JPH08233976A - Traveling device for inspecting inside of pipe conduit - Google Patents

Abstract

PURPOSE: To provide a traveling device for inspecting the inside of a pipe conduit which is available for follow-up traveling inspections for various types of diameters and is most suitable for the piping of a main cooling system in a nuclear power plant. CONSTITUTION: A running device 1 is set up which can be widely opened and closed by installing drive wheels 1a to 1d in edge angle positions of a tetrahedron, crossing frames 2a to 2d radially projecting from the center like two pairs of pantographs so that the frames can be bent freely and installing and connecting gas cylinders 6a to 6d on both sides of each of the two respective pairs of the pantographs mechanisms and can make a following movement toward the axis of a pipe conduit at a tip of the pantographs of the connections by inserting and fixing a circling drive part 8 of a sensor scanning mechanism part 7 for a test into the axial center of the pipe conduit. Moreover, the device is made extendible and shrinkable toward the normal direction of the pipe conduit by two respective pairs of multistage telescopic gas cylinders 10a to 10d where two sets of sensor components 9a and 9b for a test installed back to back are laid out back to back in the direction of the axial center of the pipe conduit and, at the same time, is equipped with the sensor scanning mechanism part 7 for a test which is available for alignment and precession in the directions of the axial center of the pipe conduit and the curvature radius of a bending pipe conduit by supporting the cylinders with gimbals mechanism members 11a and 11b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-pipe running inspection device applied to an inspection of pipes such as main cooling system pipes of a nuclear power plant.

[0002]

2. Description of the Related Art As shown in FIG. 6, a conventional in-pipe running inspection apparatus has a gas cylinder 103 for pushing a drive wheel 102, which is disposed opposite to the axial center position of a cross section of a pantograph 104. Two traveling vehicles (4WD and 4W) for returning guidance
Inspection system 101 as an inspection unit between S system 100
It is a tandem system in which

[0003]

The access route into the main cooling system piping of a nuclear power plant is most convenient from the manhole side of the steam generator. However, while the manhole diameter is about Φ400 mm,
Since the inner diameter of the main cooling system pipe is about Φ700 to Φ800 mm, there is a problem that it cannot be accessed by the conventional in-pipe running inspection device which can only allow the pipe diameter (D) ± 10% D to follow the pressing. It was

Therefore, an object of the present invention is to provide an in-pipe running inspection device which is capable of performing running inspections of various diameters and which is optimum for main cooling system piping of a nuclear power plant.

[0005]

In order to achieve the above object, the in-pipe running inspection device according to the present invention is a frame in which drive wheels are arranged at the ridge angle positions of a tetrahedron and radially project from the center. 2 sets of pantographs are bent so that they can be bent, and cylinders are arranged on both sides of each of the 2 sets of pantograph mechanisms to connect them to each other to make it possible to open and close significantly. A traveling device that can be driven in the pipeline axis direction by inserting and fixing the swivel drive section of the sensor scanning mechanism section, and two sets of inspection sensor sections that are arranged in opposite directions, respectively. The two stages each of which are arranged side by side in opposite directions make it possible to expand and contract in the normal direction of the pipeline, and the gimbal mechanism member supports the cylinders in the axial direction of the pipeline and the radius of curvature of the curved pipeline. Alignment,
And an inspection sensor scanning mechanism capable of precession.

[0006]

When loading from a narrow opening, the cylinder of the traveling device is extended to close the cross pantograph-like portion to bring the drive wheel into the closed state, and the inspection sensor scanning mechanism is orthogonal to the drive wheel. After setting the position rotation, the multistage telescopic cylinder is contracted to bring the inspection sensor unit to the most contracted state. When inspecting the inside of a large-diameter pipe after carrying it in, the cylinder of the traveling device is contracted to open the cross pantograph-shaped part so that the drive wheels can be pressed and held against the inner surface of the pipe, and the inspection sensor part can be followed. By the extension operation of the multistage telescopic cylinder, the center of the gimbal mechanism member at the center of the curved tube section is subjected to precession swivel scanning by causing the swivel drive section to press and align both sides of the inner surface of the pipe.

[0007]

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

In FIG. 1, 1 is a traveling device, and 7 is an inspection sensor scanning mechanism unit (inspection unit) connected to the traveling device 1.

The traveling device 1 is provided with drive wheels 1a-1b with built-in drive devices (motors, speed reducers, etc.) at the ridge angle positions of a tetrahedron, and a steering drive portion (radially protruding from a core member 3 in the central portion). Frame 2 with built-in motor, speed reducer, etc.
Two sets of frames 4a, 2b and 2c, 2d, which are supported by a to 2d so as to be crossable and bendable, and which are opposed to each other, are bendably connected to the respective support members 3a, 3b.
And 4b and 4c and 4d are openably and closably connected in a cross pantograph shape.

