flatness correction actuator supports the flatness correction actuator according to the inclination of the lattice plane of the support grid detected by the sleeve position detecting means for detecting the distance to the sleeve. By adjusting the inclination of the grid, the measurement flatness of the support grid can be easily ensured.

Further, according to a fourth aspect of the present invention, since the illuminating means for irradiating the both ends of the sleeve with light is attached to each of the image pickup means, appropriate illuminance control and image pickup of the illuminating means. By the means, it is possible to take a clear image of both ends of the sleeve.

Further, according to claim 5 of the present invention, since the supporting grid measuring means for measuring the outer size of the supporting grid fixed to the supporting and fixing means and the envelope inspection is provided, the supporting grid measuring means. Thus, by performing the outer size measurement and the envelope inspection of the support grid fixed to the support fixing means, the inspection of the support grid can be entirely automated.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of the present invention.

FIG. 2 is an explanatory diagram of a camera lens unit.

FIG. 3 is a front view of a sleeve measuring unit.

FIG. 4 is a cross-sectional view of a through gauge mechanism unit.

FIG. 5 is a plan view of an envelope inspection unit.

FIG. 6 is a schematic configuration diagram of a control unit.

FIG. 7 is an explanatory diagram showing an inspection flow.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Support grid 2 Sleeve 10 Mounting table (supporting and fixing means) 11 L-shaped reference plate (supporting and fixing means) 13 Air cylinder (supporting and fixing means) 14 Flatness correction actuator (tilt adjusting means) 21 CCD camera (imaging means) 22 Elevating and lowering Stage (moving means) 23 Reflective laser displacement meter (sleeve position detecting means, tilt adjusting means) 24 High-intensity light emitting diode (illuminating means) 27 Z-axis driving motor (moving means) 28 X-axis driving motor (moving means) 29 Y Axis drive motor (moving means) 30 XY table (moving means) 43 Through gauge 44 Load sensor 50 Envelope measuring sensor (supporting grid measuring means) 60 Measurement control device (abnormality detecting means)

Claims (5)

[Claims] 1. A plurality of plate-shaped straps are assembled orthogonally to each other to form a large number of lattice spaces into which fuel rods are inserted, and a part of these lattice spaces for fixing a control rod guide tube. In a supporting grid inspection device for inspecting a supporting grid having a sleeve mounted thereon, a supporting and fixing means for supporting and fixing the supporting grid and a supporting grid fixed to the supporting and fixing means are opposed to both ends of the sleeve. An image pickup means that is provided and that picks up images of both ends of the sleeve, and an abnormality detection means that detects an abnormality such as a fall or deformation of the sleeve based on the images of the both ends of the sleeve picked up by these image pickup means. And a sleeve position detecting means attached to each of the image pickup means and for detecting a distance to the sleeve, and the image pickup means and the support fixing means. And a moving means for moving the sleeve position detecting means, a sleeve passing gauge which is provided so as to be inclined with respect to the sleeve and which is inserted into the sleeve, and a sleeve passing gauge which is provided on the sleeve passing gauge and covers the sleeve passing gauge. A supporting grid inspection apparatus comprising: a load sensor for detecting a load. 2. The support grid inspection apparatus according to claim 1, wherein the support fixing means is provided with tilt adjusting means for adjusting the tilt of the support grid. 3. The tilt adjusting means comprises a sleeve position detecting means and a flatness correcting actuator for adjusting the tilt of the supporting grid according to the tilt of the grid surface of the supporting grid detected by the sleeve position detecting means. The support grid inspection device according to claim 2, wherein the support grid inspection device is provided. 4. The supporting grid inspection device according to claim 1, wherein each of the imaging means is provided with an illuminating means for irradiating light to both ends of the sleeve. 5. The supporting grid inspecting apparatus according to claim 1, further comprising a supporting grid measuring means for measuring an outer dimension of the supporting grid fixed to the supporting and fixing means and performing an envelope inspection.