JPH09189791A - Gimbal-mechanism type submergible inspection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a gimbal-mechanism type submergible inspection device which is more convenient to handle due to the downsizing and weight reduction of a float part of the main body and is easier to operate due to the simplification of a control system. SOLUTION: This gimbal-mechanism type submergible inspection device supports a float unit 2-1 shaped like a belt with both round ends so that the float unit 2-1 holds it at the angle of vertical and arbitrary revolutions. In the float unit 2-1, two pairs of screw thrustars 2-2a and 2-2b are installed parallel to each other in the center part of the main bodies 1-1a and 1-1b of halved floats. The device also supports an annular float unit 3-1 so that it holds at the angle of horizontal and arbitrary revolutions. In the float unit 3-1, two sets of screw thrustars 3-2a and 3-2b are installed parallel to each other in the central outer circumference of the main bodies 1-1a and 1-1b of the halved floats. The device is installed so that it can navigate back and forth, laterally and vertically and change into all positions through the operation of normal or reverse rotation of the two sets of the screw thrustars 3-2a and 3-2b and the combination of the normal and reverse rotation of them.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gimbal mechanism type submerged inspection device for navigating underwater in a nuclear power plant or the like for inspection.

[0002]

2. Description of the Related Art The core of a pressurized water reactor (PWR) is composed of fuel assemblies and light water arranged in a grid, which are housed in a reactor vessel. Then, the control rod cluster for controlling the reactivity of the core is inserted into or extracted from the fuel assembly from above. The control rod cluster is driven by a control rod drive (CRDM) provided on the upper lid of the reactor vessel.

By the way, since the reactor vessel is used under severe conditions and its damage or the like has serious consequences, at the manufacturing stage, in order to ensure its quality in accordance with appropriate technical standards. , Non-destructive inspections are strictly performed during production. On the other hand, during the service period after the reactor is in operation, it is used underwater, so visual inspection is performed with a camera using an underwater inspection robot.

[0004]

However, in order to make it possible to change the omnidirectional and omnidirectional navigation and the all attitude with the conventional underwater inspection robot, the thrusters such as screws are the minimum for forward, backward, left and right, and up and down navigation. Since 6 axes were required, it was necessary to enlarge the float part of the main body in order to neutralize the buoyancy, and the volume and weight were large, and there was a problem in handleability. Further, the control of the 6-axis thruster is complicated, and there is a difficulty in operability.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a gimbal mechanism type submerged inspection device which can improve the handleability by reducing the size and weight of the main body float portion and the operability by simplifying the control system.

[0006]

In order to achieve the above object, the present invention is directed to a central portion of a two-part spherical spherical float body.
Supports both spherical strip float units in which a pair of screw thrusters are installed in parallel so as to be able to vertically swivel and maintain an arbitrary swiveling angle.
An annular float unit equipped with a set of screw thrusters installed in parallel is supported so that it can rotate horizontally and maintain an arbitrary turning angle, and it is provided to allow forward and backward, left and right, up and down navigation, and all attitude changes.

"Operation" After the two spherical strip float units are vertically swiveled and held at an arbitrary swivel angle by the forward / reverse combined operation of two sets of screw thrusters mounted on the central portion of the two-divided spherical float body, The two sets of screw thrusters are normally or reversely operated to perform forward / backward navigation or vertical navigation, and the forward / reverse combined operation is performed to change the pitching posture. Then, the circular float unit is horizontally swung by the forward / reverse combined operation of the two sets of screw thrusters mounted on the central outer circumference of the two-divided spherical float body, and is held at an arbitrary swivel angle. Forward and backward or left and right navigation is performed by operating the thruster in the forward or reverse direction, and the yawing posture is changed by the forward and reverse combined operations, and the rolling posture is changed by the forward and reverse combined operations after the pitching attitude is changed.
Visually inspect the target area.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION

[Embodiment] An embodiment of the present invention will be described in detail below with reference to the accompanying drawings. FIG. 1 is a partially cutaway front view of the gimbal mechanism type submerged inspection device, and FIG. 2 is a partially cutaway side view of the same.

As shown in the figure, the two-part spherical spherical float bodies 1-1a and 1-1b are hermetically joined at the upper and lower parts by hollow cylindrical bearing floats 1-2a and 1-2b with supporting legs to form a central bearing member. Hollow shaft member 2-3 of both spherical strip float units 2-1 in which two sets of screw thrusters 2-2a and 2-2b are installed in parallel on 1-3a and 1-3b.
a and 2-3b are vertically and rotatably supported by a bearing or the like so as to be hermetically supported, and are inserted. An angle detector 5a inserted inside the hollow shaft member 2-3b and a central bearing member 1-for rotational angle detection are provided. Three
b is engaged, and the brake 4a attached on the side of the central bearing member 1-3a is engaged so that it can be held at an arbitrary turning angle.