On both sides of each of the links 4a and 4b and 4c and 4d, as shown in FIG.
Gas cylinders 6a and 6b and 6c and 6d, which are held by a holding member 5 that is fixedly held by pins or the like at various locations, are arranged and connected to the supporting members 3a and 3b so as to be expandable and contractible, and on the side of the supporting member 3a. The swivel drive unit 8 of the inspection sensor scanning mechanism unit 7 is inserted and fixed so that it can be driven in the axial direction of the pipeline.

As shown in FIGS. 3 and 4, the inspection sensor scanning mechanism section 7 includes two sets of inspection sensor sections 9a and 9b arranged in opposite directions, two sets each in the axial direction of the pipeline. The multi-stage (3 or more stages) telescopic gas cylinders 10a and 10b and 10c and 10d arranged side by side in opposite directions can be expanded and contracted in the normal direction of the pipeline, and the gas cylinders 10a to 10d are supported by gimbal mechanism members 11a and 11b. Centering and precession are possible in the axial direction of the conduit and the radius of curvature of the curved conduit (see arrow in the figure). The gimbal mechanism member 11a has a shape of spectacle frame facing in the opposite direction in order to widen the precession movement angle region of the gas cylinders 10a to 10d.

The inspection sensor portions 9a and 9b are provided with the inspection sensors 12a and 12b as gimbal mechanism members 11c and 11b.
It is supported so as to be engaged with the conduit surface at d, and four guide rollers 13 provided on the gimbal mechanism member 11c facilitate alignment in the axial direction of the conduit and easy circumferential scanning. Further, the guide roller 13 is engaged with the scanning distance meter 14.

The gimbal mechanism member 11a of the inspection sensor scanning mechanism portion 7 has a visual inspection unit 15 attached to the tip of the gimbal mechanism member 11a so that a visual inspection of the scanning surface can be performed.

Due to this structure, the traveling device 1 is used when the traveling inspection device in the main pipeline is carried in through the narrow opening.
The gas cylinders 6a to 6d are extended so that the cross pantograph-like portion is fully closed as shown by the chain double-dashed line, and the inspection sensor scanning mechanism portion 7 is made to project to the front of the pipe axis and the inspection is performed. Sensor scanning mechanism section 7 for turning drive section 8
After setting the orthogonal position turning with respect to the drive wheels 1a to 1b with,
The multistage telescopic gas cylinders 10a to 10b are contracted to bring the inspection sensor units 9a and 9b into the most contracted state.

When carrying out a traveling inspection in a large-diameter pipe after loading, the drive wheels 1a are operated by extending the gas cylinders 6a to 6d of the traveling device 1 to open the cross pantograph-shaped portion.
˜1b are pressed and held on the inner surface of the pipe to follow, and the inspection sensor units 9a and 9b are pressed and aligned on both sides of the inner surface of the pipe by the extension operation of the multistage telescopic gas cylinders 10a to 10b. In the curved tube portion, the gimbal mechanism members 11a and 11b at the central portion of the curved tube portion perform the precession rotational scan.

[0016]

As described above, according to the present invention, the drive wheel is opened and closed by the pandagraph mechanism, and the inspection sensor unit is expanded and contracted by the multistage telescopic cylinder. It can be carried in, and it is possible to perform follow-up running inspections of various diameters.

[Brief description of drawings]

FIG. 1 is an overall side view of an in-pipe running inspection device showing an embodiment of the present invention.

FIG. 2 is a view taken along the line AA of FIG.

FIG. 3 is a front view of the inspection sensor scanning mechanism section.

FIG. 4 is a side view of an essential part of the inspection sensor scanning mechanism portion.

FIG. 5 is an overall bird's-eye view of a conventional traveling device in a pipeline.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling device 1a-1d Drive wheel 2a-2d Frame 3a, 3b Supporting member 4a-4b Link 5 Holding member 6a-6b Gas cylinder 7 Inspection sensor scanning mechanism part 8 Revolving drive part 9a, 9b Inspection sensor part 10a-10d Multi-stage telescopic gas cylinder 11a-11c Gimbal mechanism member

Claims (1)

[Claims] 1. A drive wheel is arranged at a ridge angle position of a tetrahedron, and two sets of frames radially projecting from a central portion are crossed so as to be bendable in a pantograph shape, and cylinders are provided on both sides of each two sets of pantograph mechanisms. Is installed and connected to make it possible to open and close significantly, and the swivel drive part of the inspection sensor scanning mechanism is inserted and fixed at the tip of the pantograph pipe line axis of the connection part, and driven in the pipe line axis direction It is possible to expand and contract in the normal direction of the pipeline with a multi-stage telescopic cylinder in which the traveling device that is made possible and two pairs of the inspection sensor portions that are arranged in opposite directions are arranged in parallel in the axial direction of the pipeline. And a sensor scanning mechanism portion for inspection, which supports the cylinder with a gimbal mechanism member and is capable of centering and precessing in the axial direction of the conduit and the radius of curvature of the curved conduit. In-pipe running inspection device.