The two-part spherical spherical float body 1-1a,
An annular float unit 3-1 in which two sets of screw thrusters 3-2a and 3-2b are installed in parallel in the horizontal direction of the central outer periphery of 1-1b is used as upper and lower support members 3-4a and 3-4b.
Hollow shaft members 3-5a, 3-5b and hollow support members 3-5a, 3-5b, which are supported by hollow arc frames 3-3a, 3-3b connected to the upper and lower support members 3-4a, 3-4b. Cylindrical bearings with legs 1-2a and 1-2b are horizontally hermetically supported and inserted into bearing members 1-4a and 1-4b in the floats 1-2a and 1-2b, respectively. A hollow shaft member 3-5a is engaged with the installed angle detector 5b so that the rotation angle can be detected.

On the top side of the hollow shaft member 3-5a, there are provided a visual observation camera 6 and lights 7a, 7b fixed through the cylindrical bearing float 1-2a with a hollow support leg and a connecting rod 1-5b. The mounted visual device member 1-5a is pivotably supported in an airtight manner. Further, on the bottom side of the hollow shaft member 3-5b, a cylindrical bearing float 1-2 with a hollow support leg is provided.
float relay box 1 which is fixed through b and connecting rod 1-6b
A bearing member 1-7 of -6a is rotatably supported in an airtight manner, and a brake 4b mounted on the bearing member 1-7 side is engaged with the bearing member 1-7 so as to be held at an arbitrary turning angle.

The two-part spherical spherical float body 1-1.
Inclinators 8a, 8b and 8c in the three axial directions (pitching, yawing and rolling) are provided in a and 1-1b, respectively.

Due to this structure, the two sets of screw thrusters 2-2a and 2-2b mounted on the central portion of the two-part spherical spherical float bodies 1-1a and 1-1b can be used for forward and reverse combined operations. Both spherical strip float units 2-1 are vertically swung, and after being held at an arbitrary swivel angle by the brake 4a,
The two sets of screw thrusters 2-2a and 2-2b are normally or reversely operated to perform forward / backward navigation or vertical navigation, and forward / reverse combined operation is performed to change the pitching attitude.

Then, the two-part spherical spherical float body 1-1
The circular float unit 3-1 is horizontally swiveled by the forward / reverse combined operation of two sets of screw thrusters 3-2a, 3-2b mounted on the outer periphery of the center of a, 1-1b, and the brake 4
After being held at an arbitrary turning angle by b, the two sets of screw thrusters 3-2a and 3-2b are operated in the forward or reverse direction to perform forward or backward navigation or lateral navigation,
The yawing posture is changed by the forward / reverse combined operation, and the rolling posture is changed by the forward / reverse combined operation after the pitching posture is changed, and the required inspection target portion is visually inspected.

Since the in-liquid inspecting device is constituted by the gimbal mechanism as described above, the screw thruster requires only four axes for forward / backward, left / right, up / down navigation and all attitude changes (in the past, at least 6 axes were required). As a result, the in-liquid inspection device can be made smaller and lighter and the control system can be simplified. Needless to say, the present invention is not limited to the above embodiments, and various changes such as a change in the structure and shape of the visual device member can be made without departing from the scope of the present invention.

[0016]

As described above, according to the present invention, 2
Both spherical belt-shaped float units in which two sets of screw thrusters are installed in parallel to the central portion of the divided spherical float body are supported so as to be able to vertically rotate and hold an arbitrary turning angle.
An annular float unit with two sets of screw thrusters installed side by side on the central outer circumference of the split spherical float body is supported so that it can rotate horizontally and maintain an arbitrary turning angle, enabling forward / backward, left / right, up / down navigation and all attitude changes. Since it is provided, the float of the main body can be made smaller and lighter, and the control system can be simplified.
The handling and operability can be improved.

[Brief description of the drawings]

FIG. 1 is a partially cutaway front view of a gimbal mechanism type submerged inspection device according to an embodiment of the present invention.

FIG. 2 is a partially cutaway side view.

[Explanation of symbols]

 1-1a, 1-1b 2 split spherical float main body 2-2a, 2-2b screw thruster 2-1 both spherical strip float units 3-2a, 3-2b screw thruster 3-1 annular float unit

Claims (1)

[Claims] 1. A two-part spherical float, which supports two spherical-belt-type float units having two sets of screw thrusters installed in parallel at the central portion of a two-part spherical spherical float body so as to be capable of vertically rotating and holding an arbitrary turning angle. An annular float unit with two sets of screw thrusters installed side by side on the center outer periphery of the main body was supported so that it could rotate horizontally and hold an arbitrary turning angle, and it was provided to allow forward and backward, left and right, up and down navigation, and all attitude changes. Characteristic gimbal mechanism type submerged inspection device.